JPH0457652A - Machine Tools - Google Patents

Abstract

PURPOSE:To make a non-working time as short as possible for performing efficiently a working operation by monitoring a specified detecting position of a feed mechanism detected by a limit switch and a feed operating position detected by a feed operating position detecting means to simultaneously carry out the feed operation and auxiliary functional operation. CONSTITUTION:While an operation of returning to the origin of Z axis from a working region, operation of stopping a spindle at a fixed position, operation of moving down Z axis and operation of rotating the spindle are performed respectively in parallel, a part of the operation of returning to the Z axis origin, a part of the operation of moving up Z axis and a part of the operation of returning to the Z axis origin, a part of the operation of moving down Z axis are respectively duplicatively performed. At the same time, the feed operation position of a spindle head 24 is always monitored to perform respective auxiliary functional operations together with the ON operations of respective first and second limit switches 102, 104. Thus, wrong operations in performing the operations of the various auxiliary functions can be prevented and non-working time can be effectively shortened.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to an automatic tool exchange type machine tool using a numerical control method, and more specifically, to a tool that can shorten non-cutting time as much as possible. This relates to the improvement of machine tools using an automatic exchange type numerical control system.

[Conventional technology]

Conventionally, in machine tools that have adopted this type of automatic tool exchange type numerical control system, - various tool exchange operations that are performed in conjunction with machining operations such as boat fishing.

Various auxiliary function operations, including starting and stopping operations of the rotating spindle, and other operations, are performed while the machining operations are interrupted at appropriate times.

These auxiliary function operations include not only relatively short operations such as coolant on/off operations, feed shaft clamping and unclamping operations, but also various tool exchange operations. Some operations, such as motion, require a relatively long operation time.

Here, as an example of a tool changing device that performs the above-mentioned various tool changing operations, Japanese Patent Laid-Open No. 63-267136 discloses a device that uses a cam mechanism to change tools by raising and lowering the spindle head. The technical means to achieve this are disclosed.

In other words, in this conventional automatic tool exchange type numerically controlled machine tool, the tool exchange device is located within the movement area of the spindle head and has a machining area where machining is performed on the workpiece, and a machining area where the workpiece is machined. An ATC area in which tools are exchanged is set in advance, and a cam mechanism is operated in accordance with the reciprocating movement of the spindle head in the ATC area.
According to a predetermined operating program, the tool magazine is indexed and rotated to automatically perform various tool exchanges, so the operation time required for indexing and rotating the tool magazine is completely reduced here. This is non-processing time.

[Problem to be solved by the invention] In the conventional machine tool with the above configuration, in this case,
At least, the time required for indexing and rotating the tool magazine in the ATC area where tools are exchanged is all set as non-machining time, and the non-machining time can be reduced by, for example, increasing the speed of each related mechanical element. Although it is possible to shorten the time to some extent, there will still be unavoidable non-processing time, and on the other hand, it is also necessary to consider safety, workability, etc., so in practice The problem was that it was impossible to significantly shorten the non-processing time.

This invention was made in order to improve such conventional problems, and its purpose is to index and rotate the tool magazine during tool exchange operation, start/stop operation of the rotating spindle, etc. Regarding each auxiliary function operation,
After the operation of each auxiliary function starts, the feed operation and the auxiliary function operation are performed simultaneously while monitoring the position of the feed mechanism, as long as it does not interfere with the safety of the work, to minimize non-processing time as much as possible. This shortened the time and made processing work more efficient. The purpose is to provide this kind of machine tool.

[Means for Solving the Problems] In order to achieve the above object, the machine tool according to the present invention has various functions including the feed operation of the feed mechanism, the start/stop operation of the rotation drive device, the exchange operation of the tool change device, etc. In order to operate the auxiliary functions, by monitoring the specific detection position of the feed mechanism detected by the position detection limit switch and the feed operation position constantly detected by the feed operation position detection means, the various auxiliary functions can be activated. In addition to preventing malfunctions during execution of the operation, the non-processing time can be shortened.

In other words, the present invention includes a rotating main shaft on which a plurality of types of tools can be individually mounted, a rotational drive device that imparts rotational operation at a required speed to the rotating main shaft, and a rotating shaft on which a workpiece is placed and the mounting is fixed. a work table, a feed mechanism for moving the rotating spindle in a three-dimensional direction relative to the work table, and a plurality of types of tools prepared in advance corresponding to the locations to be machined on the workpiece. a tool changing device that sequentially replaces and attaches each of the above to the rotating main shaft as prescribed, a feeding operation of the feeding mechanism and a starting/stopping operation of the rotary drive device based on information programmed in advance; C for individually controlling the operations of various auxiliary functions including the exchanging operation of the tool changing device;
a numerical control device having a PU; an auxiliary function operation command means for instructing the start of operation of the auxiliary function regardless of whether before or after the completion of operation of the feed mechanism; , a position detection limit switch that detects a specific position of the feed mechanism and outputs a signal permitting execution of the operation of the auxiliary function; and an output position storage means for storing the output position of the operation execution permission signal by the limit switch. , a feed operation position detection means for always detecting the feed operation position of the feed mechanism, the output position is stored in the output position storage means, and the detected position by the feed operation position detection means is at the cpυ. The machine tool is characterized in that a command from the auxiliary function activation command means is executed when the position information matches pre-stored position information.

[For production]

Therefore, in the machine tool of the present invention configured as described above, the output positions of the operation execution permission signals of various auxiliary functions are stored in the output position storage means, and the positions detected by the feed operation position detection means are stored in the output position storage means. In order to execute the command of the auxiliary function activation command means when the position information matches the position information stored in advance in the CPU, it is possible to activate the various auxiliary functions without completing the operation of the feed mechanism. As a result, the non-processing time can be effectively shortened.

〔Example〕

Hereinafter, the first embodiment of the machine tool according to the present invention will be described.
This will be explained in detail with reference to FIGS. 17 to 17.

FIG. 1 shows the general configuration of an automatic tool changer to which an embodiment of the present invention is applied, and FIGS. 2 to 6 show detailed configurations of the main parts of the same device. 7(a) to i) sequentially show the operation mode of the tool changing mechanism in the above device, and FIG. 8 shows the movement of the spindle head and the operation of each component in the same device. This shows the correspondence relationship.

First, based on each of FIGS. 1 to 8, an overview of each component block of this machine tool and an outline of the action corresponding to each component block will be described in detail.

As shown in FIG. 1, a machine tool equipped with an automatic tool changer basically consists of a frame 1 fixed to a vertical column 10.
2, the main spindle head 2 is configured to be able to reciprocate in two axial directions (vertical direction, hereinafter the same shall apply) by means of a feed mechanism.
4, and a tool magazine 66 that is disposed on the frame 12 via a magazine support stand 58 and that enables rotational indexing of a plurality of various tools held.

That is, a guide rail 14 is formed on the frame 2, and the spindle head 24 is arranged above the frame 12 via a pair of linear guides 16, 16 arranged in a vertical relationship. The main spindle head 2
4, a feed nut I8 is fixed at an appropriate position, and the feed nut 18 is fixed to a rotatable ball screw shaft 20 supported in parallel along the guide rail 14.
are screwed together to constitute a feeding mechanism for the spindle head 24 here.

Therefore, here, by controlling rotational drive of the ball screw shaft 20 in both forward and reverse directions by the Z-axis motor 22,
With respect to the spindle head 24, each of these feed nuts 1
8. and the guide rail 1 of the main spindle head 24 under the screw advance and retreat action based on the screw engagement of the ball screw shaft 20.
4 in the Z-axis direction, and by measuring the number of rotations of the Z-axis motor 22, the spindle head 24° and the feed operation position of the rotating spindle, which will be described below, are constantly detected. I can do it.

Further, inside the spindle head 24, a tool holding portion (tapered catching hole) 42 that opens downward at the lower end portion is provided.
A rotary main shaft 40 is vertically rotatably mounted, and the rotary main shaft 40 is connected to an output shaft of a main shaft motor (tool drive motor) 36 disposed above the frame 12 through a coupling 38. The main shaft motor 36 is connected to the main shaft motor 36 to rotate the main shaft motor 36.

Furthermore, for the tool holding section 42 of the rotating main shaft 40, each tool holder 48, which will be described later, is held in the tool magazine 66. Here, the arbor 52 on the proximal end side of each tool holder 48, to which various necessary tools 50 are removably attached to the distal end thereof, can be selectively inserted and removably inserted.

To this end, on the one hand, each of said selected tool holders 4
8 into the tool holding portion 42, the pull stud 54 provided on the holder 48 is inserted into the main shaft 4.
The holder is held (clamped) by a holder holding member 44 provided in the main shaft 40, and on the other hand, using a drawbar 46 inserted coaxially into the center hole of the main rotating shaft 40, the holder is held as described below. By pressing the clamping member 44, the clamping of the pull stud 54 by the holder clamping member 44 is released (unclamped).
In this way, the tool holder 48 relative to the tool holder 42
It becomes possible to insert and remove the parts.

The spindle head 24 is provided with a crank lever 30 as one means for clamping and unclamping a tool holder 48 that is inserted into and removed from the tool holder 42 . The cam mechanism (26, 28,
34) is provided.

That is, at the required position of the spindle head 24,
A bell-crank-shaped crank lever 30 is swingably supported by a pivot shaft 32, and the tip of one short lever portion 30a of the crank lever 30 is connected to the rotation main shaft 4o. A plate cam having the shape shown in the figure, which is capable of pressing engagement with the bin 56 of the drawbar 46 that projects horizontally and laterally from slit openings formed at key points, and which is fixed to the other elongated lever portion 30b. 28 is positioned on its movement locus, the Z-axis motor 2
The roller-like cam follower 26 provided on the side of the roller 2 can be brought into contact with and released from the roller-shaped cam follower 26 . Then, by constantly biasing the crank lever 30 in the clockwise direction by the tension coil spring 34 stretched between the long lever portion 30b of the crank lever 30 and the main parts of the spindle head 24,
Bin 56 by the tip of the short lever portion 30a. As a result, the pressing force of the drawbar 46 is restrained and its action can be released.

Here, when the spindle head 24 rises as the Z-axis motor 22 rotates, the plate cam 28 provided on the crank lever 30 is placed at a fixed position during the rising process. It comes into contact with the cam follower 26 to generate a cam action, and on the crank lever 30,
A counterclockwise operation is applied around the pivot shaft 32 against the biasing force of the tension coil spring 34, thereby causing the short lever portion 30a to move toward the pin 5 of the drawbar 46.
6 is pressed downward to urge the holder holding member 44 through the draw bar 46, and the tool holder 48
2. Release the clamp on the pull stud 54.

<(3), Magazine Description) The tool magazine 66 holding the plurality of various tools is a rotation indexing mechanism for each tool having the following configurations.

and a detection mechanism for the rotation indexing operation area, and a rotation prohibited area detection mechanism for prohibiting rotation of the rotation main shaft 40 during the rotation indexing operation.

That is, the magazine support stand 58 fixed to the frame 12 is provided with a support shaft 60 oriented diagonally downward to the left at a position adjacent to the vertical movement area of the spindle head 24. A magazine base 64 having the shape shown in the figure is rotatably supported via each bearing 62, and this magazine base 64 has a plurality of individual tools (hereinafter referred to as Each of the grip arms 82 (10 in this case) is arranged so as to be swingable in the radial direction at a required angular interval pitch (therefore, here, a pitch interval of every 36°) by a pivot shaft 84.

As shown in FIG. 2, an indexing disk 80 centered on the support shaft 60 is fixed to the magazine base 64 by bolts 79, and the indexing disk 80 is attached to the proximal end surface of the indexing disk 80. Corresponding to each grip arm 82, roller-shaped cam followers 78 are pivotally supported, occupying the same number and the same angularly spaced pitch positions.

Further, as shown in FIG. 6, which is a view taken in the direction of arrow C in FIG. A drive shaft 70 is coupled to the output shaft 69 of the magazine motor 68 via a coupling 71, and a pair of left and right bevel gears 72 are fixed to the lower end of the drive shaft 70. Bevel gears 74 on a rotating shaft 75 which are horizontally supported via bearings 73 and 73 are engaged with each other.

Furthermore, each of the cam followers 7 is mounted on the front rotating shaft 75.
A barrel cam 76 is provided having cam grooves 76a, 76a formed in a required cam shape so that the cams 8 can be driven intermittently at one pitch interval, and each of the cam grooves 76a,
76a is engaged between each cam follower 78, and the drive shaft 70. As the rotating shaft 75 rotates, the cam grooves 76a, 76a of the barrel cam 76 sequentially intermittently drive each cam follower 78 (here, 10 pieces) at 1 pitch intervals to provide the magazine base 64 with the desired indexing effect. can now be granted.

Grip arm 8 indexed by the rotary indexing mechanism
2 and a tool delivery mechanism that swings and drives the grip arm 82 for delivery of the tool holder 48 are configured as follows.

That is, FIG. 2 and A in FIG.

As shown in FIGS. 3 and 4, which are views taken in both directions, the magazine base 64, which constitutes a part of the tool magazine 66, has individual Each clevis (10 in this case) 81 is provided respectively, as shown in FIG.

As is clear from FIG. 4, for each of these clevises 81, each of the grip arms (grip portions) 82 each having the shape shown in the figure is oriented in a radial direction via the pivot shaft &4. Moreover, it is pivotally supported so that it can freely swing, with the free end on the distal end facing outward in the radial direction.

Further, at the free end of each grip arm 82 on the distal side side, a bifurcated portion 83.83 is formed with a size that can grip the corresponding gripping portion of the tool holder 48, and each of these bifurcated portions 83. Blind holes 83a, 83a are bored on the inside of each of the .83 facing each other.
Support pins 98 and 98, which are always elastically biased in the projecting direction by compression coil springs 99 and 99, are telescopically inserted into the blind holes 83a and 83a, respectively.

Here, the bifurcated portions 83.83 of each grip arm 82 are connected to the corresponding gripping portions of the tool holder 48.
By aligning with the shaped groove 48a (FIG. 1),
Each pair of support bins 98 and 98 fit into the V-shaped groove 48.
a is held from both sides and is engaged and abutted in the same ■-shaped groove 48a, and each support pin 98.98 is biased by a compression coil spring 99.99. In this state, the tool holder 48 is gripped.

On the other hand, as is clear from the above-mentioned FIGS. 2 to 5, a dead-end hole 82a facing inward is formed at the proximal free end of each grip arm 82. In the hole 82a, in the same manner as described above, a position regulating steel ball 9o which is always elastically biased in the protruding direction by a compression coil spring 92 is extensibly inserted, and a part of the surface thereof is turned outward. It stands out.

Further, the boss portion 64a of the magazine base 64 has a vertical cross-sectional shape formed into an arcuate concave surface (concave shape) with the pivot shaft 84 serving as the pivot point of each grip arm 82 as the center. A grip support collar 8 is provided around the guide surface 88a and a notch groove 88b on one end of the magazine base 64 side corresponding to the insertion position of the tool holder 48 with respect to the tool holder 42.
8 is externally fixed and is in the indexing standby state, each grip arm 82 is in the indexing standby state by engaging the steel ball 90 at its proximal free end with the notch groove 88b. Stably maintained.

Further, as shown in FIG. 5, each grip arm 82 has a roller-shaped first roller at a portion of the distal end thereof, sandwiching the pivot shaft 84 serving as the pivot point.
A cam follower 94 and a second cam follower 96 having a similar roller shape are rotatably supported on a portion of the proximal end thereof, with the cam followers 94 distributed on both left and right sides.

As shown in FIG. 1, a compound cam body 86 is fixed vertically at a position facing the tool magazine 66 on the vertical surface of the spindle head 24, and The cam body 86 is formed with a first cam surface 86a and a second cam surface 1116b, which are distributed to the left and right, respectively.
a and 86b are the index positions of the desired tool holder 48 in the tool magazine 66 (the tool holding portion 4 of the rotating main shaft 40).
The grip arm 82 is indexed in correspondence with the position 2).

Here, the first. Each of the second cam followers 94,96, as will be described later with reference to FIGS. 7 and 8, moves the compound cam within a required lifting range of the spindle head 24 centered on the operating origin zO of the device. The first part formed in the body 86
．． The position is set so that it can be slid in contact with each of the second cam surfaces 86a and 86b, and by moving the spindle head 24 up and down in the Z-axis direction, the first cam follower 94 is moved under the conditions described later. is regulated by the first cam surface 86a, and the second cam follower 96 is regulated by the second cam surface 86b, and each grip arm 82 is regulated about the pivot shaft 84 under the corresponding cam action. , each of the eleventh and second cam surfaces 86a, 86b in advance
At this time, the steel balls 90 at the proximal free end of each grip arm 82 engage with the notch groove 88b provided around the grip support collar 88. It separates from the guide surface 88a and moves along the guide surface 88a.

The second limit switch 104 is configured to be able to detect the rotation drive prohibited area of the rotating spindle 40 in the RAD 24, and the spindle head 24 is set near the rising end of the ATC area of the tool. The rotationally indexable area of the magazine 66 can be detected.

As shown in FIG. 1, the spindle head 24
In the rear protruding portion 24A of the first dog 1o1., the first dog 1o1. and second dog 1
03 are fixed at predetermined positions, and the first dogs 101 .
A first limit switch 102.8 and a second limit switch 104, which are operated to close by the second dog 103, are fixed respectively.

The first limit switch 102 continues to be turned on when the spindle head 24 rises to the rotational drive prohibited area on the column lo, and furthermore to the ATC area to be described later. Regarding the operation of the automatic tool changer configured as described above, Fig. 7(a)
3. ) and Figure 8 (a), (b),
This will be explained with reference to (c).

Here, the main spindle head 24 and the compound cam body 86 fixed thereto in the vertical direction are moved up and down in the Z-axis direction, but the tool magazine 66 itself is moved up and down in a preset position on the frame 12. held in place;
The magazine base 64 is only indexed and rotated intermittently.

Figure 7(a) to i), and Figure 8(a),
(b).

(C) shows the operating origin (20), which is the operating reference position of the spindle head 24, and a position that almost coincides with the operating origin (ZO) (ZO=0. Here, the numerical value 0 represents "mm" as 1
The origin position (ZO.0) as a unit (hereinafter referred to in the same manner) is clearly indicated for each.

In addition, the work table surface (Z-450) corresponding to the operating origin (20) and the work table surface (Z-450) below the origin position (20.0) is covered by the necessary tools 50 that are replaced and mounted on the spindle head 24. This is the machining area where the workpiece 91 is machined, and similarly, the operating origin (ZO
), the part corresponding to above the origin position (20.0) is the so-called ATC area part where the necessary tools 50 are replaced with respect to the spindle head 24, and Position near the rising end (213
8) here corresponds to the position where the tool magazine 66 in the spindle head 24 can be indexed and rotated.

The fact that the spindle head 24 has risen and entered the ATC area means that the first dog 10
1 is detected when the first limit switch 102 is turned on by the second dog 103, and the fact that the tool magazine 66 has reached the indexable rotatable position is detected when the second limit switch 104 is turned on by the second dog 103. Furthermore, in this case, the spindle head 24. Furthermore, the feed operation position of the rotating main shaft 40 over the entire feed stroke range is constantly detected by measuring the number of rotations, rotation angle, etc. of the Z-axis motor 22 using, for example, an encoder and outputting the measured values as feedback.

FIG. 7(a) shows a state in which a target workpiece 91 is being cut using a required tool 50 mounted on the spindle head 24 in the processing area.

That is, in this machining state, the lower shaft end of the rotating main shaft 40 is located below the operating origin (20) and the origin position (zO.0), and the grip arm 82
The first cam follower 94 provided in the composite cam body 87 is located at the top of the corresponding first cam surface 86a, and the second cam follower 96 is located at the top of the corresponding second cam surface S6b. located at the bottom of the cam surface,
The bifurcated portion 83 of the grip arm 82 is attached to the spindle head 24.
It is held at the position farthest from the left, fully swung clockwise. In other words, the bifurcated portion 83 is attached to a specific tool holder 4 attached to the tool holding portion 42 of the rotating main shaft 40.
Therefore, the spindle head 24 can lower and cut the workpiece 91 without interfering with the tool magazine 66, and the required cutting can be smoothly performed.

FIG. 7(b) shows a state in which the spindle head 24 has been raised to a position that almost coincides with the operating origin (20) in the machining area, and here, the rotating spindle 40 is in the orientation (spindle This is the state where the workpiece front return operation (2) shown in FIGS. 8(b) and (C) has been completed, and the return to the origin + main spindle orientation operation (93) is about to be completed.

In this state, the first grip arm 82 is
The cam follower 94 is positioned slightly downward from the top of the cam surface of the first cam surface 86a, and the second cam follower 96 is also positioned slightly upward from the bottom of the cam surface of the second cam surface 86b. grip arm 82
is slightly rotated counterclockwise about the pivot shaft 84, and due to this rotation, the grip arm 8
A pair of support bins 98 provided at the bifurcated portion 83 of 2
．． 98 is adjacent to the horizontally located V-shaped groove 48a formed in the largest diameter gripping portion of the tool holder 48 in order to coincide with this V-shaped groove 48a.

At this point, each of the pair of support pins 98, 98 of the bifurcated portion 83 is not yet engaged with the ■-shaped groove 48a of the tool holder 48, and therefore, if necessary, the tool 50 can be used to process the target workpiece 91. Here, the first cam surface 86a of the composite cam body 87
Regarding each cam shape on the second cam surface 86b, each support bin 98.
98 is set so that it can follow the movement of the V-shaped groove 48a.

FIG. 7(c) shows that the spindle head 24 enters the ATC area from the processing area, the first limit switch 102 is turned on, and the spindle rotation is prohibited, and initially, from the operating origin (20), For example, distance @ (Z=15~20)(
(215-20 in FIG. 8(a), the same applies hereinafter), the grip arm 82 is actuated counterclockwise, and each support bin 98,98 is moved again to the tool holder 48.
After contacting the ■-shaped groove 48a, the figure shows a state where the tool has risen by, for example, a distance (Z・30) from the operating origin (zO), and the tool magazine division in FIGS. It is in the process of raising the position to the position where it can be taken out ■.

That is, in the process of the main shaft head 24 rising to this position, the plate cam 28 of the crank lever 30 comes into contact with the cam follower 26 (FIG. 1), and the crank lever 30 is affected by the biasing force of the tension coil spring 34. At the same time, the first cam surface 86a and the second cam surface 86b of the composite cam body 87 start rotating counterclockwise, and the first cam follower 94. and the second cam follower 96 to follow the grip arm 82.
is further swung counterclockwise, whereby the pair of support bins 98 and 98 provided on the bifurcated portion 83 of the grip arm 82 move to follow the V-shaped groove 48a of the tool holder 48. , the center line (C) of the main shaft 40 is moved backward against the biasing force of the compression coil springs 99, 99.
It will be placed at the top.

At the same time, at this point, the short lever portion 30a of the crank lever 30 begins to push down the pin 56 provided on the drawbar 46, and the pull stud 54 of the tool holder 48 starts to be released from being held by the holder holding member 44. do.

FIG. 7(d) shows that the spindle head 24 is at the operating origin (ZO).
), for example, it is shown that it has been raised by a distance (Z・50), and here it is also in the process of raising positioning operation ■ to the position where the tool magazine can be indexed as shown in FIGS. 8(b) and (c). .

Immediately before this state is reached, the crank lever 30 has completely oscillated by an amount corresponding to a predetermined setting range, and has finished unclamping the tool holder 48, and the grip arm 82 is , each second cam surface 8
6a, 86b, and the corresponding 1st.
Under the cam action of the second cam followers 94 and 96, the steel ball 90 of the grip arm 82 is moved further counterclockwise to the notch groove 8 of the grip support collar 88.
8b and is engaged, stably held in this state and the operation is completed.

At this point, the pair of support pins 98 and 98 provided on the bifurcated portion 83 of the grip arm 82 are depressed and engaged with the ■-shaped grooves 48a of the tool holder 48, and the grip arm 82 The tool holder 48 is completely gripped by the rotating main shaft 40, and then the removal movement of the tool holder 48 from the rotating main shaft 40 is started.

FIG. 7(e) shows that the spindle head 24 is at the operating origin (ZO).
), for example, by a distance (Z=138), and the second limit switch 104 is turned on,
The tool magazine is in a position where it can be indexed.

As the spindle head 24 rises from the position shown in FIG. 7(b), the tool holder 4 attached to the rotating spindle 40
8 remains gripped by the grip arm 82, thereby completing the removal of the tool holder 48 (transfer from the spindle head 24 to the tool magazine 66), and the spindle head 24 is raised in this way. At a position where the tool magazine can be indexed (set in the slave RAM of the slave CPU, which will be described later), the second limit switch 104 is on, and the feedback output such as the number of rotations of the Z-axis motor 22 indicates the position. Under the condition that the magazine motor 68 is rotationally driven (Fig. 8 (
b), (C), the indexing rotation of the index disk 80 is executed under the cam action of the barrel cam 76 and the cam follower 78, and will be described separately later. Like X axis, Y axis.

and a work table with each B-axis motor.

As a result, the next processing location of the workpiece is positioned.

FIG. 7(f) shows that, due to the indexing rotation of the indexing disc 80, another grip arm 82 gripping the tool holder 48 to be used next moves onto the rotating spindle 4 in the spindle head 24.
The tool 50 to be used next is shown in a standby position, being positioned directly below the tool holding portion 42 of No. 0 and on its center line (C).

To attach this newly prepared tool holder 48 to the tool holder 42 of the rotating spindle 40, the Z-axis motor 22 is driven to rotate in the opposite direction, and the spindle head 24 is lowered (see FIG. 8). b) Corresponds to the process of return-to-origin operation (2) in (c), and is carried out here by turning off the second limit switch 104.

FIG. 7(g) shows that the spindle head 24 is at the operating origin (ZO).
), for example, to a position at a distance (Z=50), and here similarly, FIG.
) and (C) are in the process of return-to-origin operation (■).

By lowering the spindle head 24, the newly indexed arbor 52 of the tool holder 48 is automatically inserted into the tool holding portion 42 of the spindle 40. Here, the above-mentioned FIG. 7 (e
) and (f), the grip arm 82
1st. Each second cam follower 94,96 is connected to the first cam follower 94,96 of the corresponding composite cam body 86. 2nd each cam surface &6
a and 86b, but the state shown in FIG. 7(g) has been reached, and the first. Each second cam follower 94.96 again.

Corresponding 1st. The release operation of the grip arm 82 is started by contacting the second cam surfaces 86a, 86b.

That is, the grip arm 82 starts to swing clockwise about the pivot shaft 84, and each of the pair of support bins 98 provided at the bifurcated portion 83 of the grip arm 82 starts to swing clockwise about the pivot shaft 84.
．． 98 operates following the movement of the ■-shaped groove 48a in the tool holder 48. Then, the spindle head 24 is
For example, when descending to a distance (Z=47), the plate cam 28, which had hitherto been in contact with the cam follower 26 to swing the crank lever 30 counterclockwise,
(Fig. 1) starts to escape from the cam follower 26,
The holder clamping member 44 starts clamping the tool holder 48 using the pull stud 54 .

FIG. 7(h) shows that the spindle head 24 is at the operating origin (ZO).
) is further lowered to a position of distance (Z = 30), and similarly here, in Fig. 8(b) and (c), the return-to-home operation ■ It's in the process.

In this position, the plate cam 28 of the crank lever 30 is completely separated from the cam follower 26, and as a result of this operation, the holder clamping member 44 of the rotating main shaft 40 clamps the pull stud 54 of the tool holder 48, and the clamping operation is completed. .

Further, the grip arm 82 has the first grip arm 82. Each second cam follower 94.96 has a corresponding first and second cam follower.
Under the cam action of the cam surfaces 86a and 86b, the steel ball 90 at the end of the arm engages the notch groove 8 of the grip support collar 88.
8b, and swinging movement in the clockwise direction becomes possible.

FIG. 7(i) shows a state in which the spindle head 24 has been further lowered to match the operating origin (zO) (20·0), and here, FIG. 8(b), (C ) The return-to-home operation ■ is completed.

In this position, the grip arm 82 is attached to the rotation main shaft 4.
The spindle head 24 is completely detached from the tool holder 48 inserted and held in the tool holder 42 of No. 8(b) and (c), the first limit switch 102 is turned off) and the grip arm 82 is As shown in FIG. 7(a), the spindle is further separated from the spindle head 24, and the positioning operation ■ of rotating the spindle toward the front of the workpiece in FIGS. 8(b) and (c) is completed. Thereafter, the next cutting process on the intended workpiece becomes possible.

Note that the time charts shown in FIGS. 8(a), (b), and (c) indicate the stroke position of the spindle head 24 in the vertical axis direction (Z-axis position) for the tool exchange operation by each of the cam mechanisms described above. The operation timings of the mutually related members are shown by taking the operation time in the horizontal axis direction.

<(7), h plate XI) FIG. 9 is a functional block diagram showing a control device for a machine tool equipped with an automatic tool changer having each of the above configurations.

In the configuration shown in FIG. 9, the control device 110 includes a microcomputer, including a master CPU 111 for controlling the entire device, and a slave CPU 111 for controlling the workpiece 91. C.P.
The CPU 112 and the ATC unit CPU 113 mainly control tool exchange.

The master P tJ 111 includes a master partial ROM 114 that stores programs and constants for operating the control device 111 itself as a memory device, and a first master partial RA that temporarily stores variables, flags, etc. during control execution. M 115 and a second master section RAM 116 that stores a machine program for instructing the replacement timing of the various tools 50 and each tool 50 to be used for machining the workpiece 91. The first and second master part R
Both A M 115 and 116 are backed up even when the power is turned off.

The slave CPU 112 includes a slave ROM 117 that stores a motor drive program and constants for workpiece machining, and temporarily stores variables and flags during workpiece machining control. Slave unit RA that stores the tool magazine index rotation position in response to feedback output such as rotation speed
M 118 are connected to each other, and slave R
AM11.8 is backed up even when the power is turned off.

The Ar1 section CPU 113 includes an ATC section R that stores a magazine rotation program for tool exchange, constants, etc.
The OM 119 and an ATC RAM 120 that temporarily stores variables, flags, etc. during execution of tool change control are connected to each other, and the ATC RAM 120 is backed up even when the power is turned off.

In addition, the mask-CPU 111 and the slave cpU
112, there is an MS for exchanging commands from the master CPU [2 to the slave CPU 112, signals in the opposite direction, and other information].
An inter-MS common RAM 121 is connected, and information is written to and read from both the master CPU 111 and slave CPU 112 in the inter-MS common RAM 121.

The master CPU 111 and ATC@fsC
Between the master CPU 113 and the master CPU 1
An inter-MA common RAM 122 for exchanging commands from the ATC unit CPU 113 to the ATC unit CPU 113, signals in the opposite direction, and other information is connected, and as in the case of the inter-MS common RAM 121, Information is written to and read from both the master CPU III and the ATC CPU 113 in the inter-MA common RAM 122.

Furthermore, a keyboard 123 for creating and inputting a Canadian program, etc., and a CRT 124 for displaying the created Canadian program, etc. on a monitor are connected to the master CPU III.

Subsequently, for the slave CPU 112, an X-axis motor 125 for controllingly moving the work table itself in the X-axis direction (for example, horizontally to the left) and an X-axis motor 125 for controllingly moving the work table itself in the Y-axis direction (for example, , a Y-axis motor 126 for controlling movement in the horizontal right direction), a B-axis motor 127 for controlling the rotation of the work table in the horizontal plane of the X and Y axes, and a controlled lifting and lowering operation of the spindle head 24. a Z-axis motor 22 for rotating the rotating main shaft 40, a main shaft motor 36 for rotating the rotating main shaft 40, and a first limit switch 102 for detecting a rotation prohibited area of the rotating main shaft 40. and the tool magazine 66
A second limit switch 104 for detecting the index rotation position is connected to each of them, and this slave CPU 112 controls and drives each of these. Machining is performed on the workpiece 91 using each predetermined tool 50 .

The slave CP TJ 112 is also connected to the limit switch 102 for detecting the spindle rotation prohibited area and the tool magazine rotation possible area, and the spindle head 24 is connected above the operating origin (ZO). When the spindle head 24 is raised to the ATC area, the spindle head 24 is in the spindle rotation prohibited area.

and informs that the tool magazine is located in the rotatable area.

Furthermore, the magazine motor 68 is connected to the ATC unit CPU 113, and the ATC unit CPU 113 controls and drives the magazine motor 68 to rotate the tool magazine 66 and execute a predetermined program. Based on this, the 5° angle of each tool to be selected and used is then determined.

Next, FIG. 10 is a diagram showing a memory configuration of an inter-MS common RAM 121 that exchanges information between the master CPU 111 and slave CPU 112.

In the configuration of the memory area in FIG. 10, various flags are stored in memory areas 151 to 155, and various flags are stored in memory areas 156 to 162.
Data of command values given from the master CPU III to the slave CPU 112 are stored, and an area 165
to 168 store data to be transmitted from the slave CPU 112 to the master CPU 111.

Here, each of the above-mentioned memory areas will be described in more detail.

The relevant area 151 is an execution start flag 5TARTF that commands the start of a machining operation.

When processing the workpiece 91, the master C
From P U 111 to this memory area 151,
By writing information “1”, the slave CPU
112 starts executing the machining operation while referring to other pieces of information.

The corresponding area 152 between the two sides is an execution end flag ENDF that indicates the end of the machining operation.

When the machining operation started by the execution start flag 5TARTJ (151) is completed, the slave CP
U112 stores information “1” in this memory area 152.
” and also write the master CPU II
Notify I of the end of machining operation.

Z Meng Yu 11u fell The area 153 is a cutting mode flag CUTJ.

In this cutting operation, the master CPU II
By writing information "1" from I to this memory area 153, the axis movement becomes cutting mode [GO1], and by writing information "0", it becomes positioning mode [GOO].

Then, in the positioning mode [GOO], the slave CPU 112 raises the execution end flag ENDJ (152) after the axis movement is completely completed, and in contrast, in the cutting mode [GOll], the slave CPU 112 raises the execution end flag ENDJ (152) after the axis movement is completely completed. At the start, the execution end flag ENDJ (1, 52) is raised to enable acceptance of the next axis movement.

%(-Month 1 phantom) The area 154 is a tap operation flag TAPJ.

In this tap operation, the master CPU
From II, information “1” is sent to this memory area 154.
Write.

The area 155 is the spindle operation flag SPCMDF.

During the rotation operation of the rotating main shaft 40, information "1" is written from the master CPU 111 to this memory area 1.55, and information "2" is written during the orientation operation.

Memory 156-15g Each area 156-159 has an X-axis movement command value XCMDJ, a Y-axis movement command value YCMD-V, and Z.
Axis movement command value ZCMDJ and B-axis movement command value BCM
I'm a DJ.

When issuing an axis movement command, the master CPU III writes distance data to be moved in incremental amounts to each of these memory areas 156 to 159.

Each of the regions 160 to 162 is a spindle rotation command value SPCMIjV, a movement command speed FEED-V, and a tap command pitch PITCHJ.

Each of the regions 165 to 168 is the current X-axis position xpos-v, the y-axis current position ypos-v, the z-axis current position zpas-v, and the B-axis current position BPOS, respectively.
-There is Vte.

Each of these current position data 165 to 168 is sequentially updated by the slave CPU 112 as the axis movement operation is executed.

Here, the data settings in the inter-MS common RAM 121 are made to allow as many combined operations as possible.

Next, FIG. 11 shows the master CPU III and the ATC
M that exchanges information with the department CPU 113
It is a figure which shows the memory structure of A common RAM 122.

The area 171 is the execution start flag ASTARTJ.

When starting execution here, the master CPU 111 writes information "1" to this memory area 171, so that the AT CW= CPU 113 executes the machining operation while referring to other information. Start.

A Tenyu 11u each other The area 172 is an execution end flag AENDj.

When the operation started by the previous execution start flag ASTARTJ (171) is completed, the ATC unit CPU 11
3 writes information "1" into this memory area 172 to notify the master CPU 111 of the end of the machining operation.

The relevant area 173 is the tool magazine rotating pot number APO
It is TV.

The master CPU III uses this memory area! 73, write the magazine pot number of the tool 50 to be used next, and write the magazine pot number of the tool 50 to be used next, and to the ATC section CPU 113,
The index position of the tool magazine 66 in the next tool exchange operation is notified.

<(8), Operation of control device) Next, the operation of the control device with the above configuration will be described.

In this control device, each of workpiece machining control and tool exchange control is performed by the master CPU as described above.
Executed based on instructions from III.

The master CPU 111 reads out the machine program input from the keyboard 123 and stored in the second master partial RAM 116 one operation at a time, and if the read information is related to workpiece machining, the slave Common R between MSs with CPU 112
This information for AM 121.

In other words, command data is written. Then, the slave C
The PU 112 reads the written command data and operates the two-axis motor 22. X-axis motor 125. Y-axis motor 1
26. Then, the amount of movement of each corresponding part due to each rotational drive of the B-axis motor 127 and the rotation speed of the rotating main shaft 4o are determined respectively, and the corresponding workpiece machining control is executed.

In addition, if the read information includes tool exchange, the inter-MS common RA between the slave CPU 112 and
M 121. This command data is written to both the MA common RAM 122 between the CPU 113 and the ATC unit CPU 113. Therefore, as a result, in the slave CPU 112, these Z-axis motors 22
．． X-axis motor! 25. Y-axis motor 126. The B-axis motor 127 and the spindle motor 36 of the rotary spindle 40 are each controlled to rotate and control the feed of the spindle head 24 during machining and tool exchange, and ATC@l'
At 5cPUl13, the magazine motor 68 of the tool magazine 66 is rotationally controlled to perform tool exchange control.

FIG. 12 is a flowchart schematically showing the outline of tool exchange control, and regarding the tool exchange control, FIG. 8(b),
This will be explained with reference to (c) as well.

In the flow of tool exchange control shown in FIG. 12,
First of all, when the workpiece machining operation 201 immediately before the tool change command in the machining area is completed, the Z-axis return-to-origin operation 202 is immediately started, and the spindle head 24 is raised toward the ATC area, and the workpiece 91 is When the current machining tool 50 is separated from the workpiece location, the spindle fixed position stop operation (orientation operation of the rotating spindle 40) 203 is executed without waiting for the completion of the two-axis return-to-origin operation 202. (This corresponds to the pre-work return operation ■ in FIGS. 8(b) and 8(c)).

Furthermore, the rotational deceleration operation of the rotary main shaft 40 just before the completion of the operation in the two-axis laminar point return operation 202 and the upward acceleration operation of the main spindle head 24 in the Z-axis upper blade movement operation 204 which is the subsequent (operation) are performed. It is executed redundantly (Figure 8 (
b) and (C), the spindle head 24 continues to rise toward the ATC area without stopping at the operating origin (ZO) (Fig. 8(b)). ).

This corresponds to the process of positioning the tool magazine to the position where it can be indexed in (c).

Subsequently, the spindle head 24 enters the ATC area and the first
When the dog 101 turns on the first limit switch 102 to stop the rotation of the rotating spindle 40 (corresponding to the spindle rotation prohibited area), when the tool magazine rotation position near the rising end is reached. , the second dog 103 turns on the second limit switch 104,
It is detected that the magazine has reached the indexable rotation area (FIG. 8(b)).

Corresponding to the completion of the positioning operation (■) to the position where the tool magazine can be indexed in (C)), the magazine indexing operation 20
5 is started (corresponding to the tool magazine indexing rotation ■ in FIGS. 8(b) and 8(c)), the tool magazine 66 is rotated by the magazine motor 68, and the processing tool 50 to be used next is rotated. At the same time, during the magazine indexing operation 205, the X-axis, ! 3 and Y-axis movement of work table in each direction 2
06 is executed in parallel, and this work table, and by extension the next workpiece location on the workpiece 91 on the worktable, is moved to the processing position and positioned.

Furthermore, when the rotational indexing in the tool magazine 66 is completed (corresponding to the completion of the tool magazine indexing rotation ■ in FIGS. 8(b) and (C)), the Z-axis layer point return from the ATC area is completed. Operation 207 is started (Fig. 8(b),(C)
(corresponding to the start of the return-to-home operation ■), the second
limit switch 104 is turned off, and the spindle head 24
is lowered to the processing area side, and the deceleration operation upon completion of the Z-axis laminar point return operation 207 and the acceleration operation of the next Z-axis downward movement operation 208 are executed in duplicate ( (corresponding to the completion of the return-to-origin operation ■ in FIGS. 8(b) and (c)), and the spindle head 24 does not stop at the operating origin (zO) but descends toward the machining area (see FIG. 8). (b).

(corresponds to the start of the workpiece pre-positioning Senshu axis rotation operation ■ in (c)).

At this time, when the spindle head 24 enters the processing area (
Workpiece front positioning + in Fig. 8(b) and (C)
The first limit switch 102 is turned off (corresponding to the process of spindle rotation operation 2), and on condition that this first limit switch 102 is turned off, the spindle rotation operation 209 is started in parallel (corresponding to the process of spindle rotation operation 2). This corresponds to the completion of the workpiece pre-positioning Senshu axis rotation operation ■ in Figures 8 (b) and (C)).

Then, the spindle head 2 during each tool exchange operation here.
The feed operation position of No. 4 is constantly monitored by the number of rotations of the Z-axis motor 22, etc. In conjunction with turning on the second limit switches 102 and 104, each auxiliary function is operated.

That is, the desired tool exchange operation is executed in this manner, and thereafter, the required machining operation 210 for the workpiece 91 is started in accordance with the next command.

As described above, in the machine tool according to the configuration of this embodiment, the Z-axis layer point return operation 202 from the machining area and the main spindle fixed position stopping operation 203. The Z-axis downward movement operation 208 and the spindle rotation operation 209 are executed in parallel, and a part of the Z-axis laminar point return operation 202, a part of the two-axis upward movement operation 204, and the Z-axis laminar point return operation are executed in parallel. Since a part of 207 and a part of Z-axis downward movement operation 208 are each executed redundantly, the time required for tool exchange can be reduced. At the same time, the feed operation position of the spindle head 24 is constantly monitored, and the
．． In order to operate each of these auxiliary functions in conjunction with turning on each of the second limit switches 102 and 104,
Not only is there no risk of malfunction due to each of the limit switches 102 and 104, but even if the output timing of each auxiliary function is within the specific range of the feed operation, the feed operation can be executed without stopping, which makes it more convenient. This makes it possible to further reduce time.

<(9) Substantive Processing in Control Device) Substantive processing in the control device 110 for realizing the above control operation will be described.

FIG. 13 is an explanatory diagram showing an example of a cutting program during a tool exchange operation.

In the Canadian program shown in FIG. 13, following a series of machining commands 220, first a Z-axis layer point return command [G2
8Z], and rotating spindle orientation command [O
RI] composite command 221 is programmed.

Next, a tool change command [TO7] and a work table (7) positioning command [GOOX100Y50] (7
) A composite command 222 is programmed, in which tool pot No. 7 is selected as the next tool to be used.

Furthermore, a composite command 223 of a positioning command [GOOZ-501] for making the Z-axis correspond to the next machining position and a rotation command [5PN4000] for the rotary spindle is programmed, and a series of ninth-order machining commands 224 are programmed. programmed sequentially.

Further, FIG. 14 is a flowchart showing the operation processing in the master CPU 111.

In the flowchart shown in FIG.
When the program starts, first, in step 5T-301, the machine program is read out one operation command at a time.
At T-302, the type of operation of the cannibal program read out is determined.

Then, when the said cannibal program is an independent action command, the process proceeds to step 5T-311 and subsequent steps, the type of independent action is determined in each of these steps 5T-311 to 315, and step 5T of each individual action process is performed. -3
21 to 325 are executed.

That is, for example, if step 5T-321 is a positioning command [GOO], positioning movement processing is performed,
If step 5T-322 is feed command [GO1],
Cutting movement processing is performed, and if step 5T-323 is a tap movement command [G77], tap movement processing is performed, and step 5T-324 is an auxiliary signal command [M co
If del, signal output processing is performed and step 5
If T-325 is the program end command [M30],
Program termination processing is performed.

Here, each of these processes 5T-321 to 325 is
This is performed by the master CPU III writing a command consisting of necessary flags and data to the inter-MS common RAM 121, and in the master CPU 111, the slave CPU 112 writes a command consisting of the inter-MS common RAM 121.
The process waits until the execution end flag END-F (152) is set at step 121, and then proceeds to the next step 5T-303.

On the other hand, if the Canadian program read in step 5T-302 is a compound operation command, step 5T
-331 and below, each of these steps 5T-331
In steps ST-335, the type of composite motion is determined, and steps ST-341 to ST-344 of the respective composite motion processing are executed.

That is, for example, step 5T-341 is tool exchange,
and positioning compound command [TnnJOO],
As described above, tool exchange processing by moving the spindle head 24 in the ATC region and indexing of the magazine 66, and positioning and movement processing of the work table are performed respectively, and step 5T-342 performs positioning and spindle rotation processing. Composite command [GOQ If it is 5PNI, the positioning and spindle rotation processes are performed separately as described above, and step 5T-343 is the composite command [GOQ 5PNI] of Z-axis layer point return and rotating spindle orientation. In the case of G28Z-ORIJ, the two-axis origin return and rotational spindle orientation processes are performed separately here as described above.

Here, for each of these processes 341 to 344, the master CPU 111 uses the inter-MS common RAM.
121. This is done by writing a command consisting of necessary flags and data to the common RAM 122 between MAs.
Waiting for the execution end flag εNDJ (152) to be set in the inter-MS common RAM 121 by U112, and also, the ATC unit CPU 113 setting the inter-MA common RAM
The process waits until the execution end flag AENDj (172) is set at step 122, and then proceeds to the next step 5T-303.

Then, in step 5T-303, it is determined whether or not all the Canadian programs have been completed. If not, the above process is repeated, and if they have been completed, step 5
The process advances to T-304 to end the operation process.

Therefore, in the Canadian program shown in FIG. 13, first, the command 221 executes the composite operation process [G28Z-ORII] of the two motion source point return and rotational spindle orientation in step 5T-343, and then the command 222, the tool exchange and positioning complex operation processing [Tnn-GO(
l] are respectively executed, and furthermore, according to the command 223, the positioning, J3 and spindle rotation composite operation processing [GO(jSPN]) of step 5T-342 is executed respectively.

Here, each of these processes 343.341. and 342
The details are described below.

FIG. 15 is a flowchart showing details of the Z-axis laminar point return and spindle orientation composite operation process [G28ZJRI] in step 5T-343, that is, the program 221 here.

In step 5T-343, composite operation processing [G
When 28Z-ORII starts, first, step 5T
-401te is the 2-axis movement command value ZCMD-V (15g
) is set in the inter-MS common RAM 121. Regarding the 2-axis movement command value ZCMDJ (15g), the 2-axis layer point position (20) unique to the device is
Z-axis current position ZPO3J stored in M121 (
167) value (ZCMIjV= 20- ZPO
3J).

Further, in step 5T-402, it is determined whether or not the biaxial layer point return here is for tool exchange.

This judgment is made in the Canadian program 2 that is executed subsequently.
The judgment is made based on whether or not there is a tool change command [Tnn] in Step 22. If the judgment result is for tool change, the process advances to step 5T-403 and the cutting mode flag CUTJ is set.
(153) is set to information "1".

On the other hand, if this is not for tool replacement, step 5T-
Proceed to 404 and set the cutting mode flag CUTJ (153)
is set to information "0". Therefore, for this reason, the normal two-source point return operation is executed in the positioning mode (Goo), but the Z
As far as the axial layer point return operation is concerned, this is the cutting mode (GOI).
) will be executed.

After that, in step 5T-405, the spindle operation flag SP
Information "2" is set in CMDj (160), the spindle orientation is commanded, and the preparation for this operation is completed.

Next, in step 5T-406, the execution start flag 5TARTJ (151) is set to information "l", and execution of the commanded operation to the slave CPU 112 is started, and in step 5T-407, the execution is ended. Waiting for the flag ENDJ (152) to be set by the slave CPU 112, this slave CPU 1
12, when the two operations of spindle orientation and Z-axis return to origin are completed, the execution end flag END is set.
J (152) is set to information "1".

At this time, since the cutting mode flag CUTJ (153) was set to information "1" in step 5T-403, the slave CPU 112 does not wait for the spindle head 24 to reach the operating origin position (zO). At the same time as the deceleration operation starts immediately before reaching the home position, the execution end flag ENDJ (152) is set to the information "1" as described above, and the execution end flag ENDJ (152) is set to the information "1".
The next step 5T-408 is set to
Proceed to.

That is, in this way, the Z-axis layer point return and main axis orientation processing 343 are completed.

FIG. 16 shows the tool exchange in step 5T-341,
and positioning complex operation processing [TnnJOO], that is, here is a flowchart showing details of the program 222.

In this case, the process 341 consists of three phases (I) to III). Here, the first
The phase (I) is a process of moving the spindle head 24 to the magazine rotatable position, here the rising end (Z=138), and the second phase (ff) is a process of indexing and rotating the tool magazine 66. processing and work table positioning processing, and the third phase (III) is processing for positioning the spindle head 24.
This is the process of returning to the operating origin (201).

In step 5T-341, the composite operation process [T
When the nn-GQOI is started, first, the first phase (I) processing is started, and in step 5T-511,
Z-axis movement command value Z to the rotatable position of the tool magazine 66
(: MDJ (15g) is set. The Z-axis movement command value ZCMDJ (15g) is Z-axis layer point position < 20)
l)> This is a value unique to the machine tool device up to the vicinity of the rising end of the Z-axis, and in this case, it is set to "Z=131+".

Then, in step ST-512, the execution start flag 5T is set.
Set the information "l" in ARTJ (151), make the slave CPU 112 start moving on the Z axis, and proceed to step S.
At T-513, the process of the first phase (1) is ended by 1 or more waiting for the execution end flag END-F (152) to be set to "l", and then the process of the second phase (ff
).

In this second phase (II), step 5T-52
1, first, the pot number commanded by the machine program 222 is written into the magazine rotation pot number APOT-V (173) of the MA common RAM 122.

For example, in the case of the Canadian program 222 shown in FIG. 13, the pot number is set to "07".

Next, in step 5T-522, the X-axis movement command value XC
Set MDJ (156) and step 5T-523
TE, set the Y-axis movement command value YCMD-V (157). Here, each of these movement command values is calculated from the commanded coordinates X100-Y2O of the Canadian program 222, to the
Current position of Y axis XPOS-V (165), YPO3-V
It is easily calculated by subtracting (166).

In this way, the operation preparation is completed, and step 5T-5
24, the execution start flag AS of the RAM 122 common between MAs
TARTJ (171) and common RAM between MS
Both execution start flags 5TARTj (121) of 21 are set to information "1", and the ATC unit CPU 113. and causes the slave CPU 112 to start executing the process. Then, in steps 5T-525 and 526, the processing of each of these CPUs 122 and 121 is completed,
Execution end flag AENDJ (172) and END-
Wait until F (152) is set to "1". The processing of the second phase (rl) is thus completed, and then the third phase (rl) is completed.
The process moves to phase (m).

In this third phase (III), step 5T-5
31, first, the two-axis movement command value ZCMDJ (158) for returning the spindle head 24 to the origin position (20)
Set. The relevant two-axis movement command value ZCMD ~ V (15
8) is a value unique to the machine tool device from the vicinity of the rising end of the spindle head 24 to the two-axis operation origin (20), as described above, and in this case, Z is the reciprocal of the above-mentioned value.
= −138″′. Also, step 5T
-532 Te, set the cutting mode flag CUT-F (153) to information "1". Therefore, the return to the Z-axis layer point position (zO) here is performed in the cutting mode [GO1].

Then, in step 5T-533, the execution start flag 5T
ARTJ (151) is set to the information "B", and the slave CPU 112 starts processing, and in step 5T-
At 534, the execution end flag ENDj (152) is “1”
Wait until it becomes. Also, here, the cutting mode flag CU
Since TJ (153) is set to information "1",
Immediately before the spindle head 24 reaches the biaxial layer point position (20), the deceleration operation is started, and at the same time, the execution end flag ENDJ (152) is set to "1", and the execution end flag ENDJ (152) is set to "1". When becomes "1", the process advances to the next step 5T-535.

That is, in this way, the third phase here (
III) is completed, and in this way each phase (
I) The tool exchange and positioning process 341 using the relay (III) are all completed.

FIG. 17 shows the positioning in step 5T-342;
and spindle rotation compound motion processing [GOOJPN], that is, here is a flowchart showing details of the program 223.

In step 5T-342, the composite operation process [G
When OJSPNl is started, first, step 5T-6
At 01, the two-axis movement command value Z(:MD-V(158)) is set according to the command from the cannibal program 223, and
Step 5T-602 Te, spindle rotation command value SPCMD-
V(160) is set, and further, step 5T-6
At step 03, information "1" is set in the spindle operation flag SPCMDJ (155) to support clockwise rotation, and the preparation here ends.

Then, in step 5T-604, the execution start flag 5T is set.
Information "1" is set in ARTJ (151), and the slave CPU 112 is commanded to start operation. and,
At step 5T-605, the execution processing flag ENDJ (1
52) becomes "1", and then set the relevant execution processing flag E.
When NDJ (152) becomes "1", the process advances to the next step 5T-606.

That is, in this way, the Z-axis position method and main shaft rotation processing 342 are completed.

As described above, all processing of the cannibal programs 221 to 223 shown in FIG. from the machining area to the ATC area without stopping or decelerating.
In order to move the tool from one processing area to another, the tool change time required, for example, was 5.4 sec in the conventional apparatus, but it was able to be shortened to 4.0 sec in this embodiment apparatus.

In the above-mentioned embodiment, the first .
A second respective limit switch was used, but instead of this,
For example, the Z-axis current position data stored in the RAM common to MSs is used to detect the spindle rotation prohibited area and the tool magazine indexable position through processing in the slave CPU. Of course, so-called soft limit means may be used.

[Effects of the Invention] As detailed above, according to the machine tool of the present invention, various auxiliary functions including the feed operation of the feed mechanism, the start/stop operation of the single rotation drive device, the exchange operation of the tool exchange device, etc. In order to execute the operation, the specific detection position of the feed mechanism detected by the position detection limit switch and the feed operation position constantly detected by the feed operation position detection means are monitored. On the other hand, the output positions of the operation execution permission signals of various auxiliary functions are stored, and the positions detected by the feed operation position detection means are stored in the CPU.
When the position information matches the position information stored in advance in the auxiliary function, the command of the auxiliary function operation command means can be executed, thereby preventing malfunctions when activating various auxiliary functions, and also preventing the completion of the operation of the feed mechanism. It is possible to operate the various auxiliary functions without any trouble, and as a result,
An excellent feature is that the non-processing time can be effectively shortened.

[Brief explanation of the drawing]

The drawings show a machine tool to which an embodiment of the present invention is applied, and FIG. 1 is a vertical cross-sectional view mainly showing the general configuration of the automatic tool changer part of the machine tool, and FIG. 2 is a tool magazine of the same. FIG. 3 is a front view in the direction of arrow C in FIG. 1, and FIG.
FIG. 5 is a perspective view showing details of the grip arm shown above; FIG. 6 is a longitudinal sectional view taken in the direction shown by arrow C in FIG. 1 showing details of the tool magazine indexing drive mechanism shown above. 7(a) to i) are front explanatory views sequentially showing the operating modes of the tool magazine indexing drive mechanism, and FIGS. 8(a), (b), and (c) are respectively There are time charts showing the correspondence between the operation of the above-mentioned spindle head and the operation of each main part.Furthermore, Fig. 9 is a functional block diagram showing the general configuration of the above-mentioned control device, and Fig. 10 is common among the above-mentioned MSs. An explanatory diagram showing the memory configuration of the RAM, FIG. 11 is an explanatory diagram showing the memory configuration of the RAM common between the above MAs, FIG. 12 is a schematic diagram showing an overview of the overall operation of the same device, and FIG. 13 is an explanatory diagram showing the operation of the ATC same as the above. An explanatory diagram showing a program example, FIG. 14 is a flowchart showing an actual processing example in the same CPU, and FIGS. 15, 16, and 17 are flowcharts showing details of the composite operation in the processing example shown in FIG. 14. It is. 10...Column, 12...Frame, 1
4... Guide rail, 16... Linear guide,
18...Feed nut, 20...Ball screw shaft, 22...Servo motor (Z-axis motor), 24...
・・Spindle head, 26・・Cam follower, 28・
...Plate cam, 30...Crank lever 36
...Spindle motor (tool drive motor), 40...
Rotating main shaft, 42...Tool holding part, 44...
Holder holding member, 46... Drawer, 48... Tool holder,
50...Tool, 52...Arbor 5
4...Pull stud, 56...Bin, 58...
... Magazine support stand, 60... Support shaft, 64... Magazine base, 66... Tool magazine, 68... Magazine motor, 70... Drive shaft, 72.74.・・・
・Bevel gear, 75... Rotating shaft, 76...
・Barrel cam, 78...Cam follower, 80...
・Index disk, 82...Grip arm, 84...Pivot shaft, 86...Compound cam body,
88... Grip support collar 91... Workpiece, 94, 96... 1st. Second cam follower, 101.
103...1st. 2nd dog, 102, 104...
・First. 2nd limit switch, 110...control device, 111...master CPU. 112...Slave CPU, 113...ATCiCPU, 114...Master partial ROM, 115, 116...1st. 2nd master part RAM,
117...Slave section ROM, 118...Slave RAM, 119...ATC section ROM. 120: ATC section RAM, 121: Common RAM between MSs. 122... RAM common between MAs, 125... X-axis motor, 126... Y-axis motor, ]27... B-axis motor. Figure Figure Figure Figure Figure Tnn Goo Operation Figure 028Z ORI Operation Procedure Amendment (Method) October 23, 1990 7 Contents of Amendment Figure 18 of the drawings is deleted. 1. Display of the case 1990 Patent Application No. 165396 2. Name of the invention Machine tool 3. Person making the amendment Relationship to the case / Patent applicant address 9-35 Hotta-dori, Mizuho-ku, Nagoya Name (
526) Yasui, Representative of Brother Industries, Ltd.
Yoshihiro 4, agent address: Stoke Plaza Suwadai 1, 20-10 Takadanobaba-chome, Shinjuku-ku, Tokyo (No. 16, September 25, 1990 (Shipping mortar)

Claims (1)

[Scope of Claims] A rotating main shaft to which a plurality of types of tools can be individually attached, a rotational drive device that provides rotational operation at a required speed to the rotating main shaft, and a workpiece is mounted and fixed on the rotating main shaft. a work table, a feed mechanism that moves the rotational spindle relative to the work table in a three-dimensional direction, and a plurality of types of tools prepared in advance corresponding to each part to be machined on the workpiece. a tool changer that sequentially replaces and mounts each of the above rotary spindles on the rotary main shaft as specified;
A numerical control device having a CPU that individually controls the operation of various auxiliary functions including a stop operation and a replacement operation of the tool changer; Auxiliary function operation command means for instructing the start of operation of a function; and a position detector provided at a predetermined position of the feed mechanism to detect a specific position of the feed mechanism and output a signal allowing execution of the operation of the auxiliary function. a limit switch, an output position storage means for storing the output position of the operation execution permission signal by the limit switch, and a feed operation position detection means for constantly detecting the feed operation position of the feed mechanism, and the output The position storage means stores the output position, and the position detected by the feed operation position detection means is the CP
A machine tool characterized in that the command of the auxiliary function activation command means is executed when the position information matches the position information stored in advance in the machine tool.