JPH05305549A - Numerically controlled machine tool - Google Patents

Abstract

(57) [Summary] [Purpose] In a numerically controlled machine tool, prevent accidents such as injury to the operator due to mistakes made by the operator. [Structure] The open / closed state of the opening / closing door of the shield that covers the work processing device and the work moving device is detected (S25), and when the open / close door is in the open state (S25: YES), the work in the automatically closed state is detected. The moving speed of the work is made slower than the moving speed of (S27).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerically controlled machine tool capable of machining a workpiece by numerical control.

[0002]

2. Description of the Related Art Conventionally, the following types of numerical control machine tools have already been available. It is (a)
A workpiece machining device for machining a workpiece, (b) a workpiece moving device for moving the workpiece to a machining position by the workpiece machining device and a replacement position for an operator, respectively, and (c) the workpiece machining device and the workpiece moving device from outside. (E) It is input that the shield to cover and (d) the door provided on the shield that can be opened and closed by the operator and that allows the operator to replace the workpiece at the replacement position in the open state. A numerical control machine tool of the type provided with a main controller that controls a workpiece machining device and a workpiece moving device based on the numerical control information.

A numerically controlled machine tool of this type is
The speed at which the work is moved between the machining position and the exchange position by the work moving device is uniquely determined regardless of the open / close state of the door.

[0004]

When the operator inserts his / her hand into the shield to perform the work, the operator should open the door and insert the hand after confirming that the work is not moving. Is. However, the worker may accidentally open the door and insert his hand even while the work is moving, and in such a case, the worker's hand hits the moving object and the worker is injured. May occur. In short, the conventional device has a problem that an accident due to an operator's mistake cannot be effectively prevented.

The invention of claim 1 has been made to solve this problem, and an operator can detect the open / closed state of the door and control the moving speed of the work according to the result of the detection. It is intended to provide a safe numerically controlled machine tool that is not injured. Further, the invention of claim 2 is one utilization mode of the invention of claim 1, and is made for the purpose of providing a numerically controlled machine tool in which an operator can freely set a command value of a work moving speed. Is.

[0006]

In order to achieve the above object, the gist of the invention of claim 1 is a numerically controlled machine tool equipped with the work machining device, work moving device, shield, door and main controller. As shown in FIG. 1, a door open / closed state detecting means 1 for detecting the open / closed state of the door is provided, and
Work movement in which the movement speed of the work by the work movement device 3 is changed in the main control device 2 depending on whether the door open / closed state detection means 1 detects that the door is open or closed. The speed control means 4 is provided.

On the other hand, the gist of the invention of claim 2 is that, as shown in FIG. 2, the "work moving speed control means 4" in the invention of claim 1 is in a state where the door is opened in response to a command from an operator. The work moving speed storage means 5 for storing at least the former of the command value of the work moving speed when it is in the closed state and the command value of the work moving speed when in the closed state, and the work moving apparatus based on the command value. The reason is that the moving speed of the work according to 3 is changed.

The "work moving speed control means 4" in the invention of claim 2 has, for example, a work moving speed storage means 5 of a type for storing only a command value of the work moving speed when the door is in the open state. However, the work moving speed can be set to the command value when the door is in the open state and to the standard value which is set in advance when the door is in the closed state regardless of the intention of the worker. Further, it has a work moving speed storage means 5 of a type for storing a command value of the work moving speed when the door is in the open state and a command value of the work moving speed when the door is in the closed state. Can be set to the command value for the open state when is in the open state, and can be set to the command value for the closed state when in the closed state.

Incidentally, the "work moving speed control means 4" in the invention of claim 1 may have other modes,
For example, when the door is in the open state, the work moving speed is set to a preset standard value (for example, 0 or a non-zero value that is smaller than the general value of the work moving speed in the closed state) and is set to the closed state. In some cases, a standard value set in advance or a command value set by an operator may be used. Further, the work moving speed is set to a preset standard value when the door is closed, and when the door is open, the work moving speed standard value in the closed state is multiplied by a positive fixed ratio smaller than 1. It is also possible to adopt a mode in which the target workpiece movement speed acquired by the above is realized.

[0010]

In the numerically controlled machine tool according to the first and second aspects of the present invention, the door open / closed state detecting means 1 detects the open / closed state of the door, and the work moving speed control means 4 of the main controller 2 detects the work. The moving speed can be changed depending on whether the door is detected to be open or closed. At this time, the work moving speed control means 4 is in a closed state in a state in which it is detected that the door is in an open state, for example, according to a command from the worker or regardless of the presence or absence of the command from the worker. If each invention is implemented by setting the work moving speed to be slower than the work moving speed by the work moving device in the state in which it is detected, even if the worker accidentally opens the door during the movement of the work, Since the work is automatically decelerated or stopped, the worker is not put in a dangerous state.

Particularly, in the numerically controlled machine tool according to the second aspect of the present invention, the work moving speed storage means 5 causes the work moving speed storing means 5 to instruct the work moving speed when the door is in the open state in response to a command from the operator. And at least the former command value in the closed state are stored, and the work moving speed control means 4 controls the work moving speed based on the command value. Therefore, the worker can freely set the command value of the work moving speed at least in the open state, and can freely set the control characteristic of the work moving speed.

[0012]

As described above, according to the first and second aspects of the invention, since the moving speed of the work is controlled according to the open / closed state of the door, the moving speed of the work is the open / closed state of the door, that is, the work. This is appropriate in relation to the worker's work state, and the effect of being able to sufficiently and effectively prevent an accident due to a worker's work mistake is obtained.

In particular, according to the second aspect of the present invention, the worker can freely set the command value of the work moving speed at least when the door is in the open state, and the degree of freedom of control of the work moving speed. The effect that is improved is obtained.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A numerically controlled machine tool which is an embodiment common to the inventions of claims 1 and 2 will be described below in detail with reference to the drawings.

The numerically controlled machine tool (hereinafter, simply referred to as machine tool) is provided with a spindle 10 as shown in FIG.
The spindle 10 is rotated by a spindle motor 12 around a Z axis (an axis extending in the vertical direction in the drawing).

A tool 14 such as a drill is removably attached to the spindle 10. Further, a tool changing device 22 including a magazine 18, a magazine motor 20 for rotating the magazine 18, and the like is attached to a holding member 16 that rotatably holds the main spindle 10, and the tool 14 attached to the main spindle 10 is attached. Can be exchanged automatically.

The main shaft 10 is also Z-driven by a Z-axis motor 30.
The position in the axial direction is changed, and further, the X-axis motor 32 and the Y-axis motor 34 respectively move in the X-axis direction (direction perpendicular to the paper surface in the drawing) and Y-axis direction (horizontal direction in the drawing).

A work exchanging device 40 is arranged at a position facing the spindle 10. The work exchanging device 40 has a horizontal table 42, a pallet exchanging motor 44 for rotating the table 42 and the like as a main component, and exchangs a work to be machined by the tool 14. Two parts of the table 42 which are symmetrical with respect to the axis thereof serve as a first pallet 50 and a second pallet 52, respectively.
In the original state shown in the drawing, the first pallet 50 is close to the worker, and the replacement position where the worker attaches / detaches the work to / from the table 42, that is, the work is to be replaced (this is the “position in the inventions of claims 1 and 2”. The second pallet 52 faces the tool 14 and is located at a machining position where machining is to be performed by the tool 14, but the pallet exchanging motor 44 is driven. If the table 42 is turned 180 degrees by
The first pallet will be moved to the processing position and the second pallet will be moved to the replacement position. The pallet changing motor 44 is a servo motor, and the turning speed of the table 42 can be freely changed at any position.

That is, in the present embodiment, the work exchanging device 40 constitutes one aspect of the "work moving device 3" in the inventions of claims 1 and 2.

The tool 14 and the like described above are covered from the outside by a box-shaped shield 60. The figure shows a state in which the frontmost surface of the shield 60 in the figure is removed. A door 64 that can be opened and closed by an operator is provided in the center of the panel on the front surface (the left side surface in the drawing) of the shield 60. The door 64 is located near the exchange position and is located at a position suitable for an operator to exchange the work. The state where the door 64 is opened is shown in FIG.

As shown in FIG. 3, the door 64 includes two panels 65 each having an observation window (not shown) made of glass,
A holding means 66 for holding each panel 65 slidably in a direction perpendicular to the plane of the drawing, which is parallel to each other.
Each of the rails of the book is mainly configured to guide each panel 65 through rollers. In this door 64, in the open state, two panels 65 are provided behind the left side portion of the front panel of the shield 60 in FIG.
When the rear side of the panels 65 is pulled out to the right in the figure from the state in which the panels 65 are stacked and stored, when the entire panel 65 is exposed, the panel 65 is the front panel. When the rear panel 65 is further pulled out by engaging with 65, the front panel 65 is pulled out together with it, and when the right end of the rear panel 65 is aligned with the right end of the opening of the front panel of the shield 60,
The entire opening will be closed by the two panels 65. In the figure, reference numeral 67 indicates a handle gripped by an operator when sliding the rear panel 65.
The open / closed state of the door 64 is the door open / close sensor 70 shown in FIG.
(This is one mode of the "door open / closed state detection means" in each of the first and second aspects of the invention). The door opening / closing sensor 70 is a limit switch that detects whether or not the panel 65 is in the storage position, but may be, for example, a non-contact type (for example, a proximity sensor or a photo interrupter).

On the right side of the front panel of the shield 60,
As shown in FIG. 4, an operation panel 74 is attached. The operation panel 74 includes a start switch 76 operated by an operator for instructing start of the machine tool,
Input means 77 such as keys and display means 78 such as a CRT and a liquid crystal display are provided. On the other hand, as shown in FIG.
A main controller 80 is attached to a panel on the rear surface (the right side surface in the drawing) of the shield 60.

The main control unit 80 is mainly composed of a plurality of computers, and as shown in FIG. 5, has an operation command section 82 and a motor control section 84. The operation command unit 82 has a CPU 86 and a memory 88, and in the memory 88, as conceptually shown in FIG. 6, the operation command program represented by the flowchart of FIG. 8 and numerical control necessary for performing numerical control. Various programs including a program (a set of numerical data and the like, which is one mode of the "numerical control information" in the inventions of claims 1 and 2) are stored in advance. On the other hand, the motor controller 8
4 also has a CPU 90 and a memory 92, and its memory 9
2, various programs including a motor control program represented by the flowchart of FIG. 9 are stored in advance, as conceptually shown in FIG. In addition, the operation command unit 82
A common RAM 96 used for exchanging information with each other is connected between the motor controller 84 and the motor controller 84.

As shown in FIG. 5, the input unit 77 is connected to the input unit of the operation command unit 82, and the operator can turn the table 42 through the input unit 77 (that is, the pallet speed). If the command value to be taken is input when the door 64 is in the open state and when the door 64 is in the closed state, the command value is first stored in the memory 88 of the operation command unit 82 (see FIG. 6). ), And then the common RAM 9
It is also stored in the memory 92 of the motor control unit 84 via 6 (see FIG. 7). On the other hand, the door opening / closing sensor 70 is connected to the input section of the motor control section 84, and the X-axis motor 32, Y-axis motor 34, Z-axis motor 30, main spindle motor 12, magazine motor 20 are connected to the output section. And a pallet exchange motor 44 is connected.

That is, in this embodiment, the part of the machine tool excluding the work exchanging device 40, the shield 60, the door 64, and the main control device 80 is the "work processing device" in each of the first and second aspects of the invention. It constitutes one aspect.

Next, the operation of this machine tool will be described.

When the power of the machine tool is turned on, the computer of the operation command unit 82 starts execution of the operation command program of FIG. 8 and the computer of the motor control unit 84 starts execution of the motor control program of FIG.

In the operation command program of FIG. 8, first, in step S11 (hereinafter referred to simply as S11. The same applies to other steps), it is waited for the operator to operate the start switch 76 to the ON state. If operated, the pallet carry-in command is issued to the motor controller 84 in S12. Motor control unit 84
This is for moving the workpiece to be machined this time from the exchange position to the machining position, which will be described in detail later.

Thereafter, in S13, the numerical control program to be executed this time is read from the memory 88. A plurality of kinds of numerical control programs are stored in the memory 88 in advance, and only the one designated in advance by the operator is read out in this step. Subsequently, in S14, it is determined whether or not all the processes for the current numerical control program have been completed. Assuming that this time is not yet finished, the determination becomes NO, and in S16, a large number of numerical data etc. belonging to the current numerical control program are sequentially analyzed one by one, and each machining operation requested by the operator is realized. A command to do so is issued to the motor control unit 84.

After that, assuming that the processing for the current numerical control program is completed while the processing in S14 and 16 is executed many times, the determination in S14 is Y.
It becomes ES and shifts to S15. In this step, it is determined again whether or not the activation switch 76 has been operated to the ON state. If not operated, the determination is NO, and the process returns to S11. However, if it is operated, the determination is YES. , Return to S12.

On the other hand, in the motor control program of FIG. 9, first, in S21, it is awaited that the current command is issued from the operation command unit 82, and if so, S22.
At, it is determined whether or not the current command is a pallet carry-in command. If this is the case this time, the determination is yes, and the process proceeds to steps S23 and below.

In S23, the pallet changing motor 4
A target angle at which the table 4 turns the table 42 is calculated.
The target angle is usually 180 degrees. Subsequently, in S24, an unachieved angle that has not been achieved among the target angles is calculated, and it is determined whether or not it is 0, that is, whether or not the target angle is completely achieved. Assuming that it has not been achieved this time, the judgment is NO,
In S25, it is determined whether or not the door 64 is open based on the output signal from the door opening / closing sensor 70. If it is not open, the determination is NO, and in S26,
A command value for the closed state of the table turning speed is read from the memory 92, and this is used as the command value of the turning speed of this time.
On the other hand, if the door 64 is open, the determination in S25 is Y.
ES is reached, and in S27, the command value for the open state of the table turning speed is read from the memory 92, and this is set as the command value of the turning speed of this time. In either case, thereafter, in S28, a command is issued to the pallet changing motor 44 so that the current command value of the turning speed is realized. After that, the process returns to S24, and thereafter, the execution of S24 to 28 is repeated until the target angle of this time is completely achieved and the determination of S24 becomes YES.
Return to S21.

The case where the current command issued from the operation command unit 82 is the pallet carry-in command has been described above. However, if it is not, the determination in S22 becomes NO, and the current command is issued in S29. A command is issued to the various motors 32 and the like so that the corresponding machining operation is realized, and thereafter, the process returns to S21.

Next, the work contents of the worker will be described in relation to the operation of the machine tool.

The worker essentially performs the following working work. That is, the operator first operates the start switch 76 to the ON state in order to start the machining of the workpiece this time. As a result, the table 42 is swung by 180 degrees prior to the machining of the workpiece this time, whereby the present workpiece in the exchange position is in the machining position, and the previous workpiece (machined workpiece) in the machining position is in the machining position. It can be moved to the exchange position simultaneously. After that, waiting for the previous work to reach the exchange position and stop, the worker opens the door 64 and removes the previous work from the table 42 while the current work is being processed by the tool 14. Instead, attach the next work. After that, the worker opens the door 64
And the start switch 76 is turned on again.
After that, the worker opens the door 64 and replaces the work each time the processed work is moved to the replacement position.
After that, the process of closing the door 64 and operating the start switch 76 to the ON state is repeated.

The worker works on the shield 6 while the machine tool is operating.
When the hand is inserted into 0, the door 64 should be opened and the hand should be inserted into the shield 60 after the processed work is stopped at the exchange position. But,
It is possible that an operator accidentally opens the door 64 and inserts his / her hand into the shield 60 while the table is swiveling, for example, for urgent work replacement. In this case, in the present embodiment, the motor control unit 84 sequentially detects the open / closed state of the door 64 when turning the table 42, and if the door 64 is in the open state, the command value for the open state, the closed state. If there is, the table 42 is turned according to the command value for the closed state. This time,
Assuming that the command value for the open state is smaller than the command value for the closed state, that is, the turning speed of the table 42 is slower in the open state than in the closed state. If the operator mistakenly opens the door 64 while the table is turning, the turning speed of the table 42 is immediately reduced to the command value for the open state, that is, faster than usual. Therefore, even if the operator accidentally opens the door 64 and inserts his / her hand into the shield 60 while the table is turning, the table 42 is immediately decelerated, which does not lead to an accident of the operator. The table 42 is then swung slowly until the door 64 is closed.

As is apparent from the above description, in the present embodiment, the table turning speed of the memories 88 and 92 of the computer of the main controller 80 (this is the case of claim 1).
And the input means 77 cooperate with each other to store a command value for each of the open state and the closed state, which is one aspect of the "work moving speed" in each of the inventions 1 and 2, described above.
"Work movement speed storage means 5" in the invention of claim 2
And a portion of the computer of the main control device 80 that executes S24 to 28 in FIG. 9 cooperate with each other, and the invention "work movement speed control means 4" of each of claims 1 and 2. It constitutes one aspect.

Although one embodiment of the present invention has been described in detail with reference to the drawings, the present invention can be implemented in other modes.

For example, in the above embodiment, when the door 64 is in the open state, the table 42 can be rotated at a low speed, but the present invention can be implemented by stopping it.

Further, in the above embodiment, the table 4
Whether or not the door 64 is opened immediately before turning 2 and whether or not the door 64 is open is sequentially determined. While the door 64 is open, the table 42 can be turned at a slower speed than usual. However, for example, it is determined whether or not the door 64 is opened only immediately before turning the table 42,
If so, the table 42 is rotated at a slower speed (or 0) than usual, and otherwise at a normal speed until the single turning process of the table 42 is completed, that is, regardless of whether the door 64 is opened after the turning is started. It is also possible to implement the present invention by making it turn.

Further, in the above embodiment, the table 4
Although the movement of the work between the machining position and the exchange position is performed by the two turning motions, the present invention can be implemented by performing the linear motion of the table 42, for example.

In addition to these, the present invention can be implemented in various modified and improved modes based on the knowledge of those skilled in the art.

[Brief description of drawings]

FIG. 1 is a diagram conceptually showing the structure of the invention of claim 1.

FIG. 2 is a diagram conceptually showing the structure of the invention of claim 2.

FIG. 3 is a side view showing a numerically controlled machine tool which is an embodiment common to the inventions of claims 1 and 2.

FIG. 4 is a front view showing the numerically controlled machine tool.

5 is a diagram showing an electric system of a main controller in FIG.

6 is a diagram conceptually showing the structure of the memory of the operation command unit in FIG.

7 is a diagram conceptually showing the structure of a memory of a motor control unit in FIG.

8 is a flowchart showing a driving command program used by a computer of a driving command unit in FIG.

9 is a flowchart showing a motor control program used by a computer of a motor control unit in FIG.

[Explanation of symbols]

 10 Spindle 14 Tool 40 Pallet Exchanger 42 Table 60 Shield 64 Door 70 Door Open / Close Sensor 80 Main Controller

Claims (2)

[Claims] 1. A work processing device for processing a work, a work moving device for moving the work to a processing position by the work processing device and a replacement position for an operator, and the work processing device and the work moving device outside. The shield that is covered by the shield and the door that is provided on the shield and that can be opened and closed by the operator, and that allows the operator to replace the workpiece at the above-mentioned replacement position in the opened state. Based on the above, in a numerically controlled machine tool including a main controller that controls the work processing device and the work moving device, a door open / closed state detection unit that detects an open / closed state of the door is provided, and the main controller And the state in which the door open / closed state detection means detects that the door is in the open state and the state in which the door is in the closed state. Numerically controlled machine tool, characterized in that it has to have a work moving speed control means for changing the moving speed of the workpiece by the braking system. 2. The work moving speed control means, in response to a command from an operator, a work moving speed command value when the door is in an open state and a work moving speed command value when the door is in a closed state. 2. The numerically controlled machine tool according to claim 1, further comprising a work moving speed storing means for storing at least the former, and changing the moving speed of the work by the work moving device based on a command value thereof.