JP2022057696A - Machine tool, control method for machine tool, and control program for machine tool - Google Patents

Abstract

To provide a technique capable of measuring the quality of joint treatment in a frictional pressure-welding joint by a machine tool in which the grip force of a main shaft chuck is not so large.SOLUTION: A machine tool 1 comprises: a first gripping part 110 turnably connected to a first main shaft 11 and capable of gripping a first component W1; a second gripping part 120 capable of gripping a second component W2; and a controller 50 controlling the front main shaft 11 and a rear main shaft 12 and carrying out the joint treatment including a frictional pressure-welding joint of the first and second components W1 and W2. The controller 50 determines whether the joint treatment is normal or not based on a slip generating in at least one between the first component W1 and the first gripping part 110 and between the component W2 and gripping part 120 during the joint treatment, and outputs an abnormal signal when determining that the joint treatment is abnormal.SELECTED DRAWING: Figure 4

Description

本発明は、工作機械、工作機械の制御方法及び工作機械の制御プログラムに関する。 The present invention relates to a machine tool, a machine tool control method, and a machine tool control program.

長尺な円柱状の一対の部材を相対回転させながら接触させて摩擦熱を発生して、発生した摩擦熱によって一対の部材を接合する摩擦圧接接合機において、接合時の寄り代を測定し、測定した寄り代に基づいて接合の良否を判定する技術が知られている。 In a friction welding joining machine that generates frictional heat by bringing a pair of long columnar members into contact with each other while rotating them relative to each other and joining the pair of members by the generated frictional heat, the shear margin at the time of joining is measured. A technique for determining the quality of joining based on the measured friction allowance is known.

例えば、特許文献１には、摩擦圧接接合機に搭載される側長器によって測定される把持装置の移動量を摩擦圧接接合に伴う一対の部材のトータルの寄り代として取得する方法が記載される。また、特許文献２には、主軸に取り付けられたリニアエンコーダにより、摩擦圧接機の固定基準点に対する主軸の位置と、摩擦圧接接合の間の主軸の位置との差として測定される寄り代が所定の設定値になるように主軸の推力を調整する技術が記載される。さらに、特許文献３には、主軸に取り付けられたリニアエンコーダにより、摩擦圧接機の固定基準点に対する主軸の位置と、摩擦圧接中の主軸の位置との差として測定される寄り代が所定の設定値になるように主軸の推力を調整する技術が記載される。特許文献１～３に記載される技術では、接合処理の間の部材の寄り代を測定することにより、接合処理の良否を判定することができる。 For example, Patent Document 1 describes a method of acquiring the amount of movement of a gripping device measured by a side length device mounted on a friction welding machine as a total deviation of a pair of members associated with friction welding. .. Further, in Patent Document 2, a deviation measured as a difference between the position of the spindle with respect to the fixed reference point of the friction welding machine and the position of the spindle between friction welding by a linear encoder attached to the spindle is specified. A technique for adjusting the thrust of the spindle so as to reach the set value of is described. Further, in Patent Document 3, a deviation measured as a difference between the position of the spindle with respect to the fixed reference point of the friction welding machine and the position of the spindle during friction welding by a linear encoder attached to the spindle is set as a predetermined value. A technique for adjusting the thrust of the spindle so as to be a value is described. In the techniques described in Patent Documents 1 to 3, the quality of the joining process can be determined by measuring the deviation of the members during the joining process.

特開平９－４７８８５号公報Japanese Unexamined Patent Publication No. 9-47885 特開平７－１８５８４３号公報Japanese Unexamined Patent Publication No. 7-185843 特開平３－３２４８０号公報Japanese Unexamined Patent Publication No. 3-32480

一方、主軸のチャックの把持力が大きくない旋盤等の工作機械によって部材を摩擦圧接接合することが考案されている。しかしながら、チャックの把持力が大きくない旋盤等の工作機械によって部材を摩擦圧接接合するときに部材とチャックとの間で滑りが発生して、接合不良が発生すると共に接合される部材の滑りにより疵が発生することがある。 On the other hand, it has been devised to perform friction welding of members by a machine tool such as a lathe in which the gripping force of the chuck of the spindle is not large. However, when the members are friction-welded and joined by a machine tool such as a lathe whose chuck gripping force is not large, slippage occurs between the members and the chuck, resulting in poor joining and defects due to the slipping of the members to be joined. May occur.

本発明は、このような課題を解決するものであり、部材を摩擦圧接接合するときに部材と把持部との間で滑りが発生したか否かを検出可能な工作機械を提供することを目的とする。 The present invention solves such a problem, and an object of the present invention is to provide a machine tool capable of detecting whether or not slip has occurred between a member and a grip portion when the members are friction-welded and joined. And.

本発明に係る工作機械は、第１主軸に回動可能に接続され、第１部材を把持可能な第１把持部と、第２部材を把持可能な第２把持部と、第１主軸を制御して、第１部材と第２部材とを摩擦圧接接合する接合処理を実行する制御装置と、を有し、制御装置は、接合処理の間に第１部材と第１把持部との間及び第２部材と第２把持部との間の少なくとも一方に発生する滑りに基づいて接合処理が正常であるか否かを判定し、接合処理が異常であると判定したときに、異常信号を出力する。 The machine tool according to the present invention controls a first grip portion that is rotatably connected to a first spindle and can grip a first member, a second grip portion that can grip a second member, and a first spindle. Then, it has a control device for executing a joining process of friction-welding the first member and the second member, and the control device is provided between the first member and the first gripping portion during the joining process. It is determined whether or not the joining process is normal based on the slip that occurs in at least one of the second member and the second grip portion, and when it is determined that the joining process is abnormal, an abnormal signal is output. do.

さらに、本発明に係る工作機械では、接合処理が正常であるか否かを判定する処理は、接合処理の間の第１把持部と第１部材との変位差に関するパラメータ、及び第２把持部と第２部材との変位差に関するパラメータの少なくとも一方から、接合処理の間に滑りが発生したか否かを判定する処理を含むことが好ましい。 Further, in the machine tool according to the present invention, the process of determining whether or not the joining process is normal includes parameters related to the displacement difference between the first grip portion and the first member during the joining process, and the second grip portion. It is preferable to include a process of determining whether or not slip has occurred during the joining process from at least one of the parameters relating to the displacement difference between the second member and the second member.

さらに、本発明に係る工作機械では、接合処理が正常であるか否かを判定する処理は、接合処理の前後の第１主軸の移動量である主軸移動量を取得し、接合処理の前後の第１部材の移動量である部材移動量を取得し、主軸移動量及び部材移動量に基づいて、接合処理における第１部材の滑り量である第１滑り量を演算し、第１滑り量に基づいて接合処理が正常であるか否かを判定する処理を含むことが好ましい。 Further, in the machine tool according to the present invention, in the process of determining whether or not the joining process is normal, the spindle moving amount, which is the moving amount of the first spindle before and after the joining process, is acquired, and before and after the joining process. The member movement amount, which is the movement amount of the first member, is acquired, and the first slip amount, which is the slip amount of the first member in the joining process, is calculated based on the spindle movement amount and the member movement amount, and the first slip amount is obtained. It is preferable to include a process of determining whether or not the joining process is normal based on the above.

さらに、本発明に係る工作機械では、接合処理が正常であるか否かを判定する処理は、第２把持部に把持された第２部材の端部と第２把持部との間の接合処理前の距離である処理前距離を取得し、第２把持部に把持された第２部材の端部と第２把持部との間の接合処理後の距離である処理後距離を演算し、処理前距離及び処理後距離に基づいて、接合処理における第２部材の滑り量である第２滑り量を演算し、第２滑り量に基づいて接合処理が正常であるか否かを判定する処理を含むことが好ましい。 Further, in the machine tool according to the present invention, the process of determining whether or not the joining process is normal is the joining process between the end portion of the second member gripped by the second grip portion and the second grip portion. The pre-processing distance, which is the previous distance, is acquired, and the post-processing distance, which is the post-processing distance between the end of the second member gripped by the second gripping portion and the second gripping portion, is calculated and processed. A process of calculating the second slip amount, which is the slip amount of the second member in the joining process, based on the front distance and the post-processing distance, and determining whether or not the joining process is normal based on the second slip amount. It is preferable to include it.

さらに、本発明に係る工作機械では、第２把持部は、第２主軸に回動可能に接続され、処理後距離を演算する処理は、接合処理後の第２把持部の位置である把持部位置を取得し、第２部材を第２主軸から引き抜き、第２主軸を第２主軸の軸方向と直交する方向に移動し、第１主軸に近接する方向に第２主軸の軸方向に沿って第２主軸又は第１主軸を移動して、第２把持部を第２部材に接触させ、第２把持部を第２部材に接触させたときの第２把持部の位置である部材端部位置を取得し、把持部位置及び部材端部位置に基づいて処理後距離を取得する処理を含むことが好ましい。 Further, in the machine tool according to the present invention, the second grip portion is rotatably connected to the second spindle, and the process of calculating the post-processing distance is the position of the second grip portion after the joining process. The position is acquired, the second member is pulled out from the second spindle, the second spindle is moved in the direction orthogonal to the axial direction of the second spindle, and the direction close to the first spindle is along the axial direction of the second spindle. The member end position, which is the position of the second grip portion when the second spindle or the first spindle is moved so that the second grip portion is brought into contact with the second member and the second grip portion is brought into contact with the second member. It is preferable to include a process of acquiring the post-process distance based on the grip portion position and the member end portion position.

また、本発明に係る工作機械の制御方法は、第１主軸に回動可能に接続され、第１部材を把持可能な第１把持部と、第２部材を把持可能な第２把持部と、を有する工作機械の制御方法であって、第１主軸を制御して、第１部材と第２部材とを摩擦圧接接合する接合処理を実行し、接合処理の間に第１部材と第１把持部との間及び第２部材と第２把持部との間の少なくとも一方に発生する滑りに基づいて接合処理が正常であるか否かを判定し、接合処理が異常であると判定したときに、異常信号を出力することを含む。 Further, the method for controlling a machine tool according to the present invention includes a first grip portion that is rotatably connected to a first spindle and can grip the first member, a second grip portion that can grip the second member, and a second grip portion that can grip the second member. It is a control method of a machine tool having When it is determined whether or not the joining process is normal based on the slip generated between the portion and at least one of the second member and the second grip portion, and when it is determined that the joining process is abnormal. , Including outputting an abnormal signal.

また、本発明に係る工作機械の制御プログラムは、第１主軸に回動可能に接続され、第１部材を把持可能な第１把持部と、第２部材を把持可能な第２把持部と、を有する工作機械の制御プログラムであって、第１主軸を制御して、第１部材と第２部材とを摩擦圧接接合する接合処理を実行し、接合処理の間に第１部材と第１把持部との間及び第２部材と第２把持部との間の少なくとも一方に発生する滑りに基づいて接合処理が正常であるか否かを判定し、接合処理が異常であると判定したときに、異常信号を出力する処理をコンピュータに実行させる。 Further, the machine tool control program according to the present invention includes a first grip portion that is rotatably connected to the first spindle and can grip the first member, a second grip portion that can grip the second member, and a second grip portion that can grip the second member. It is a control program of a machine tool having When it is determined whether or not the joining process is normal based on the slip generated between the portion and at least one of the second member and the second grip portion, and when it is determined that the joining process is abnormal. , Make the computer execute the process of outputting an abnormal signal.

本発明に係る工作機械は、部材を摩擦圧接接合するときに、部材と把持部との間で滑りが発生したか否かを検出することができる。 The machine tool according to the present invention can detect whether or not slippage has occurred between the member and the grip portion when the members are friction-welded and joined.

実施形態に係る工作機械を有する工作機械システムのブロック図である。It is a block diagram of the machine tool system which has the machine tool which concerns on embodiment. 図１に示す工作機械の斜視図である。It is a perspective view of the machine tool shown in FIG. 図２に示すＮＣ装置のブロック図である。It is a block diagram of the NC apparatus shown in FIG. 図１に示す工作機械により実行される制御処理のフローチャートである。It is a flowchart of the control process executed by the machine tool shown in FIG. （ａ）は図４に示すＳ１０１の処理を示す図であり、図５（ｂ）は図４に示すＳ１０２の処理を示す図であり、図５（ｃ）は図４に示すＳ１０３の処理を示す図であり、図５（ｄ）は図４に示すＳ１０４の処理を示す図である。(A) is a diagram showing the processing of S101 shown in FIG. 4, FIG. 5 (b) is a diagram showing the processing of S102 shown in FIG. 4, and FIG. 5 (c) is a diagram showing the processing of S103 shown in FIG. It is a figure which shows, and FIG. 5 (d) is a figure which shows the process of S104 shown in FIG. 図５に示すＳ１０５の処理のより詳細な処理を示すフローチャートである。It is a flowchart which shows the more detailed process of the process of S105 shown in FIG. （ａ）は図５に示すＳ１０６の処理のより詳細な処理を示すフローチャートであり、（ｂ）は（ａ）に示すＳ３０２の処理のより詳細な処理を示すフローチャートである。(A) is a flowchart showing a more detailed process of the process of S106 shown in FIG. 5, and (b) is a flowchart showing a more detailed process of the process of S302 shown in (a). （ａ）は図７（ｂ）に示すＳ４０１の処理を示す図であり、図８（ｂ）は図７（ｂ）に示すＳ４０２の処理を示す図であり、図８（ｃ）は図７（ｂ）に示すＳ４０３の処理を示す図であり、図８（ｄ）は図７（ｂ）に示すＳ４０４の処理を示す図である。(A) is a diagram showing the processing of S401 shown in FIG. 7 (b), FIG. 8 (b) is a diagram showing the processing of S402 shown in FIG. 7 (b), and FIG. 8 (c) is a diagram showing the processing of S402 shown in FIG. 7 (b). It is a figure which shows the process of S403 shown in (b), and FIG. 8 (d) is a figure which shows the process of S404 shown in FIG. 7 (b).

以下、図面を参照しつつ、本発明の様々な実施形態について説明する。ただし、本発明の技術的範囲は、それらの実施形態に限定されず、特許請求の範囲に記載された発明とその均等物に及ぶ点に留意されたい。 Hereinafter, various embodiments of the present invention will be described with reference to the drawings. However, it should be noted that the technical scope of the present invention is not limited to those embodiments but extends to the inventions described in the claims and their equivalents.

（実施形態に係る工作機械）
図１は実施形態に係る工作機械を有する工作機械システムのブロック図であり、図２は図１に示す工作機械の斜視図である。 (Machine tool according to the embodiment)
FIG. 1 is a block diagram of a machine tool system having a machine tool according to an embodiment, and FIG. 2 is a perspective view of the machine tool shown in FIG.

ワーク加工システム１００は、工作機械１と、ワーク供給装置とも称されるバーフィーダ１０１とを有する。工作機械１は、ベッド１０と、正面主軸１１と、背面主軸１２と、ガイドブッシュ装置１３と、刃物台１４とを有する。正面主軸１１は第１主軸とも称され、背面主軸１２は第２主軸とも称される。工作機械１は、正面主軸操作機構２０と、第１チャック操作機構２５と、背面主軸操作機構３０と、第２チャック操作機構３５と、刃物台操作機構４０と、ＮＣ装置５０とを更に有する。工作機械１は、一対の部材を摩擦圧接接合する接合処理を実行する間に一対の部材の少なくとも一方に発生する滑りに基づいて接合処理が正常であるか否かを判定し、接合処理が異常であると判定したときに、異常信号を出力する。 The work processing system 100 includes a machine tool 1 and a bar feeder 101, which is also referred to as a work supply device. The machine tool 1 has a bed 10, a front spindle 11, a rear spindle 12, a guide bush device 13, and a tool post 14. The front spindle 11 is also referred to as a first spindle, and the rear spindle 12 is also referred to as a second spindle. The machine tool 1 further includes a front spindle operating mechanism 20, a first chuck operating mechanism 25, a rear spindle operating mechanism 30, a second chuck operating mechanism 35, a tool post operating mechanism 40, and an NC device 50. The machine tool 1 determines whether or not the joining process is normal based on the slip generated on at least one of the pair of members while executing the joining process of friction welding the pair of members, and the joining process is abnormal. When it is determined that, an abnormal signal is output.

ベッド１０は、正面主軸１１、背面主軸１２、ガイドブッシュ装置１３及び刃物台１４が搭載される。正面主軸１１は、長尺な円柱状の第１部材Ｗ１を把持可能な中空状の部材であり、レール１５によってＺ１方向に移動可能である。正面主軸１１は、第１把持部とも称される第１チャック１１０を有する。背面主軸１２は、第１部材Ｗ１と同径の長尺な円柱状の第２部材Ｗ２を把持可能な中空状の部材であり、レール１６及び１７によってＺ２方向及びＸ２方向に移動可能である。背面主軸１２は、第２把持部とも称される第２チャック１２０を有する。なお、第２部材Ｗ２の径は、第１部材Ｗ１の径と異なってもよい。 The bed 10 is equipped with a front spindle 11, a rear spindle 12, a guide bush device 13, and a tool post 14. The front spindle 11 is a hollow member capable of gripping the long columnar first member W1 and can be moved in the Z1 direction by the rail 15. The front spindle 11 has a first chuck 110, which is also referred to as a first grip portion. The rear spindle 12 is a hollow member capable of gripping a long columnar second member W2 having the same diameter as the first member W1, and can be moved in the Z2 direction and the X2 direction by the rails 16 and 17. The rear spindle 12 has a second chuck 120, which is also referred to as a second grip portion. The diameter of the second member W2 may be different from the diameter of the first member W1.

ガイドブッシュ装置１３は、正面主軸１１に把持される第１部材Ｗ１が挿通され、第１部材Ｗ１を支持しながら案内する。刃物台１４は、正面主軸１１及び背面主軸１２のそれぞれに把持される第１部材Ｗ１及び第２部材Ｗ２を切削する複数の工具１４０を保持し、レール１８及び１９に沿ってＸ１方向及びＹ１方向に移動可能である。 In the guide bush device 13, the first member W1 gripped by the front main shaft 11 is inserted and guided while supporting the first member W1. The tool post 14 holds a plurality of tools 140 for cutting the first member W1 and the second member W2 gripped by the front spindle 11 and the rear spindle 12, respectively, and holds the X1 direction and the Y1 direction along the rails 18 and 19. It is possible to move to.

正面主軸操作機構２０は、正面主軸駆動装置２１と、正面主軸位置センサ２２とを有する。正面主軸駆動装置２１は、モータであり、ＮＣ装置５０から電流が供給されることに応じて回転することで正面主軸１１をレール１５に沿ってＺ１方向に移動する。また、正面主軸操作機構２０は、回転電流が供給されることに応じて、正面主軸１１を回転する。正面主軸位置センサ２２は、例えば光学式のエンコーダであり、正面主軸駆動装置２１の回転を検出して、検出した正面主軸駆動装置２１の回転を示す回転データをＮＣ装置５０に出力する。 The front spindle operation mechanism 20 includes a front spindle drive device 21 and a front spindle position sensor 22. The front spindle drive device 21 is a motor, and rotates in response to a current supplied from the NC device 50 to move the front spindle 11 in the Z1 direction along the rail 15. Further, the front spindle operating mechanism 20 rotates the front spindle 11 in response to the supply of rotational current. The front spindle position sensor 22 is, for example, an optical encoder, detects the rotation of the front spindle drive device 21, and outputs rotation data indicating the detected rotation of the front spindle drive device 21 to the NC device 50.

第１チャック操作機構２５は、第１シリンダ２６と、第１ピストン２７と、第１アーム２８とを有する。第１シリンダ２６は、油圧等の流体が内部に充填され、ＮＣ装置５０から電流が供給されることに応じて第１ピストン２７をＺ１方向に移動する。第１アーム２８は、一端が第１ピストン２７に接続され且つ他端が第１チャック１１０に正面主軸１１の筐体を支点として回転可能に接続される。第１チャック操作機構２５では、ＮＣ装置５０から電流が供給されることに応じて第１シリンダ２６内部の流体を制御して第１シリンダ２６をＺ１方向に移動することで第１アーム２８が回転動作する。第１チャック１１０の状態は、第１アーム２８の回転動作に応じて第１部材Ｗ１を把持する状態と第１部材Ｗ１を解放する状態との間で切り換えられる。 The first chuck operating mechanism 25 has a first cylinder 26, a first piston 27, and a first arm 28. The first cylinder 26 is filled with a fluid such as hydraulic pressure, and moves the first piston 27 in the Z1 direction in response to the supply of an electric current from the NC device 50. One end of the first arm 28 is connected to the first piston 27, and the other end is rotatably connected to the first chuck 110 with the housing of the front main shaft 11 as a fulcrum. In the first chuck operation mechanism 25, the first arm 28 rotates by controlling the fluid inside the first cylinder 26 in response to the current supplied from the NC device 50 and moving the first cylinder 26 in the Z1 direction. Operate. The state of the first chuck 110 is switched between a state of gripping the first member W1 and a state of releasing the first member W1 according to the rotational operation of the first arm 28.

背面主軸操作機構３０は、背面主軸駆動装置３１と、背面主軸位置センサ３２とを有する。背面主軸駆動装置３１は、正面主軸駆動装置２１と同様にモータであり、ＮＣ装置５０から電流が供給されることに応じて回転することで背面主軸１２をレール１６及び１７に沿ってＺ２方向及びＸ２方向に移動する。また、背面主軸操作機構３０は、回転電流が供給されることに応じて、背面主軸１２を回転する。背面主軸位置センサ３２は、正面主軸位置センサ２２と同様に光学式のエンコーダであり、背面主軸駆動装置３１の回転を検出して、検出した背面主軸駆動装置３１の回転を示す回転データをＮＣ装置５０に出力する。 The rear spindle operation mechanism 30 has a rear spindle drive device 31 and a rear spindle position sensor 32. The rear spindle drive device 31 is a motor like the front spindle drive device 21, and rotates in response to a current supplied from the NC device 50 to move the rear spindle 12 in the Z2 direction along the rails 16 and 17. Move in the X2 direction. Further, the rear spindle operating mechanism 30 rotates the rear spindle 12 in response to the supply of rotational current. The rear spindle position sensor 32 is an optical encoder like the front spindle position sensor 22, detects the rotation of the rear spindle drive device 31, and outputs rotation data indicating the detected rotation of the rear spindle drive device 31 to the NC device. Output to 50.

第２チャック操作機構３５は、第２シリンダ３６と、第２ピストン３７と、第２アーム３８とを有する。第２シリンダ３６は、油圧等の流体が内部に充填され、ＮＣ装置５０から電流が供給されることに応じて第２ピストン３７をＺ２方向に移動する。第２アーム３８は、一端が第２ピストン３７に接続され且つ他端が第２チャック１２０に回動可能に接続される。第２チャック操作機構３５では、ＮＣ装置５０の指示に応じて第２シリンダ３６内部の流体を制御して第２シリンダ３６をＺ２方向に移動することで第２アーム３８が回転動作する。第２チャック１２０の状態は、第２アーム３８の回転動作に応じて第２部材Ｗ２を把持する状態と第２部材Ｗ２を解放する状態との間で切り換えられる。 The second chuck operating mechanism 35 has a second cylinder 36, a second piston 37, and a second arm 38. The second cylinder 36 is filled with a fluid such as hydraulic pressure, and moves the second piston 37 in the Z2 direction in response to the supply of an electric current from the NC device 50. One end of the second arm 38 is connected to the second piston 37 and the other end is rotatably connected to the second chuck 120. In the second chuck operation mechanism 35, the fluid inside the second cylinder 36 is controlled according to the instruction of the NC device 50 to move the second cylinder 36 in the Z2 direction, so that the second arm 38 rotates. The state of the second chuck 120 is switched between a state of gripping the second member W2 and a state of releasing the second member W2 according to the rotational operation of the second arm 38.

刃物台操作機構４０は、不図示のモータを有し、ＮＣ装置５０から電流が供給されることに応じて刃物台１４をレール１８及び１９に沿ってＸ１方向及びＹ１方向に移動する。 The turret operation mechanism 40 has a motor (not shown), and moves the turret 14 along the rails 18 and 19 in the X1 direction and the Y1 direction in response to the current supplied from the NC device 50.

バーフィーダ１０１は、フィンガーチャック１１１と、押し矢１１２と、押し矢駆動装置１１３と、押し矢位置センサ１１４とを有する。フィンガーチャック１１１は、第１部材Ｗ１を保持する保持部である。押し矢１１２は、正面主軸１１の延伸方向であるＺ１方向に第１部材Ｗ１及びフィンガーチャック１１１を移動する。押し矢駆動装置１１３は、モータであり、ＮＣ装置５０から電流が供給されることに応じて回転することで押し矢１１２をＺ１方向に移動する。押し矢位置センサ１１４は、例えば光学式のエンコーダであり、押し矢駆動装置１１３の回転を検出して、検出した押し矢駆動装置１１３の回転を示す回転データをＮＣ装置５０に出力する。 The bar feeder 101 has a finger chuck 111, a push arrow 112, a push arrow drive device 113, and a push arrow position sensor 114. The finger chuck 111 is a holding portion that holds the first member W1. The push arrow 112 moves the first member W1 and the finger chuck 111 in the Z1 direction, which is the extending direction of the front spindle 11. The push arrow drive device 113 is a motor, and moves the push arrow 112 in the Z1 direction by rotating according to the current supplied from the NC device 50. The push arrow position sensor 114 is, for example, an optical encoder, detects the rotation of the push arrow drive device 113, and outputs rotation data indicating the detected rotation of the push arrow drive device 113 to the NC device 50.

図３は、ＮＣ装置５０のブロック図である。 FIG. 3 is a block diagram of the NC device 50.

ＮＣ装置５０は、通信部５１と、記憶部５２と、入力部５３と、出力部５４と、制御部５５とを有する。通信部５１は、正面主軸１１、背面主軸１２及び刃物台１４をレール１５～１９上を移動する動力を供給する正面主軸駆動装置２１、背面主軸駆動装置３１及び刃物台操作機構４０等に配線を介して接続される。通信部５１は、制御部５５の指示に基づいて、正面主軸１１及び背面主軸１２の回転操作、並びに正面主軸１１、背面主軸１２及び刃物台１４の移動操作のための電流を、正面主軸１１、背面主軸１２、正面主軸操作機構２０及び背面主軸操作機構３０等に供給する。通信部５１は、押し矢駆動装置１１３に配線を介して接続され、押し矢１１２を移動するための電力を押し矢駆動装置１１３に供給する。 The NC device 50 includes a communication unit 51, a storage unit 52, an input unit 53, an output unit 54, and a control unit 55. The communication unit 51 connects wiring to the front spindle drive device 21, the rear spindle drive device 31, the tool post operating mechanism 40, etc., which supply power to move the front spindle 11, the rear spindle 12, and the tool post 14 on the rails 15 to 19. Connected via. Based on the instruction of the control unit 55, the communication unit 51 applies a current for the rotation operation of the front spindle 11 and the rear spindle 12 and the movement operation of the front spindle 11, the rear spindle 12, and the tool post 14, to the front spindle 11. It is supplied to the rear spindle 12, the front spindle operating mechanism 20, the rear spindle operating mechanism 30, and the like. The communication unit 51 is connected to the push arrow drive device 113 via wiring, and supplies electric power for moving the push arrow 112 to the push arrow drive device 113.

記憶部５２は、例えば、半導体記憶装置、磁気テープ装置、磁気ディスク装置、及び光ディスク装置のうちの少なくとも一つを備える。記憶部５２は、制御部５５での処理に用いられるオペレーティングシステムプログラム、ドライバプログラム、アプリケーションプログラム、データ等を記憶する。例えば、記憶部５２は、正面主軸１１に把持された第１部材Ｗ１と背面主軸１２に把持された第２部材Ｗ２とを摩擦圧接接合するときの制御処理を制御部５５に実行させる制御プログラム等を記憶する。制御プログラムは、例えばＣＤ－ＲＯＭ、ＤＶＤ－ＲＯＭ等のコンピュータ読み取り可能な可搬型記録媒体から、公知のセットアッププログラム等を用いて記憶部５２にインストールされてもよい。 The storage unit 52 includes, for example, at least one of a semiconductor storage device, a magnetic tape device, a magnetic disk device, and an optical disk device. The storage unit 52 stores an operating system program, a driver program, an application program, data, and the like used for processing by the control unit 55. For example, the storage unit 52 causes the control unit 55 to execute a control process for friction welding and joining the first member W1 gripped by the front spindle 11 and the second member W2 gripped by the rear spindle 12. Remember. The control program may be installed in the storage unit 52 from a computer-readable portable recording medium such as a CD-ROM or a DVD-ROM using a known setup program or the like.

また、記憶部５２は、制御処理で使用される種々のデータを記憶する。例えば、記憶部５２は、正面主軸位置センサ２２、背面主軸位置センサ３２及び押し矢位置センサ１１４から入力される回転データを記憶する。また、記憶部５２は、入力される回転データと、正面主軸１１、背面主軸１２及び押し矢１１２の移動量との関係を示す移動量変換テーブルを記憶する。また、記憶部５２は、接合処理前の正面主軸１１及び第１チャック１１０のＺ１方向の位置、並びに背面主軸１２及び第２チャック１２０のＺ２方向の位置のそれぞれを初期位置として記憶する。 Further, the storage unit 52 stores various data used in the control process. For example, the storage unit 52 stores rotation data input from the front spindle position sensor 22, the rear spindle position sensor 32, and the push arrow position sensor 114. Further, the storage unit 52 stores a movement amount conversion table showing the relationship between the input rotation data and the movement amount of the front spindle 11, the rear spindle 12, and the push arrow 112. Further, the storage unit 52 stores each of the positions of the front spindle 11 and the first chuck 110 in the Z1 direction and the positions of the rear spindle 12 and the second chuck 120 in the Z2 direction before the joining process as initial positions.

入力部５３は、データの入力が可能であればどのようなデバイスでもよく、例えば、タッチパネル、キーボード等である。オペレータは、入力部５３を用いて、文字、数字、記号等を入力することができる。入力部５３は、オペレータにより操作されると、その操作に対応する信号を生成する。そして、生成された信号は、オペレータの指示として、制御部５５に供給される。入力部５３は、工作機械の筐体の表面にオペレータによる操作が可能なように載置される不図示の操作盤に配置される。 The input unit 53 may be any device as long as data can be input, and is, for example, a touch panel, a keyboard, or the like. The operator can input characters, numbers, symbols, etc. using the input unit 53. When operated by the operator, the input unit 53 generates a signal corresponding to the operation. Then, the generated signal is supplied to the control unit 55 as an instruction of the operator. The input unit 53 is arranged on an operation panel (not shown) which is placed on the surface of the machine tool housing so that the operator can operate the input unit 53.

出力部５４は、映像や画像等の表示が可能であればどのようなデバイスでもよく、例えば、液晶ディスプレイ又は有機ＥＬ（Electro－Luminescence）ディスプレイ等である。出力部５４は、制御部５５から供給された映像データに応じた映像や、画像データに応じた画像等を表示する。また、出力部５４は、紙などの表示媒体に、映像、画像又は文字等を印刷する出力装置であってもよい。出力部５４は、入力部５３と共に、入力部５３が配置される不図示の操作盤に配置される。 The output unit 54 may be any device as long as it can display an image, an image, or the like, and is, for example, a liquid crystal display or an organic EL (Electro-Luminescence) display. The output unit 54 displays a video corresponding to the video data supplied from the control unit 55, an image corresponding to the image data, and the like. Further, the output unit 54 may be an output device that prints a video, an image, characters, or the like on a display medium such as paper. The output unit 54 is arranged together with the input unit 53 on an operation panel (not shown) in which the input unit 53 is arranged.

制御部５５は、一又は複数個のプロセッサ及びその周辺回路を有する。制御部５５は、工作機械１の全体的な動作を統括的に制御するものであり、例えば、ＣＰＵである。制御部５５は、記憶部５２に記憶されているプログラム（ドライバプログラム、オペレーティングシステムプログラム、アプリケーションプログラム等）に基づいて処理を実行する。また、制御部５５は、複数のプログラム（アプリケーションプログラム等）を並列に実行できる。 The control unit 55 includes one or more processors and peripheral circuits thereof. The control unit 55 comprehensively controls the overall operation of the machine tool 1, for example, a CPU. The control unit 55 executes processing based on a program (driver program, operating system program, application program, etc.) stored in the storage unit 52. Further, the control unit 55 can execute a plurality of programs (application programs and the like) in parallel.

制御部５５は、接合処理部５６と、滑り量演算部５７と、接合判定部５８と、異常信号出力部５９とを有する。これらの各部は、制御部５５が備えるプロセッサで実行されるプログラムにより実現される機能モジュールである。あるいは、これらの各部は、ファームウェアとして制御部５５に実装されてもよい。 The control unit 55 includes a joint processing unit 56, a slip amount calculation unit 57, a joint determination unit 58, and an abnormal signal output unit 59. Each of these units is a functional module realized by a program executed by the processor included in the control unit 55. Alternatively, each of these parts may be implemented in the control unit 55 as firmware.

（実施形態に係る工作機械による制御処理）
図４は、工作機械１により実行される制御処理のフローチャートである。図５（ａ）はＳ１０１の処理を示す図であり、図５（ｂ）はＳ１０２の処理を示す図であり、図５（ｃ）はＳ１０３の処理を示す図であり、図５（ｄ）はＳ１０４の処理を示す図である。図４及び５（ａ）～５（ｄ）に示す制御処理は、予め記憶部５２に記憶されているプログラムに基づいて、主に制御部５５により工作機械１の各要素と協働して実行される。 (Control processing by the machine tool according to the embodiment)
FIG. 4 is a flowchart of the control process executed by the machine tool 1. 5A is a diagram showing the processing of S101, FIG. 5B is a diagram showing the processing of S102, FIG. 5C is a diagram showing the processing of S103, and FIG. 5D is a diagram. Is a diagram showing the processing of S104. The control processes shown in FIGS. 4 and 5 (a) to 5 (d) are mainly executed by the control unit 55 in cooperation with each element of the machine tool 1 based on the program stored in the storage unit 52 in advance. Will be done.

まず、接合処理部５６は、第１部材Ｗ１を正面主軸１１に配置すると共に、第２部材Ｗ２を背面主軸１２に配置する（Ｓ１０１）。接合処理部５６は、正面主軸１１の軸心及び軸方向と背面主軸１２の軸心及び軸方向とを一致させるように、正面主軸１１及び背面主軸１２を移動することを正面主軸操作機構２０及び背面主軸操作機構３０を移動する駆動装置に指示する。次いで、接合処理部５６は、第１部材Ｗ１を正面主軸１１に挿入し且つ第２部材Ｗ２を背面主軸１２に挿入することをバーフィーダ１０１等に指示する。 First, the joining processing unit 56 arranges the first member W1 on the front main shaft 11 and the second member W2 on the back main shaft 12 (S101). The joining processing unit 56 moves the front spindle 11 and the back spindle 12 so that the axial center and the axial direction of the front spindle 11 and the axial center and the axial direction of the rear spindle 12 coincide with each other. Instruct the driving device to move the rear spindle operating mechanism 30. Next, the joining processing unit 56 instructs the bar feeder 101 and the like to insert the first member W1 into the front main shaft 11 and the second member W2 into the back main shaft 12.

次いで、接合処理部５６は、第１部材Ｗ１と第２部材Ｗ２との間の接合面に摩擦推力を印加する（Ｓ１０２）。接合処理部５６は、所定の摩擦回転数で第１部材Ｗ１を回転するように正面主軸操作機構２０に回転電流を供給する。正面主軸操作機構２０に回転電流が供給されることに応じて、第１部材Ｗ１は、摩擦回転数での回転を開始する。次いで、接合処理部５６は、第１部材Ｗ１を第２部材Ｗ２の方向に移動して、第１部材Ｗ１と第２部材Ｗ２との間の接合面に摩擦推力を印加する。接合処理部５６は、所定の第１移動距離を所定の第１移動速度で第１部材Ｗ１が移動するように正面主軸１１を移動する正面主軸操作機構２０に第１電流を供給する。そして、接合処理部５６は、第１部材Ｗ１と第２部材Ｗ２とが接触してから所定の摩擦時間が経過した後に、第１部材Ｗ１の回転を停止する。接合処理部５６は、正面主軸操作機構２０への回転電流の供給を停止する。正面主軸操作機構２０への回転電流の供給が停止することに応じて、第１部材Ｗ１は、回転を停止する。 Next, the joining processing unit 56 applies frictional thrust to the joining surface between the first member W1 and the second member W2 (S102). The joining processing unit 56 supplies a rotational current to the front spindle operating mechanism 20 so as to rotate the first member W1 at a predetermined frictional rotation speed. The first member W1 starts rotating at the frictional rotation speed in response to the rotation current being supplied to the front spindle operating mechanism 20. Next, the joining processing unit 56 moves the first member W1 in the direction of the second member W2, and applies frictional thrust to the joining surface between the first member W1 and the second member W2. The joining processing unit 56 supplies a first current to the front spindle operating mechanism 20 that moves the front spindle 11 so that the first member W1 moves at a predetermined first movement speed within a predetermined first movement distance. Then, the joining processing unit 56 stops the rotation of the first member W1 after a predetermined friction time has elapsed since the first member W1 and the second member W2 came into contact with each other. The joining processing unit 56 stops the supply of the rotational current to the front spindle operating mechanism 20. The first member W1 stops rotating in response to the suspension of the supply of the rotational current to the front spindle operating mechanism 20.

次いで、接合処理部５６は、第１部材Ｗ１と第２部材Ｗ２との間の接合面にアップセット推力を印加する（Ｓ１０３）。接合処理部５６は、第１部材Ｗ１を第２部材Ｗ２の方向に更に移動する。第１部材Ｗ１を移動することにより、第１部材Ｗ１は、第１部材Ｗ１と第２部材Ｗ２との間の接合面に、Ｓ１０２で示す処理で印加される摩擦推力も大きいアップセット推力を印加する。接合処理部５６は、所定の第２移動距離を所定の第２移動速度で第１部材Ｗ１が移動するように正面主軸１１を移動する正面主軸操作機構２０に第２電流を供給する。接合処理部５６は、所定のアップセット時間に亘ってアップセット推力が接合面に印加した後、正面主軸１１及び背面主軸１２を移動する駆動装置への電流供給を停止し、接合面へのアップセット推力の印加を停止する。なお、アップセット推力は、摩擦推力と同一でもよく、摩擦推力よりも小さくてもよい。また、接合処理部５６はアプセット推力の印加パラメータとして、移動距離と速度を用いたが、実施形態に係る工作機械では、アプセット推力の印加パラメータは移動距離と速度に限定されず、例えば移動距離と圧力で制御してもよい。 Next, the joining processing unit 56 applies an upset thrust to the joining surface between the first member W1 and the second member W2 (S103). The joining processing unit 56 further moves the first member W1 in the direction of the second member W2. By moving the first member W1, the first member W1 applies an upset thrust having a large frictional thrust applied in the process shown in S102 to the joint surface between the first member W1 and the second member W2. do. The joining processing unit 56 supplies a second current to the front spindle operating mechanism 20 that moves the front spindle 11 so that the first member W1 moves at a predetermined second moving speed within a predetermined second moving distance. After the upset thrust is applied to the joint surface over a predetermined upset time, the joint processing unit 56 stops the current supply to the drive device that moves the front main shaft 11 and the rear main shaft 12, and raises the current to the joint surface. Stop applying set thrust. The upset thrust may be the same as the friction thrust, or may be smaller than the friction thrust. Further, the joining processing unit 56 uses the moving distance and the speed as the application parameters of the upset thrust, but in the machine tool according to the embodiment, the application parameters of the upset thrust are not limited to the moving distance and the speed, for example, the moving distance. It may be controlled by pressure.

次いで、接合処理部５６は、接合面の周囲に形成されたバリを除去する（Ｓ１０４）。接合処理部５６は、刃物台操作機構４０に電流を供給して、刃物台１４に保持された切削工具によって接合面の周囲に形成されたバリを除去する。 Next, the joining processing unit 56 removes burrs formed around the joining surface (S104). The joining processing unit 56 supplies an electric current to the tool post operating mechanism 40 to remove burrs formed around the joint surface by the cutting tool held on the tool post 14.

次いで、滑り量演算部５７は、摩擦圧接処理における第１部材Ｗ１の滑り量である第１滑り量Ｓ１を演算する（Ｓ１０５）。第１滑り量Ｓ１は、接合処理の間の正面主軸１１の移動量と第１部材Ｗ１のＺ１方向の移動量との差である。 Next, the slip amount calculation unit 57 calculates the first slip amount S1, which is the slip amount of the first member W1 in the friction welding process (S105). The first slip amount S1 is the difference between the movement amount of the front spindle 11 during the joining process and the movement amount of the first member W1 in the Z1 direction.

図６は、Ｓ１０５の処理のより詳細な処理を示すフローチャートである。 FIG. 6 is a flowchart showing a more detailed process of the process of S105.

まず、滑り量演算部５７は、正面主軸１１のＺ１方向の移動量である主軸移動量Ｌ１を取得する（Ｓ２０１）。主軸移動量Ｌ１は、図５（ａ）に示す接合処理前の正面主軸１１の位置Ｐ１と、図５（ｄ）に示す接合処理後の正面主軸１１の位置Ｐ２との間の距離（Ｐ２－Ｐ１）である。滑り量演算部５７は、記憶部５２に記憶される移動量変換テーブルを参照して、正面主軸位置センサ２２から入力される回転データに対応する移動量を、主軸移動量Ｌ１として取得する。 First, the slip amount calculation unit 57 acquires the spindle movement amount L1, which is the movement amount of the front spindle 11 in the Z1 direction (S201). The spindle movement amount L1 is the distance (P2-) between the position P1 of the front spindle 11 before the joining process shown in FIG. 5 (a) and the position P2 of the front spindle 11 after the joining process shown in FIG. 5 (d). P1). The slip amount calculation unit 57 refers to the movement amount conversion table stored in the storage unit 52, and acquires the movement amount corresponding to the rotation data input from the front spindle position sensor 22 as the spindle movement amount L1.

次いで、滑り量演算部５７は、第１部材Ｗ１のＺ１方向の移動量である部材移動量Ｌ２を取得する（Ｓ２０２）。部材移動量Ｌ２は、図５（ａ）に示す接合処理前のフィンガーチャック１１１の位置Ｐ３と、図５（ｄ）に示す接合処理後のフィンガーチャック１１１の位置Ｐ４との間の距離（Ｐ４－Ｐ３）である。滑り量演算部５７は、記憶部５２に記憶される移動量変換テーブルを参照して、押し矢位置センサ１１４から入力される回転データに対応する移動量を、部材移動量Ｌ２として取得する。 Next, the slip amount calculation unit 57 acquires the member movement amount L2, which is the movement amount of the first member W1 in the Z1 direction (S202). The member movement amount L2 is the distance (P4-) between the position P3 of the finger chuck 111 before the joining process shown in FIG. 5A and the position P4 of the finger chuck 111 after the joining process shown in FIG. 5D. P3). The slip amount calculation unit 57 refers to the movement amount conversion table stored in the storage unit 52, and acquires the movement amount corresponding to the rotation data input from the push arrow position sensor 114 as the member movement amount L2.

次いで、滑り量演算部５７は、Ｓ２０１の処理で取得された主軸移動量Ｌ１及びＳ２０２の処理で取得された部材移動量Ｌ２に基づいて、接合処理における第１部材Ｗ１の滑り量である第１滑り量Ｓ１を演算する（Ｓ２０３）。滑り量演算部５７は、主軸移動量Ｌ１から部材移動量Ｌ２を減算して第１滑り量Ｓ１を（Ｌ１－Ｌ２）として演算する。 Next, the slip amount calculation unit 57 is the first slip amount of the first member W1 in the joining process based on the spindle movement amount L1 acquired in the process of S201 and the member movement amount L2 acquired in the process of S202. The slip amount S1 is calculated (S203). The slip amount calculation unit 57 subtracts the member movement amount L2 from the spindle movement amount L1 and calculates the first slip amount S1 as (L1-L2).

次いで、滑り量演算部５７は、摩擦圧接処理における第２部材Ｗ２の滑り量である第２滑り量Ｓ２を演算する（Ｓ１０６）。第２滑り量Ｓ２は、接合処理の間の背面主軸１２の移動量と第２部材Ｗ２のＺ２方向の移動量との差である。 Next, the slip amount calculation unit 57 calculates the second slip amount S2, which is the slip amount of the second member W2 in the friction welding process (S106). The second slip amount S2 is the difference between the amount of movement of the back surface spindle 12 during the joining process and the amount of movement of the second member W2 in the Z2 direction.

図７（ａ）はＳ１０６の処理のより詳細な処理を示すフローチャートであり、図７（ｂ）はＳ３０２の処理のより詳細な処理を示すフローチャートである。図８（ａ）はＳ４０１の処理を示す図であり、図８（ｂ）はＳ４０２の処理を示す図であり、図８（ｃ）はＳ４０３の処理を示す図であり、図８（ｄ）はＳ４０４の処理を示す図である。 FIG. 7 (a) is a flowchart showing a more detailed process of the process of S106, and FIG. 7 (b) is a flowchart showing a more detailed process of the process of S302. 8A is a diagram showing the processing of S401, FIG. 8B is a diagram showing the processing of S402, FIG. 8C is a diagram showing the processing of S403, and FIG. 8D is a diagram. Is a diagram showing the processing of S404.

まず、滑り量演算部５７は、背面主軸１２の第２チャック１２０に把持された第２部材Ｗ２の接合面の反対側の端部と第２チャック１２０の先端との間の接合処理前の距離である処理前距離Ｄ１を取得する（Ｓ３０１）。処理前距離Ｄ１は、図５（ａ）に示す接合処理前の第２部材Ｗ２の背面主軸１２に挿入された部分の長さに相当する。 First, the slip amount calculation unit 57 is the distance before the joining process between the end of the second member W2 gripped by the second chuck 120 of the rear spindle 12 on the opposite side of the joining surface and the tip of the second chuck 120. The pre-processing distance D1 is acquired (S301). The pre-treatment distance D1 corresponds to the length of the portion inserted into the back main shaft 12 of the second member W2 before the joining treatment shown in FIG. 5A.

次いで、滑り量演算部５７は、背面主軸１２の第２チャック１２０に把持された第２部材Ｗ２の接合面の反対側の端部と第２チャック１２０の先端との間の接合処理後の距離である処理後距離Ｄ２を演算する（Ｓ３０２）。 Next, the slip amount calculation unit 57 is the distance after the joining process between the end on the opposite side of the joining surface of the second member W2 gripped by the second chuck 120 of the back main shaft 12 and the tip of the second chuck 120. The processed distance D2 is calculated (S302).

処理後距離を演算するために、滑り量演算部５７は、まず、接合処理後の第２チャック１２０のＺ２方向の位置をチャック位置Ｐｃとして取得する（Ｓ４０１）。滑り量演算部５７は、記憶部５２に記憶される移動量変換テーブルを参照して、背面主軸位置センサ３２から入力される回転データに対応する移動量に、第２チャック１２０の初期位置を加算した値をチャック位置Ｐｃとして取得する。 In order to calculate the post-processing distance, the slip amount calculation unit 57 first acquires the position of the second chuck 120 after the processing in the Z2 direction as the chuck position Pc (S401). The slip amount calculation unit 57 refers to the movement amount conversion table stored in the storage unit 52, and adds the initial position of the second chuck 120 to the movement amount corresponding to the rotation data input from the rear spindle position sensor 32. The value obtained is acquired as the chuck position Pc.

次いで、滑り量演算部５７は、正面主軸１１から離隔する方向にＺ２方向又はＺ１方向に沿って背面主軸１２又は正面主軸１１を移動して、第２部材Ｗ２を背面主軸１２から引き抜く（Ｓ４０２）。滑り量演算部５７は、第２チャック操作機構３５に電流を流して第２チャック１２０を解放状態にした後に、背面主軸操作機構３０に電流を流して正面主軸１１から離隔する方向に背面主軸１２又は正面主軸１１を移動することにより、第２部材Ｗ２を背面主軸１２から引き抜く。 Next, the slip amount calculation unit 57 moves the back main shaft 12 or the front main shaft 11 along the Z2 direction or the Z1 direction in a direction away from the front main shaft 11 and pulls out the second member W2 from the back main shaft 12 (S402). .. The slip amount calculation unit 57 passes a current through the second chuck operating mechanism 35 to release the second chuck 120, and then passes a current through the rear spindle operating mechanism 30 to separate the rear spindle 12 from the front spindle 11. Alternatively, by moving the front spindle 11, the second member W2 is pulled out from the rear spindle 12.

次いで、滑り量演算部５７は、第２チャック１２０の先端が第２部材Ｗ２の接合面の反対の端部に対向するように、背面主軸１２を背面主軸１２の軸方向すなわちＺ２方向と直交するＸ２方向に移動する（Ｓ４０３）。滑り量演算部５７は、背面主軸操作機構３０に電流を流してＸ２方向に背面主軸１２を移動する。 Next, the slip amount calculation unit 57 makes the back main shaft 12 orthogonal to the axial direction of the back main shaft 12, that is, the Z2 direction so that the tip of the second chuck 120 faces the opposite end of the joint surface of the second member W2. It moves in the X2 direction (S403). The slip amount calculation unit 57 moves the rear spindle 12 in the X2 direction by passing a current through the rear spindle operating mechanism 30.

次いで、滑り量演算部５７は、正面主軸１１に近接する方向にＺ２方向又はZ1方向に沿って背面主軸１２又は正面主軸１１を移動して、第２チャック１２０の先端を第２部材Ｗ２の接合面の反対の端部に接触させる（Ｓ４０４）。滑り量演算部５７は、背面主軸操作機構３０に電流を流して、第２チャック１２０の先端が第２部材Ｗ２の接合面の反対の端部に接触するように、Ｚ２方向又はZ1方向に背面主軸１２又は正面主軸を移動する。 Next, the slip amount calculation unit 57 moves the back spindle 12 or the front spindle 11 along the Z2 direction or the Z1 direction in a direction close to the front spindle 11, and joins the tip of the second chuck 120 to the second member W2. Contact the opposite end of the surface (S404). The slip amount calculation unit 57 passes a current through the rear spindle operation mechanism 30 so that the tip of the second chuck 120 contacts the opposite end of the joint surface of the second member W2 on the back surface in the Z2 direction or the Z1 direction. Move the spindle 12 or the front spindle.

次いで、滑り量演算部５７は、第２チャック１２０の先端を第２部材Ｗ２の接合面の反対の端部に接触させたときの第２チャック１２０の位置を部材端部位置Ｐｍとして取得する（Ｓ４０５）。滑り量演算部５７は、記憶部５２に記憶される移動量変換テーブルを参照して、第２チャック１２０が第２部材Ｗ２の端部に接触するように配置された背面主軸１２の移動量に、第２チャック１２０の初期位置を加算した値を部材端部位置Ｐｍとして取得する。 Next, the slip amount calculation unit 57 acquires the position of the second chuck 120 when the tip of the second chuck 120 is brought into contact with the opposite end of the joint surface of the second member W2 as the member end position Pm ( S405). The slip amount calculation unit 57 refers to the movement amount conversion table stored in the storage unit 52, and determines the movement amount of the rear spindle 12 arranged so that the second chuck 120 comes into contact with the end portion of the second member W2. , The value obtained by adding the initial positions of the second chuck 120 is acquired as the member end position Pm.

そして、滑り量演算部５７は、Ｓ４０１で示す処理で取得したチャック位置Ｐｃ及びＳ４０５で示す処理で取得した部材端部位置Ｐｍに基づいて処理後距離Ｄ２を取得する（Ｓ４０６）。滑り量演算部５７は、チャック位置ＰｃのＺ２方向の座標から部材端部位置ＰｍのＺ２方向の座標を減算した値を処理後距離Ｄ２として取得する。 Then, the slip amount calculation unit 57 acquires the processed distance D2 based on the chuck position Pc acquired in the process shown in S401 and the member end position Pm acquired in the process shown in S405 (S406). The slip amount calculation unit 57 acquires a value obtained by subtracting the coordinates of the member end position Pm in the Z2 direction from the coordinates of the chuck position Pc in the Z2 direction as the processed distance D2.

Ｓ３０２で示す処理が終了すると、滑り量演算部５７は、Ｓ３０２で示す処理で演算された処理後距離Ｄ２及びＳ３０１で示す処理で演算された処理前距離Ｄ１に基づいて、第２滑り量として演算する（Ｓ３０３）。滑り量演算部５７は、処理後距離Ｄ２から処理前距離Ｄ１を減算して第２滑り量を演算する。 When the process indicated by S302 is completed, the slip amount calculation unit 57 calculates as a second slip amount based on the post-processing distance D2 calculated by the process indicated by S302 and the pre-process distance D1 calculated by the process indicated by S301. (S303). The slip amount calculation unit 57 calculates the second slip amount by subtracting the pre-processing distance D1 from the post-processing distance D2.

接合判定部５８は、Ｓ１０５の処理で演算された第１滑り量Ｓ１及びＳ１０６の処理で演算された第２滑り量Ｓ２に基づいて、接合処理が正常であるか否かを判定する（Ｓ１０７）。接合判定部５８は、第１滑り量Ｓ１及び第２滑り量Ｓ２の双方がゼロであるときに、接合処理が正常であると判定する（Ｓ１０７－ＹＥＳ）。また、接合判定部５８は、第１滑り量Ｓ１及び第２滑り量Ｓ２の少なくとも一方がゼロではないときに、接合処理が異常であると判定する（Ｓ１０７－ＮＯ）。 The joining determination unit 58 determines whether or not the joining process is normal based on the first slip amount S1 calculated in the process of S105 and the second slip amount S2 calculated in the process of S106 (S107). .. The joining determination unit 58 determines that the joining process is normal when both the first slip amount S1 and the second slip amount S2 are zero (S107-YES). Further, the joining determination unit 58 determines that the joining process is abnormal when at least one of the first slip amount S1 and the second slip amount S2 is not zero (S107-NO).

接合判定部５８によって接合処理が異常であると判定される（Ｓ１０７－ＮＯ）と、異常信号出力部５９は、接合処理が異常であることを示す異常信号を出力する（Ｓ１０８）。次いで、接合処理部５６は、第１部材Ｗ１と第２部材Ｗ２とを接合して形成された接合部材を引き抜く（Ｓ１０９）。接合処理部５６は、第１チャック操作機構２５及び第２チャック操作機構３５に電流を流して正面主軸１１の第１チャック１１０及び背面主軸１２の第２チャック１２０を開く。次いで、接合処理部５６は、押し矢駆動装置１１３に電流を流して、正面主軸１１から離隔する方向にＺ２方向に沿って押し矢１１２を移動して接合部材を引き抜く。バーフィーダ１０１が接合部材を引き抜くと、処理は終了する。 When the joining determination unit 58 determines that the joining process is abnormal (S107-NO), the abnormality signal output unit 59 outputs an abnormal signal indicating that the joining process is abnormal (S108). Next, the joining processing unit 56 pulls out the joining member formed by joining the first member W1 and the second member W2 (S109). The joining processing unit 56 causes a current to flow through the first chuck operating mechanism 25 and the second chuck operating mechanism 35 to open the first chuck 110 of the front spindle 11 and the second chuck 120 of the rear spindle 12. Next, the joining processing unit 56 causes a current to flow through the push arrow driving device 113 to move the push arrow 112 along the Z2 direction in a direction away from the front main shaft 11 to pull out the joining member. When the bar feeder 101 pulls out the joining member, the process ends.

接合判定部５８によって接合処理が正常であると判定する（Ｓ１０７－ＹＥＳ）と、接合処理部５６は、第１部材Ｗ１と第２部材Ｗ２とを接合して形成された接合部材を引き抜き（Ｓ１０９）、処理は終了する。 When the joining determination unit 58 determines that the joining process is normal (S107-YES), the joining processing unit 56 pulls out the joining member formed by joining the first member W1 and the second member W2 (S109). ), The process ends.

（実施形態に係る工作機械の作用効果）
工作機械１は、第１部材Ｗ１及び第２部材Ｗ２の何れか一方の接合処理の間に滑りが発生したときに接合処理が異常であると判定する。工作機械１は、接合処理の間に発生する滑りに基づいて接合不良の有無を判定することで、摩擦推力及びアップセット推力又は寄り代？の少なくとも一方が不十分であることにより発生する接合不良を有する接合部材を不良品として選別することができる。 (Operational effect of machine tool according to the embodiment)
The machine tool 1 determines that the joining process is abnormal when slippage occurs during the joining process of either the first member W1 or the second member W2. The machine tool 1 determines whether or not there is a joining defect based on the slip generated during the joining process, so that the friction thrust and the upset thrust or the deviation margin? A joining member having a joining defect caused by insufficient at least one of the above can be selected as a defective product.

また、工作機械１は、接合処理の間の第１チャック１１０と第１部材Ｗ１との移動量の差、及び第２チャック１２０と第２部材Ｗ２との移動量の差から第１滑り量Ｓ１及び第２滑り量Ｓ２を演算するので、第１滑り量Ｓ１及び第２滑り量Ｓ２を高精度で演算できる。 Further, the machine tool 1 has a first slip amount S1 from the difference in the amount of movement between the first chuck 110 and the first member W1 during the joining process and the difference in the amount of movement between the second chuck 120 and the second member W2. And since the second slip amount S2 is calculated, the first slip amount S1 and the second slip amount S2 can be calculated with high accuracy.

また、工作機械１は、本来旋盤等の工作機械に搭載されていない主軸及び部材の位置を検出する位置センサ等の装置を新たに工作機械に搭載することなく、摩擦圧接接合において部材と把持部との間で滑りが発生したか否かを検出することができる。 Further, the machine tool 1 does not newly mount a device such as a position sensor for detecting the positions of the spindle and the member, which is not originally mounted on the machine tool such as a lathe, on the machine tool, and the member and the grip portion in friction welding. It is possible to detect whether or not slip has occurred between and.

（実施形態に係る工作機械の変形例）
工作機械１は、第１チャック１１０と第１部材Ｗ１との移動量の差、及び第２チャック１２０と第２部材Ｗ２との移動量の差の双方から演算された第１滑り量Ｓ１及び第２滑り量Ｓ２の双方に基づいて接合処理が正常であるか否かを判定する。しかしながら、実施形態に係る工作機械は、第１滑り量Ｓ１及び第２滑り量Ｓ２の何れか一方に基づいて接合処理が正常であるか否かを判定してもよい。 (Modification example of machine tool according to the embodiment)
The machine tool 1 has a first slip amount S1 and a first slip amount calculated from both the difference in the amount of movement between the first chuck 110 and the first member W1 and the difference in the amount of movement between the second chuck 120 and the second member W2. 2 It is determined whether or not the joining process is normal based on both of the slip amounts S2. However, the machine tool according to the embodiment may determine whether or not the joining process is normal based on either the first slip amount S1 or the second slip amount S2.

また、工作機械１は、第１チャック１１０と第１部材Ｗ１との移動量の差（変位差）、及び第２チャック１２０と第２部材Ｗ２との移動量の差（変位差）から第１滑り量Ｓ１及び第２滑り量Ｓ２を演算する。しかしながら、実施形態に係る工作機械は、第１チャック１１０と第１部材Ｗ１との変位差、及び第２チャック１２０と第２部材Ｗ２との変位差に関連する移動量以外のパラメータから接合処理の間に滑りが発生したか否かを判定してもよい。 Further, the machine tool 1 is first from the difference in the amount of movement between the first chuck 110 and the first member W1 (displacement difference) and the difference in the amount of movement between the second chuck 120 and the second member W2 (displacement difference). The slip amount S1 and the second slip amount S2 are calculated. However, the machine tool according to the embodiment is subjected to the joining process from parameters other than the displacement difference between the first chuck 110 and the first member W1 and the displacement difference between the second chuck 120 and the second member W2. It may be determined whether or not slippage has occurred in the meantime.

例えば、実施形態に係る工作機械は、第１チャック１１０と第１部材Ｗ１との速度の差、及び第２チャック１２０と第２部材Ｗ２との速度の差から接合処理の間に滑りが発生したか否かを判定してもよい。また、第１チャック１１０と第１部材Ｗ１との加速度の差、及び第２チャック１２０と第２部材Ｗ２との加速度の差から接合処理の間に滑りが発生したか否かを判定してもよい。 For example, in the machine tool according to the embodiment, slippage occurs during the joining process due to the difference in speed between the first chuck 110 and the first member W1 and the difference in speed between the second chuck 120 and the second member W2. It may be determined whether or not. Further, even if it is determined from the difference in acceleration between the first chuck 110 and the first member W1 and the difference in acceleration between the second chuck 120 and the second member W2 whether or not slip has occurred during the joining process. good.

実施形態に係る工作機械は、チャックと部材との速度又は加速度の差が所定の判定しきい値よりも大きくなったときに、接合処理の間に滑りが発生したと判定することができる。実施形態に係る工作機械は、チャックと部材との速度又は加速度の差に基づいて滑りの有無を判定して接合不良を検知することで、接合処理中に接合不良を検知することができる。実施形態に係る工作機械は、接合処理中に接合処理の異常を検出し、接合不良が発生する可能性が高い接合処理を早急に中止することができる。 The machine tool according to the embodiment can determine that slippage has occurred during the joining process when the difference in speed or acceleration between the chuck and the member becomes larger than a predetermined determination threshold value. The machine tool according to the embodiment can detect a joining defect during the joining process by determining the presence or absence of slippage based on the difference in speed or acceleration between the chuck and the member and detecting the joining defect. The machine tool according to the embodiment can detect an abnormality in the joining process during the joining process and can immediately stop the joining process in which a joining defect is likely to occur.

また、工作機械１は、押し矢位置センサ１１４を使用して部材移動量Ｌ２を取得するが、実施形態に係る工作機械は、他の手段を使用して部材移動量Ｌ２を取得してもよい。例えば、実施形態に係る工作機械は、レーザ位置センサ及び接触式位置センサ等の位置センサを使用して部材移動量Ｌ２を取得してもよい。 Further, the machine tool 1 acquires the member movement amount L2 by using the push arrow position sensor 114, but the machine tool according to the embodiment may acquire the member movement amount L2 by using other means. .. For example, the machine tool according to the embodiment may acquire the member movement amount L2 by using a position sensor such as a laser position sensor and a contact type position sensor.

また、工作機械１では、処理前距離Ｄ１は記憶部５２に記憶されるが、実施形態に係る工作機械は、処理後距離Ｄ２と同様に第２部材Ｗ２と第２チャック１２０とを接触させて取得されるパラメータを使用して処理前距離Ｄ１を演算してもよい。 Further, in the machine tool 1, the pre-processing distance D1 is stored in the storage unit 52, but in the machine tool according to the embodiment, the second member W2 and the second chuck 120 are brought into contact with each other as in the post-processing distance D2. The pre-processing distance D1 may be calculated using the acquired parameters.

また、工作機械１は、第２チャック１２０の先端を使用して処理後距離Ｄ２を演算するが、実施形態に係る工作機械は、第２チャック１２０の先端以外の平滑面を基準面工具１４０処理後距離Ｄ２を演算してもよい。例えば、実施形態に係る工作機械は、突っ切りバイト等の工具１４０の平滑面を基準面として使用して処理後距離Ｄ２を演算してもよい。 Further, the machine tool 1 calculates the post-processing distance D2 using the tip of the second chuck 120, but the machine tool according to the embodiment processes a smooth surface other than the tip of the second chuck 120 as a reference surface tool 140. The rear distance D2 may be calculated. For example, the machine tool according to the embodiment may calculate the processed distance D2 by using the smooth surface of the tool 140 such as a parting tool as a reference surface.

また、工作機械１は、第１滑り量Ｓ１及び第２滑り量Ｓ２の少なくとも一方がゼロではないときに、接合処理が異常であると判定する。しかしながら、実施形態に係る工作機械は、第１滑り量Ｓ１及び第２滑り量Ｓ２の少なくとも一方が所定のしきい値よりも大きいときに、接合処理が異常であると判定してもよい。 Further, the machine tool 1 determines that the joining process is abnormal when at least one of the first slip amount S1 and the second slip amount S2 is not zero. However, the machine tool according to the embodiment may determine that the joining process is abnormal when at least one of the first slip amount S1 and the second slip amount S2 is larger than a predetermined threshold value.

また、工作機械１は、接合処理の処理全体に亘る滑り量である第１滑り量Ｓ１及び第２滑り量Ｓ２に基づいて接合処理の異常の有無を判定する。しかしながら、実施形態に係る工作機械は、アップセット推力が押下する間に発生する滑り量に基づいて接合処理の異常の有無を判定してもよい。 Further, the machine tool 1 determines whether or not there is an abnormality in the joining process based on the first slip amount S1 and the second slip amount S2, which are the slip amounts over the entire joining process. However, the machine tool according to the embodiment may determine the presence or absence of an abnormality in the joining process based on the amount of slip generated while the upset thrust is pressed.

また、工作機械１は、ガイドブッシュ装置１３を有するが、実施形態に係る工作機械は、ガイドブッシュ装置を有さなくてもよい。 Further, although the machine tool 1 has a guide bush device 13, the machine tool according to the embodiment does not have to have a guide bush device.

また、工作機械１は、摩擦推力を印加するときに第１部材Ｗ１を回転するが、実施形態に係る工作機械は、摩擦推力を印加するときに第２部材Ｗ２を回転してもよく、第１部材Ｗ１及び第２部材Ｗ２の双方を回転してもよい。また、工作機械１は、摩擦推力及びアップセット推力を印加するときに第１部材Ｗ１を移動するが、実施形態に係る工作機械は、摩擦推力及びアップセット推力を印加するときに第２部材Ｗ２を移動してもよく、第１部材Ｗ１及び第２部材Ｗ２の双方を移動してもよい。 Further, the machine tool 1 rotates the first member W1 when the frictional thrust is applied, but the machine tool according to the embodiment may rotate the second member W2 when the frictional thrust is applied. Both the 1st member W1 and the 2nd member W2 may be rotated. Further, the machine tool 1 moves the first member W1 when the friction thrust and the upset thrust are applied, but the machine tool according to the embodiment moves the second member W2 when the friction thrust and the upset thrust are applied. May be moved, or both the first member W1 and the second member W2 may be moved.

また、工作機械１では、第２部材Ｗ２は、背面主軸１２に把持されるが、実施形態に係る工作機械は、背面主軸１２を有することなく、クランプ等の第２部材Ｗ２を固定可能な装置を有していればよい。 Further, in the machine tool 1, the second member W2 is gripped by the back spindle 12, but the machine tool according to the embodiment is a device capable of fixing the second member W2 such as a clamp without having the back spindle 12. It suffices to have.

１ 工作機械
１１ 正面主軸
１２ 背面主軸
５０ ＮＣ装置（制御装置） 1 Machine tool 11 Front spindle 12 Back spindle 50 NC device (control device)

Claims (7)

第１主軸に回動可能に接続され、第１部材を把持可能な第１把持部と、
第２部材を把持可能な第２把持部と、
前記第１主軸を制御して、前記第１部材と前記第２部材とを摩擦圧接接合する接合処理を実行する制御装置と、を有し、
前記制御装置は、前記接合処理の間に前記第１部材と第１把持部との間及び前記第２部材と第２把持部の間の少なくとも一方に発生する滑りに基づいて前記接合処理が正常であるか否かを判定し、前記接合処理が異常であると判定したときに、異常信号を出力する、ことを特徴とする工作機械。 A first gripping portion that is rotatably connected to the first spindle and is capable of gripping the first member,
A second gripping part that can grip the second member,
It has a control device that controls the first spindle and executes a joining process of friction welding the first member and the second member.
In the control device, the joining process is normal based on the slip generated between the first member and the first grip portion and between the second member and the second grip portion during the joining process. A machine tool characterized in that it determines whether or not the machine tool is abnormal, and outputs an abnormal signal when it is determined that the joining process is abnormal. 前記接合処理が正常であるか否かを判定する処理は、前記接合処理の間の前記第１把持部と前記第１部材との変位差に関するパラメータ、及び前記第２把持部と前記第２部材との変位差に関するパラメータの少なくとも一方から、前記接合処理の間に滑りが発生したか否かを判定する処理を含む、請求項１に記載の工作機械。 The process of determining whether or not the joining process is normal includes parameters related to the displacement difference between the first grip portion and the first member during the joining process, and the second grip portion and the second member. The machine tool according to claim 1, further comprising a process of determining whether or not slip has occurred during the joining process from at least one of the parameters relating to the displacement difference between the machine tool and the machine tool. 前記接合処理が正常であるか否かを判定する処理は、
前記接合処理の前後の前記第１主軸の移動量である主軸移動量を取得し、
前記接合処理の前後の前記第１部材の移動量である部材移動量を取得し、
前記主軸移動量及び前記部材移動量に基づいて、前記接合処理における第１部材の滑り量である第１滑り量を演算し、
前記第１滑り量に基づいて前記接合処理が正常であるか否かを判定する、
処理を含む、請求項２に記載の工作機械。 The process of determining whether or not the joining process is normal is
The spindle movement amount, which is the movement amount of the first spindle before and after the joining process, is acquired.
The member movement amount, which is the movement amount of the first member before and after the joining process, is acquired.
Based on the spindle movement amount and the member movement amount, the first slip amount, which is the slip amount of the first member in the joining process, is calculated.
It is determined whether or not the joining process is normal based on the first slip amount.
The machine tool according to claim 2, which includes processing. 前記接合処理が正常であるか否かを判定する処理は、
前記第２把持部に把持された前記第２部材の端部と前記第２把持部との間の前記接合処理前の距離である処理前距離を取得し、
前記第２把持部に把持された前記第２部材の端部と前記第２把持部との間の前記接合処理後の距離である処理後距離を演算し、
前記処理前距離及び前記処理後距離に基づいて、前記接合処理における第２部材の滑り量である第２滑り量を演算し、
前記第２滑り量に基づいて前記接合処理が正常であるか否かを判定する、
処理を含む、請求項２又は３に記載の工作機械。 The process of determining whether or not the joining process is normal is
The pre-processing distance, which is the distance before the joining process, between the end portion of the second member gripped by the second grip portion and the second grip portion is acquired.
The post-processing distance, which is the post-bonding distance between the end of the second member gripped by the second grip and the second grip, is calculated.
Based on the pre-treatment distance and the post-treatment distance, the second slip amount, which is the slip amount of the second member in the joining process, is calculated.
It is determined whether or not the joining process is normal based on the second slip amount.
The machine tool according to claim 2 or 3, which includes processing. 前記第２把持部は、第２主軸に回動可能に接続され、
前記処理後距離を演算する処理は、
前記接合処理後の前記第２把持部の位置である把持部位置を取得し、
前記第２部材を前記第２主軸から引き抜き、
前記第２主軸を前記第２主軸の軸方向と直交する方向に移動し、
前記第１主軸に近接する方向に前記第２主軸の軸方向に沿って前記第２主軸又は第１主軸を移動して、第２把持部を前記第２部材に接触させ、
第２把持部を前記第２部材に接触させたときの第２把持部の位置である部材端部位置を取得し、
前記把持部位置及び前記部材端部位置に基づいて処理後距離を取得する、
処理を含む、請求項４に記載の工作機械。 The second grip portion is rotatably connected to the second spindle and is connected to the second spindle.
The process of calculating the post-process distance is
The position of the grip portion, which is the position of the second grip portion after the joining process, is acquired.
The second member is pulled out from the second spindle,
The second spindle is moved in a direction orthogonal to the axial direction of the second spindle, and the second spindle is moved in a direction orthogonal to the axial direction of the second spindle.
The second spindle or the first spindle is moved along the axial direction of the second spindle in a direction close to the first spindle to bring the second grip portion into contact with the second member.
The position of the end of the member, which is the position of the second grip when the second grip is brought into contact with the second member, is acquired.
The processed distance is acquired based on the grip portion position and the member end portion position.
The machine tool according to claim 4, which includes processing. 第１主軸に回動可能に接続され、第１部材を把持可能な第１把持部と、
第２部材を把持可能な第２把持部と、
を有する工作機械の制御方法であって、
前記第１主軸を制御して、前記第１部材と前記第２部材とを摩擦圧接接合する接合処理を実行し、
前記接合処理の間に前記第１部材と前記第１把持部との間及び前記第２部材と前記第２把持部との間の少なくとも一方に発生する滑りに基づいて前記接合処理が正常であるか否かを判定し、
前記接合処理が異常であると判定したときに、異常信号を出力する、
ことを含む、ことを特徴とする工作機械の制御方法。 A first gripping portion that is rotatably connected to the first spindle and is capable of gripping the first member,
A second gripping part that can grip the second member,
It is a control method of a machine tool that has
By controlling the first spindle, a joining process of friction welding the first member and the second member is executed.
The joining process is normal based on the slip that occurs between the first member and the first grip portion and between the second member and the second grip portion during the joining process. Judge whether or not
When it is determined that the joining process is abnormal, an abnormal signal is output.
A method of controlling a machine tool, including that. 第１主軸に回動可能に接続され、第１部材を把持可能な第１把持部と、
第２部材を把持可能な第２把持部と、
を有する工作機械の制御プログラムであって、
前記第１主軸を制御して、前記第１部材と前記第２部材とを摩擦圧接接合する接合処理を実行し、
前記接合処理の間に前記第１部材と前記第１把持部との間及び前記第２部材と前記第２把持部との間の少なくとも一方に発生する滑りに基づいて前記接合処理が正常であるか否かを判定し、
前記接合処理が異常であると判定したときに、異常信号を出力する、
処理をコンピュータに実行させる、ことを特徴とする工作機械の制御プログラム。 A first gripping portion that is rotatably connected to the first spindle and is capable of gripping the first member,
A second gripping part that can grip the second member,
Is a machine tool control program that has
By controlling the first spindle, a joining process of friction welding the first member and the second member is executed.
The joining process is normal based on the slip that occurs between the first member and the first grip portion and between the second member and the second grip portion during the joining process. Judge whether or not
When it is determined that the joining process is abnormal, an abnormal signal is output.
A machine tool control program characterized by having a computer perform processing.

Images