JP2004001229A - NC machine tools - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an NC machine tool capable of moving a main shaft quickly.
SOLUTION: A movable main shaft 24, a driving means for driving the main shaft 24, a gripper 33 which can be disengaged from a tool T mounted on the main shaft 10 by moving the main shaft, and a tool exchange of the main shaft 24 With respect to the movement to the position, after the main shaft 24 reaches a predetermined position, a determination means for determining whether or not the orientation is completed, and while the main shaft 24 is moving, the orientation is completed based on the determination result of the determination means. If not, a control means for outputting an instruction to decelerate or stop the spindle 24 to the driving means, and continuing the movement if the orientation is completed.
[Selection diagram] FIG.

Description

The present invention relates to an NC machine tool.

Conventionally, when changing the tool of the spindle after machining, the spindle is moved to the place where the tool magazine exists, but at this time, it is necessary to grasp the tool with the gripper of the tool magazine and change the tool. It is necessary that the rotation phase (rotational angle position) is a phase at which the gripper can correctly grip the tool.

Therefore, conventionally, the spindle was rotated so that the gripping claws of the tool magazine could properly grasp and exchange the tool, and after the operation was completed, the spindle was moved to the location of the tool magazine.

However, there is a problem that the spindle cannot be moved at all until the rotation of the spindle is completed, and it takes time to reach the command position.

The present invention has been made in consideration of the above-described problems of the conventional NC machine tool, and has as its object to provide an NC machine tool capable of shortening the time required to reach a command position of a spindle.

The present invention provides a movable spindle, a driving means for driving the spindle, a gripper which can be disengaged from a tool mounted on the spindle by the spindle movement, and a movement of the spindle to a tool changing position. With respect to the above, after the spindle reaches a predetermined position, determining means for determining whether or not the orientation is completed, and when the spindle is moving, based on the determination result of the determination means, if the orientation is not completed, And a control means for outputting an instruction to decelerate or stop the spindle to the drive means, and for continuing the movement when the orientation is completed, the NC machine tool.

As is clear from the above description, according to the present invention, it is possible to quickly move the spindle.

FIG. 1 is a block diagram showing a basic configuration of an NC machine tool according to an embodiment of the present invention. In FIG. 1, the NC machine tool calculates position coordinates (spindle current position) in axis movement of a spindle and stores a position calculation unit 1 for sending out position data, and position coordinates (judgment position) for judging intrusion of the spindle. A position storage unit 2 that compares the position coordinates of the current spindle position and the determined position, and outputs a reaching signal when they match each other; a condition storage unit 4 that stores intrusion conditions; And compares the detection signal from the condition detection unit 5 for detecting the interference state of the interference unit, outputs a signal for continuing the spindle movement when the intrusion condition is satisfied, and outputs a stop signal when the intrusion condition is not satisfied. And a moving object 10 such as a spindle is continuously moved or immediately decelerated to a stop in accordance with a signal output from the condition judging unit 6 to perform the above-described intrusion condition when the moving object 10 is decelerated or stopped. When the condition is satisfied, the axis control unit 7 that restarts the movement of the moving object 10, the axis driving unit 8 that drives the moving object 10 according to the control signal of the axis control unit 7, and the object detected by the condition detection unit 5. And an interference unit 9. The position calculation unit 1, the position storage unit 2, the position determination unit 3, the condition storage unit 4, the condition detection unit 5, the condition determination unit 6 are used as determination means, the axis control unit 7 is used as control means, and the axis drive unit 8 is used. Function as driving means.

FIG. 2 is a block diagram showing a configuration of an NC machine tool having a shutter opening / closing device according to an embodiment of the present invention. FIG. 3 is a front view having a partial cross section of the NC machine tool shown in FIG. In FIG. 3, a column 23 is mounted on a bed 21 via a saddle 22 so as to be movable in the front, rear, left and right directions when viewed from the front. The horizontal spindle 24 on which the tool T1 is detachably mounted can be moved up and down within a certain distance in a vertical (hereinafter referred to as Y-axis) direction along a guide provided on the front surface of the column 23. Reference numeral 25 denotes an automatic tool changer disposed above the column 23, which is fixed to the column 23 and drives a disc-shaped tool magazine 26 clockwise or counterclockwise by a drive mechanism (not shown) in the column 23. As it rotates, it moves back and forth with respect to the column 23. The tool magazine 26 is provided with gripping claws 33 on the outer periphery of the disk, holds a plurality of spare tools T via the gripping claws 33, and is rotated and positioned at a tool changing position.

The tool T1 mounted on the main shaft 24 is directly engaged with and disengaged from the gripping claw of the tool magazine by the movement of the main shaft, and is replaced with another tool T as described below. That is, the empty gripping claw 33 of the tool magazine 26 is positioned at the exchange position, and then the spindle 24 is raised to grip the tool T1 with the gripping claw 33, and the spindle tool T1 is unclamped to move the magazine 26 forward. As a result, the tool T1 is extracted from the spindle 24. Further, the tool magazine 26 is rotated to position the spare tool T to be used for the next machining at the change position, the magazine 26 is retracted this time, and the tool T inserted into the main shaft 24 is clamped by the main shaft 24 to change the tool. The operation is completed.

In FIG. 3, reference numeral 30 denotes a protective cover, and 29 denotes a main shaft passage. In order to prevent chips from scattering from below into the ATC device 25 during processing and adhere to tools and the like, both sides of the passage 29 are used. A shutter opening / closing device is provided at a symmetrical position. The shutter opening and closing device mainly includes shutters 31a and 31b movably supported in a direction orthogonal to the main shaft moving direction so as to close the main shaft passage, and cylinders 32a and 32b for opening and closing the respective shutters. Normally, the main shaft passage 29 is closed, and the main shaft passage 29 is opened only when the main shaft 24 performs tool change.

Next, in the configuration shown in FIG. 2, 41 is a CPU and 42 is a bus line. The CPU 41 performs various controls in accordance with a control program stored in the ROM 43. The CPU 41 reads and decodes the processing program data stored in the processing program memory 52 block by block and decodes the processing program data from the processing program data. The axis movement command and the spindle orientation command are sent to the Y-axis motor drive control unit 45 and the spindle motor drive control unit 47, respectively, and the tool change command and the shutter open / close command are sent to the PMC 49.

The Y-axis motor drive control unit 45 controls the driving of the Y-axis motor 46 based on an axis movement command signal from the CPU 41 and a feedback signal from a rotation detection signal attached to the Y-axis motor shaft. A ball screw (not shown) for driving the main shaft 24 up and down is connected to the axis of the Y-axis motor 46, and the main shaft 24 can be arbitrarily moved in the Y-axis direction by an axis movement command from the CPU 41. It is designed to be positioned. In the spindle motor drive control unit 47, the drive of the spindle motor 48 is controlled by a spindle orientation command signal from the CPU 41 and a feedback signal from a rotation detection signal attached to the spindle 24, and the spindle phase is adjusted to a predetermined angle. Position. When the positioning is completed, an orientation completion signal is transferred from the spindle motor drive control unit 47 to the CPU 41 via the bus line 42. When the PMC 49 receives a tool change command signal and a shutter open / close command signal from the CPU 41, it processes the sequence program and outputs a signal as an operation command, and controls the tool change operation of the NC machine tool and control of shutter open / close. Do. Further, receiving a state (operation completion) signal from various sensors provided in the NC machine tool, a sequence process is performed, and a completion signal for each operation command is transferred to the CPU 41 via the bus line 42. Has become.

The parameter memory 53 includes a position storage unit 53a and a condition storage unit 53b. The position storage unit 53a stores a second origin Z2 as a tool change position when the spindle 24 passes through the spindle passageway 29 (see FIG. 3). When the tool is moved up to the first condition determination position P1 for determining the shutter opening condition, and the positioning key provided on the tool magazine 26 when the tool T1 of the spindle 24 is gripped by the gripping claw 33 of the tool magazine 26. And a second condition determination position P2 for determining a spindle orientation completion condition for aligning the position of the keyway of the tool of the spindle 24 with the key groove position. The condition storage unit 53b stores the above-mentioned conditions, that is, the condition indicating the shutter open completion state and the condition indicating the orientation completion state, corresponding to the above-described respective condition determination positions.

The CPU 41 compares the condition determination position stored in the parameter memory 53 with the current position of the moving spindle calculated by the position calculation unit 55, and when they match, the condition corresponding to the condition determination position is determined. The condition is read from the parameter memory 53, the condition is determined, and if the condition is not satisfied, a stop signal is sent to the Y-axis motor control unit 45.

The CRT-equipped keyboard 51 is used when a machining program, each parameter data, and the like are stored manually in the machining program memory 52 and the parameter memory 53, and is connected to the bus line 42 via the I / O device 50. It is connected.

Before starting the processing, the condition determination position and the determination condition are stored in the parameter memory 53 via the keyboard with CRT 51, and the condition determination position is determined by the first condition determination as shown in FIG. A position P1 and a second condition determination position P2 are set. The first condition determination position P1 is located between the first origin Z1 which is the upper limit of the normal machining movement range S and the stroke end E which is the lower limit, and a stop signal is generated at the first condition determination position P1 by the determination of the CPU 41. When the output is performed and the Y-axis feed of the main shaft 24 is stopped, the main shaft 24 is set to a position where it does not interfere with (collide with) the shutter 31. The first condition determination position P1 is based on the condition that the shutter is opened.

Further, the second condition determination position P2 is further above the first condition determination position P1 and the first origin Z1, and at the second condition determination position P2, a stop signal is output by the determination of the CPU 41, and When the Y-axis feed is stopped, the position is set so as not to interfere (collide) with the gripping claws 33 of the tool magazine 26. The second condition determination position P2 is based on the completion of the spindle orientation as a determination condition.

Next, the operation of this embodiment having the above configuration will be described with reference to the flowchart shown in FIG. FIG. 3 shows a processing procedure in the tool changing operation.

The CPU 41 reads the machining program data from the machining program memory 52 one block at a time and decodes it. When the tool change command is decoded in the read block, the following processing procedure is executed.

First, the current position of the spindle 24 is calculated, and it is determined whether the spindle 24 is above the first condition determination position P1 (step S1). If the determination result is Yes, the process proceeds to step S11, and if No, the process proceeds to step S2. In step S2, a spindle movement command to the second origin Z2, which is a tool change position, is output to the Y-axis motor drive control unit 45, a spindle orientation command is output to the spindle motor drive control unit 47, and a shutter open command is output to the PMC 49, respectively. (Step S2). Next, the Y-axis motor drive control unit 45 that has received the spindle movement command causes the spindle 24 to start moving upward through the Y-axis motor 46, and the spindle motor drive control unit 47 that has received the spindle orientation command adjusts the phase. The PMC 49 that starts rotating the main shaft 24 and receives the shutter open command drives the cylinders 32 a and 32 b via solenoid valves and the like to open the left and right shutters 31 a and 31 b, thereby opening the main shaft passage 29. Let it.

Next, the CPU 41 determines whether or not the position of the spindle moving upward has reached the first condition determination position P1, and if the result of the determination is No, the CPU 41 waits for processing (step S3). Then, if the determination result is Yes, the CPU 41 refers to the contents of the condition storage unit 53b in the parameter memory 53 to determine the condition corresponding to the first condition determination position P1, that is, the shutters 31a and 31b. It is determined whether the release has been completed (step S4). If the determination result is No, the CPU 41 gives a spindle stop signal to the Y-axis motor drive control unit 45, decelerates or stops the movement of the spindle 24, and performs processing until a shutter open signal is input from the PMC 49 to the CPU 41. It waits (step S5). If the determination result in step S4 is Yes, the movement of the spindle 24 is continued, or the decelerated or stopped spindle returns to the original speed (step S6).

Next, the CPU 41 determines whether or not the position of the spindle 24 that is moving upward has reached the second condition determination position P2. If the determination result is No, the CPU 41 waits for processing (step S7). ). If the determination result is Yes, the CPU 41 determines from the condition storage unit 53b in the parameter memory 53 whether the condition corresponding to the second condition determination position P2, that is, whether the spindle orientation has been completed. (Step S8). If the determination result is No, the CPU 41 gives an axis stop signal to the Y-axis motor drive control section 45 to decelerate or stop the movement of the spindle 24, and a spindle orientation completion signal is sent from the spindle motor drive control section 47 to the CPU 41. The process waits until it is given (step S9). If the determination result in step S8 is Yes, the movement of the spindle 24 is continued, or the decelerated or stopped spindle returns to the original speed (step S10).

Here, the case where the determination result of step S1 is Yes will be described. In this case, the same procedure as the conventional spindle movement control is executed. That is, the spindle movement command to the first origin Z1, which is the predetermined position before the shutters 31a, 31b, is sent to the Y-axis motor drive control unit 45, the spindle orientation command is sent to the spindle motor drive control unit 47, and the shutter open command is sent to the PMC 49, respectively. It is output (step S11). Next, the Y-axis motor drive control unit 45 that has received the spindle movement command drives the Y-axis motor 46 to start moving the spindle 24 upward. The spindle motor drive control unit 47 that has received the spindle orientation command starts rotation of the spindle 24 to adjust the phase, and the PMC 49 that has received the shutter open command drives the cylinders 32a and 32b via solenoid valves and the like. The shutters 31a and 31b are opened to open the main shaft passageway 29. Next, the process waits until the above-mentioned command operations are completed (step S12). Further, upon completion of each operation, a spindle movement command to the second origin Z2 is output to the Y-axis motor drive controller 45 (step S13).

(4) Following steps S10 and S13, the process waits until the position of the spindle 24 reaches the second origin Z2, that is, the tool change position (step S14). Next, when the second origin Z2 is reached, a tool change command is output to the PMC 49, and the above-described tool change operation is performed according to the sequence program in the PMC 49, and the tool T1 of the spindle 24 is automatically changed to the spare tool T. Is performed (step S15). When the tool change is completed, a spindle movement command is output to the Y-axis motor drive control unit to return to the first origin Z1 (step S16), and at the same time when the spindle 24 returns to the first origin Z1, the PMC 49 On the other hand, a shutter close command is output, the shutters 31a and 31b are closed, and the operation for the tool change command is completed.

FIG. 5 shows the relationship between the position and the speed of the operation of moving the spindle 24 in the above-described tool changing operation. At the end of the processing, when the main shaft 24 is approaching the shutters 31a and 31b, that is, the movement operation of the main shaft 24 corresponding to the processing in steps S11 to S16 corresponds to (c) in FIG. FIG. 5A shows a case where the main shaft 24 is sufficiently separated from the shutters 31a and 31b at the end of the processing, and the shutter 31 is opened before reaching the first condition determination position P1. Since the spindle orientation has been completed, the spindle 24 does not stop. However, as shown in FIG. 5B, even when the vehicle is not sufficiently separated, the main shaft can be moved quickly because the speed is reduced but does not stop at each of the determination positions P1 and P2. Can reduce the waste of energy required for starting and stopping.

In the above-described embodiment, the case where the number of the condition determination positions is two has been described. However, the present invention is not limited to this. If there are more condition determination positions, two or more condition determination positions can be provided. Also, it is of course possible to make one condition judgment.

In the above embodiment, the condition determination position is set at a predetermined position and is configured to be performed at that position. However, the present invention is not limited to this. A predetermined range is set and determination is performed within that range. Is also good.

The interference unit of the present invention is a shutter in the above embodiment, but is not limited to this. For example, a tool in another process that enters the main spindle moving range, a movable unit of a robot, a transfer device, and the like. Is also included. In the present embodiment, the moving object has been described with respect to the spindle (including the spindle head), but is not limited thereto, and may be a table or a tool post.

Further, the deceleration instruction of the present invention is, as shown in the above-described embodiment, an instruction to output a stop to the control axis and decelerate by losing the driving force. The speed may be reduced by linearly decreasing the rotation speed.

The machine tool of the present invention can be applied to any NC machine tool having an interference part within the movement range of the spindle.

Next, another embodiment of the present invention will be described.

In this embodiment, energy is prevented from being wasted by eliminating deceleration or stoppage during axis movement at the first condition determination position P1 in the above embodiment, and the safety device described in the above embodiment is provided. Thus, a method for safely and quickly reaching the command position is proposed.

FIG. 6 is a block diagram of an NC device according to another embodiment. The difference from the block diagram of the NC device described in the above embodiment (FIG. 2) is that a time storage unit 53c is added to the parameter memory 53. That is. The time storage unit 53c stores a shutter operation time until the CPU 41 outputs a shutter open command to the PMC 49, the shutters 31a and 31b are opened, and a shutter open operation completion signal is fed back to the CPU 41 via the PMC 49. ing. The CPU 41 calculates, as a standby time, a difference between the movement time to the first condition determination position P1 at a predetermined feed speed and the shutter operation time based on the spindle current position data of the position calculation unit 55 as a standby time. The main shaft movement command to the drive control unit 45 is output with a standby time delayed.

Next, the operation of the embodiment having this configuration will be described with reference to the flowchart shown in FIG. This figure shows a processing procedure until the main spindle 24 passes through the shutters 31a and 31b in the tool changing operation, and the main spindle position at the end of machining is below the first condition determination position P1. I assume. Therefore, when the main spindle position after the shutters 31a and 31b and at the end of machining are above the first condition determination position P1, the same processing procedure as that of the first embodiment is executed, and the description thereof will be omitted.

First, in step S20, a spindle orientation command is output to the spindle motor drive controller 47 and a shutter open command is output to the PMC 49. The spindle motor drive control unit 47 that has received the spindle orientation command starts the rotation of the spindle 24 to adjust the phase, and the PMC 49 that has received the shutter open command opens the left and right shutters 31a and 31b.

Next, the CPU 41 determines the first condition determination position P1 based on the main spindle current position coordinates calculated by the position calculation unit 55 and the first condition determination position coordinates previously stored in the position storage unit 53a of the parameter memory 53. And a travel time required for the travel at a predetermined speed from the travel distance. (Step S21). Then, it is determined whether the calculated movement time is longer or equal to the calculated shutter operation time stored in the time storage unit 53c in the parameter memory 53 in advance (step S22). If the determination result is Yes (long, equal), the process proceeds to step S25, and if No, the process proceeds to step S23. In step S23, a standby time, which is a difference between the movement time and the shutter operation time, is calculated (step S23). Next, the CPU 41 determines whether or not the standby time has elapsed from the output of the shutter open command. If the determination result is No, the process waits until the standby time has elapsed (step S24).

Subsequent to the above-described steps S22 and S24, if the determination result is Yes, the CPU 41 outputs a spindle movement command to the second origin Z2 which is the tool change position to the Y-axis motor drive control unit 45 (step S25). . The Y-axis motor drive control unit 45 starts the Y-axis movement of the main shaft based on the movement command.

Next, the CPU 41 determines whether or not the spindle position moving upward at a predetermined speed has reached the first condition determination position P1, and if the determination result is No, the process waits until it reaches (step S26). . Then, if the determination result is Yes, the CPU 41 refers to the contents of the condition storage unit 53b of the parameter memory 53 to determine the condition corresponding to the first condition determination position P1, that is, the shutters 31a and 31b have been completely opened. It is determined whether or not it has been performed (step S27). If the determination result is No, the CPU 41 gives a spindle stop signal to the Y-axis motor drive control unit 45, decelerates or stops the movement of the spindle 24, and waits until the shutter release signal is input from the PMC 49 to the CPU 41. (Step S28). If the decision result in the step S27 is Yes, the movement of the main shaft 24 is continued as it is, or the main shaft 24 that has been decelerated or stopped returns to the original predetermined speed and moves toward the second judgment position (step S29).

FIG. 9 shows the relationship between the position and the speed of the movement of the spindle 24 in the above-described tool changing operation. FIG. 9A shows the case where the shutter operation time is longer than the time when the spindle position at the end of machining reaches the first condition determination position P1 at a normal predetermined feed speed. An operation according to one embodiment is shown, and FIG. 9B shows an operation according to the present embodiment. According to the present embodiment, the shutters 31a and 31b are opened when reaching the first condition determination position P1, and there is no deceleration there, so that the effect of reducing the waste of energy required for acceleration and deceleration can be obtained. is there. In addition, since the opening and closing of the shutters 31a and 31b can be determined at that position, it is safe.

Next, still another embodiment of the present invention will be described. In this embodiment, similarly to the second embodiment, at the machining end position, first, a movement distance and a movement time to the first condition determination position P1 are calculated, and the main shaft 24 reaches the first condition determination position P1. Then, the shutters 31a and 31b move at timings that are opened. Instead of moving at a predetermined moving speed after waiting as in the second embodiment, in the present embodiment, the moving speed to the first condition determination position P1 is adjusted.

In the present embodiment, in the configuration of FIG. 6, the CPU 41 stores the movement distance calculated from the current spindle position from the position calculation unit 55 and the first condition determination position P1 and the time distance stored in the time storage unit 53c of the parameter memory 53. Based on the shutter operation time, an appropriate feed speed is calculated at the first condition determination position P1 such that deceleration and stop do not need to be performed in principle, and the feed speed command is output to the Y-axis motor drive unit 45. The Y-axis motor drive controller 45 starts moving the main shaft 24 based on the speed command.

Next, the operation of this embodiment having the above configuration will be described with reference to the flowchart shown in FIG. This figure shows a processing procedure until the main spindle 24 passes through the shutters 31a and 31b in the tool changing operation, and the main spindle position at the end of machining is below the first condition determination position P1. I assume. Therefore, when the main spindle position after the shutters 31a and 31b and at the end of machining are above the first condition determination position P1, the same processing procedure as that of the first embodiment is executed, and the description thereof will be omitted.

First, in step S30, a spindle orientation command is output to the spindle motor drive controller 47 and a shutter open command is output to the PMC 49. The spindle motor drive control unit 47 that has received the spindle orientation command starts the rotation of the spindle 24 to adjust the phase, and the PMC 49 that has received the shutter open command opens the left and right shutters 31a and 31b.

Next, the CPU 41 proceeds to the first condition determination position P1 based on the main spindle current position coordinates calculated by the position calculation unit 55 and the first condition determination position coordinates previously stored in the position storage unit 53a of the parameter memory 53. Then, from the moving distance and the moving distance, a moving time required for moving at a predetermined moving speed determined in advance (for example, in the present embodiment, the predetermined speed is the maximum feed speed) is calculated. (Step S31). Then, it is determined whether the movement time is longer or equal to the shutter operation time stored in the time storage unit 53c in the parameter memory 53 in advance (step S32). If the determination result is Yes, the process proceeds to step S35, and if No, the process proceeds to step S33. In step S33, an appropriate feed speed is calculated based on the moving distance and the shutter operation time stored in the time storage unit 53c of the parameter memory 53. In step S34, a speed command of the feed speed is output to the Y-axis motor drive unit 45.

Next, following step S32 and step S34, the CPU 41 outputs a spindle movement command to the second origin Z2, which is the tool change position, to the Y-axis motor drive controller 45 (step S35). The Y-axis motor drive controller 45 moves the main shaft 24 at the moving speed based on the moving command and the speed command. The CPU 41 determines whether or not the position of the spindle 24 moving upward has reached the first condition determination position P1, and if the result of the determination is No, the CPU 41 waits for processing (step S36). Then, if the determination result is Yes, the CPU 41 refers to the contents of the condition storage unit 53b of the parameter memory 53 to determine the condition corresponding to the first condition determination position P1, that is, the shutters 31a and 31b have been completely opened. It is determined whether or not it has been performed (step S37). If the determination result is No, the CPU 41 gives a spindle stop signal to the Y-axis motor drive control unit 45, decelerates or stops the movement of the spindle 24, and waits until the shutter release signal is input from the PMC 49 to the CPU 41. (Step S38). If the decision result in the step S37 is Yes, the CPU 41 cancels the feed speed and instructs the Y-axis motor drive controller 45 to the original predetermined feed speed (in the present embodiment, the maximum speed) (step S39). Then, the movement of the main shaft 24 is continued, or the main shaft 24, which has been decelerated or stopped, returns to the original predetermined speed (maximum speed) and moves toward the second condition determination position P2 (step S40).

In the present embodiment, the command for the arbitrary feed speed value itself is output from the CPU 41 to the Y-axis motor drive controller 45, but an override (reduction ratio) command for a predetermined feed speed may be output.

FIG. 9 shows the relationship between the position and the speed of the movement of the spindle 24 in the above-described tool changing operation. FIG. 9A shows the case where the shutter operation time is longer than the time when the main spindle position at the end of machining normally reaches the first condition determination position P1 at a predetermined feed speed. FIG. FIG. 9C shows the operation according to the embodiment, and FIG. 9C shows the operation according to the embodiment. According to the present embodiment, the shutters 31a and 31b are opened when the vehicle reaches the first condition determination position P1, and the shutters 31a and 31b are not decelerated. Therefore, there is an effect that it is possible to reduce waste of energy required for deceleration. In addition, since the opening and closing of the shutters 31a and 31b can be determined at that position, it is safe.

It is a block diagram showing the basic composition of the safety device of the NC machine tool in the example of the present invention. It is a control block diagram of the safety device of the NC machine tool in the embodiment. FIG. 3 is a front view having a partial cross section of the NC machine tool shown in FIG. 2. It is a flow chart for explaining operation of the example. It is explanatory drawing which shows the relationship between a position and a speed about the spindle moving operation of the same Example. It is a control block diagram of the safety device of NC machine tools in another example. It is a flow chart for explaining operation of the example. 13 is a flowchart for explaining the operation of still another embodiment. FIG. 9 is an explanatory diagram showing a relationship between a position and a speed for the operation of each embodiment.

Explanation of reference numerals

DESCRIPTION OF SYMBOLS 1 Position calculation means 2 Position storage means 3 Position judgment means 4 Condition storage means 5 Condition detection means 6 Condition judgment means 7 Axis control means 8 Control axis 9 Interference part

Claims (1)

A movable spindle,
Driving means for driving the main shaft;
By the spindle movement, a gripping claw that can be disengaged from a tool mounted on the spindle,
Regarding the movement of the spindle to the tool change position, after the spindle reaches a predetermined position, a determination unit that determines whether or not the orientation is completed,
While the main spindle is moving, based on the result of the judgment by the judging means, if the orientation is not completed, an instruction to decelerate or stop the main spindle is output to the driving means, and if the orientation is completed, the movement is performed. Control means for continuing;
An NC machine tool comprising:

Images