Machine tools, processing systems, and methods for determining whether draw bolts are suitable

Abstract

The present invention provides a machine tool, a processing system, and a method for determining whether a draw bolt is suitable or not, which can efficiently and accurately determine whether a draw bolt is suitable or not. The machine tool uses a tool (20) having a draw bolt (23) at a base end portion to process a workpiece, and the machine tool comprises: a tool magazine having a plurality of tool holding portions capable of loading and unloading the tool (20) respectively; a spindle that holds the tool when processing the workpiece; and a control portion that determines whether the draw bolt (23) is suitable or not based on detection data of a visual sensor (30) that is arranged inside or outside the machine tool and photographs the draw bolt (23) of a tool holder (22) of the tool, or detection data of a sensor that is arranged in the tool magazine and measures the length, resistance, or capacitance of the draw bolt (23).

Description

Technical Field

[0001] The invention relates to a machine tool, a processing system, and a method for determining whether a draw bolt is suitable or not. Background Art

[0002] Conventionally, there is known a machine tool that has a tool magazine capable of storing a plurality of tools and automatically replaces a tool mounted on a spindle (see, for example, Patent Documents 1 to 5). The machine tools of Patent Documents 1 to 5 are provided with a function of recognizing a tool.

[0003] Furthermore, there is known a method of determining whether a tool is incorrectly mounted on a tool holder using a jig (see, for example, Patent Document 6).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2018-094697

[0007] Patent Document 2: Japanese Patent Application Publication No. 2008-246586

[0008] Patent Document 3: Japanese Patent Application Laid-Open No. 60-009628

[0009] Patent Document 4: Japanese Utility Model Publication No. 54-109978

[0010] Patent Document 5: Japanese Utility Model Publication No. 52-040077

[0011] Patent Document 6: Japanese Patent Application Publication No. 2018-144121 Summary of the invention

[0012] Problem that the invention aims to solve

[0013] In a machine tool having an automatic tool changing function, a tool having a draw bolt for fixing the tool to the spindle is generally used. There are various types of draw bolts. The spindle is suitable for a predetermined type of draw bolt having a predetermined shape and a predetermined size, and is designed to be able to hold the predetermined type of draw bolt with a predetermined fixing force. However, there are cases where, for example, the unsuitable draw bolt is similar to the suitable draw bolt, and even the unsuitable draw bolt can be mounted on the spindle.

[0014] On the other hand, the tool can be installed in the tool magazine regardless of the shape and size of the traction bolt. Patent documents 1 to 5 do not disclose preventing the installation of an unsuitable traction bolt in the tool magazine. In the case where a tool with an unsuitable traction bolt is mistakenly installed in the tool magazine, the tool with an unsuitable traction bolt is installed on the spindle. In the case where a tool with an unsuitable traction bolt is installed on the spindle, the fixing force of the spindle to the tool is reduced. In addition, in the case where a tool with an unsuitable traction bolt is installed on the spindle, there is a case where a mark is formed on the traction bolt or the spindle side of the tool. These may cause undesirable conditions such as poor processing.

[0015] In view of the above circumstances, a machine tool, a machining system, and a method for determining whether a draw bolt is suitable in a machine tool that can efficiently and accurately determine whether a draw bolt is suitable are desired.

[0016] Solutions for solving problems

[0017] A first aspect of the present disclosure is a machine tool that processes a workpiece using a tool having a draw bolt at a base end portion, the machine tool comprising: a tool magazine having a plurality of tool holding portions that can respectively load and unload the tools; a spindle that holds the tools when processing the workpiece; and a control portion that determines whether the draw bolt is suitable based on detection data of a visual sensor that is provided inside or outside the machine tool and that photographs the draw bolt of the tool, or detection data of a sensor that is provided in the tool magazine and that measures the length, resistance, or capacitance of the draw bolt.

[0018] The processing system of the second scheme of the present disclosure includes: the machine tool; a robot; and a robot control device that controls the robot, the robot is equipped with the visual sensor, and the robot control device moves the visual sensor to a position for photographing the draw bolt according to a photographing instruction from the control unit of the machine tool.

[0019] A third scheme of the present disclosure is a method for determining whether a traction bolt is suitable or not, which is used to determine whether a traction bolt of a tool installed in a tool library is suitable or not, and the method includes the following steps: installing the tool in the tool library; a control unit obtains detection data of a visual sensor or detection data of a sensor that measures the length, resistance, or capacitance of the traction bolt for the traction bolt of the tool to be installed in the tool library or the traction bolt of the tool already installed in the tool library; and determining whether the traction bolt is suitable or not based on the detection data. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1This is a schematic front view of a machine tool according to an embodiment of the present invention.

[0021] Figure 2 yes Figure 1 Schematic side view of a machine tool.

[0022] Figure 3 yes Figure 1 Schematic side view of the tools used by the machine tool.

[0023] Figure 4 yes Figure 1 Front view of the machine tool’s tool magazine.

[0024] Figure 5 yes Figure 4 Side view of the tool library.

[0025] Figure 6 Yes means Figure 4 The tool magazine is a three-dimensional view of the internal structure of the tool magazine, which explains the method of installing the tool on the tool holding part.

[0026] Figure 7 Observed from the back side Figure 6 A diagram of a tool holding portion and a tool.

[0027] Figure 8 It is a longitudinal section view of the main shaft.

[0028] Fig. 9 yes Figure 1 Block diagram of the control unit of a machine tool.

[0029] Fig.10 Schematic diagram of a position sensor that measures the position of the front end of a draw bolt of a tool.

[0030] Fig.11 Schematic diagram of another position sensor for measuring the position of the front end of the draw bolt of the tool.

[0031] Fig.12 Schematic diagram of a sensor for measuring the electrical characteristics of a tool's draw bolt.

[0032] Fig.13 This is a longitudinal sectional view of a spindle showing a sensor for measuring the electrical characteristics of a pull bolt of a tool.

[0033] Fig.14 This is a diagram showing the connection between the host system and the machine tool.

[0034] Fig.15 This is a front view of a robot used with a machine tool.

[0035] Description of reference numerals:

[0036] 1: Machine tools

[0037] 4: Tool Library

[0038] 5: Spindle

[0039] 9: Tool holding part

[0040] 20: Tools

[0041] 23: Pull bolt

[0042] 30: Vision Sensor

[0043] 40: Control Department

[0044] 43: Storage device

[0045] 43a: Shape data

[0046] 43b: Shape judgment program

[0047] 43c: Installation judgment program

[0048] 50: Position sensor

[0049] 51: Servo motor

[0050] 53: Moving parts

[0051] 54: Gas blowing parts

[0052] 55: Pressure gauge

[0053] 56: Strain gauge

[0054] 60: Electrical confirmation sensor

[0055] 70: Electrical characteristics measurement sensor

[0056] A: Installation direction

[0057] P: Tool loading and unloading position DETAILED DESCRIPTION

[0058] Hereinafter, a machine tool 1 according to an embodiment of the present invention will be described with reference to the drawings.

[0059] like Figure 1 as well as Figure 2 As shown, the machine tool 1 of this embodiment includes: a base 2; a worktable 3 to which a workpiece W is fixed; a tool magazine 4 to which a plurality of tools 20 are stored; a spindle 5 to which the plurality of tools 20 stored in the tool magazine 4 are selectively held; and a spindle head 6 to which the spindle 5 is supported. The machine tool 1 has a function of automatically changing the tool 20 between the tool magazine 4 and the spindle 5.

[0060] The base 2 is installed at the place where the machine tool 1 is used, for example, using leveling bolts, anchor bolts, etc. The workbench 3 is installed on the base 2, and the workpiece W is fixed to the upper surface of the workbench 3 by any fixing means. The workbench 3 and the workpiece W are moved in the horizontal direction relative to the spindle 5 by a feed motor (not shown) installed on the base 2. A column 8 is provided on the back side of the workbench 3, and the column 8 is fixed to the base 2 and extends upward from the base 2 in the vertical direction. The tool magazine 4 and the spindle 5 are supported on the upper end of the column 8, and the tool magazine 4, the spindle 5 and the spindle head 6 are arranged above the workbench 3.

[0061] Figure 3 A side view of the tool 20 is shown. Figure 3 As shown, the tool 20 includes a tool body 21 and a tool holder 22 that holds the tool body 21 .

[0062] The tool body 21 is a part that comes into contact with the workpiece W and processes the workpiece W, and is any type of tool such as a drill, a tap, or a milling cutter.

[0063] The tool holder 22 includes, in order from the base end side toward the front end side, a draw bolt 23 held by the spindle 5, a tapered portion 24, a flange portion 25 held by a tool holding portion 9 (described later) of the tool magazine 4, and a clamp portion 26 for holding the tool body 21. A clamp for holding the tool body 21 is provided in the clamp portion 26, and the tool body 21 is held in the clamp portion 26 by reducing the diameter of the clamp.

[0064] The traction bolt 23 has a head 23a and a shaft 23b, the shaft 23b extending along the long axis of the tool 20 and connecting the head 23a and the tapered portion 24. The base end of the traction bolt 23 is threadedly engaged with a threaded hole provided in the tapered portion 24, and the head 23a is provided at the front end of the traction bolt 23. The outer diameter of the head 23a is larger than the outer diameter of the shaft 23b, and tapered surfaces 23c and 23d are provided at the front end side and the base end side of the head 23a, respectively. The tapered surface 23c at the front end side of the traction bolt 23 is a cylindrical surface whose diameter gradually increases from the front end side of the traction bolt 23 toward the base end side. The tapered surface 23d at the base end side of the traction bolt 23 is a cylindrical surface whose diameter gradually increases from the base end side of the traction bolt 23 toward the front end side.

[0065] The tapered portion 24 extends along the long axis of the tool 20, and connects the pull bolt 23 and the flange portion 25. The diameter of the tapered portion 24 gradually increases from the front end side toward the base end side.

[0066] The flange 25 is substantially cylindrical and has an outer diameter larger than that of the base end of the tapered portion 24. A groove 25a for holding the tool 20 in the tool holding portion 9 described later is formed on the outer peripheral surface of the flange 25. The groove 25a extends over the entire circumference of the tool holding portion 9.

[0067] Figure 4 as well as Figure 5 shows the appearance of the tool library 4, Figure 6 The internal structure of the tool magazine 4 is shown. The tool magazine 4 is in a substantially circular box shape. The tool magazine 4 includes a plurality of tool holding portions 9 ( Figure 6 ), and a front cover 10 and a back cover 11 ( Figure 4 as well as Figure 5 ).

[0068] like Figure 4 as well as Figure 5 As shown, the front cover 10 has a substantially disk-shaped front panel 10a disposed on the front side of the tool magazine 4, and a substantially annular side panel 10b disposed on the side of the tool magazine 4. The back cover 11 is a substantially disk-shaped back panel disposed on the back side of the tool magazine 4. The openings 10c make the space S formed by the covers 10 and 11 communicate with the outside of the covers 10 and 11 in the radial direction, and the tool 20 held in the tool holding portion 9 passes through each opening 10c.

[0069] The plurality of tool holding portions 9 are supported by a holding base 9 a , and the holding base 9 a is supported on an upper end portion of the column 8 so as to be rotatable about the central axis of the front cover 10 .

[0070] The front cover 10 and the holding base 9a can be integrally rotated around the central axis of the front cover 10 by a rotary motor (not shown). As a result, the plurality of tool holding parts 9 also rotate around the central axis, and through the rotation of the plurality of tool holding parts 9, the plurality of tool holding parts 9 are selectively arranged at a predetermined tool loading and unloading position P. Figure 4 as well as Figure 5 As shown, a recess 11a is formed at a position of the back cover 11 corresponding to the tool attachment and detachment position P, and the recess 11a is recessed in a direction away from the front panel 10a. The operator installs and removes the tool 20 relative to the tool holding portion 9 through the working space formed by the opening 10c arranged at the tool attachment and detachment position P and the recess 11a.

[0071] Furthermore, a not-shown cutout for attaching the tool 20 to the front end of the spindle 5 is provided at the lower end of the back cover 11 .

[0072] Furthermore, by rotating the plurality of tool holders 9, the plurality of tool holders 9 are selectively positioned at a tool replacement position near the spindle 5. The tool replacement position coincides with the position of the cutout. The machine tool 1 replaces the tool 20 held on the spindle 5 by replacing the tool 20 between the tool holder 9 at the tool replacement position and the spindle 5. During this replacement, the lower end of the tool magazine 4 can approach the spindle 5 side.

[0073] Figure 6 as well as Figure 7 FIG. 2 shows a structural example of a tool holding portion 9. The tool holding portion 9 holds the flange portion 25 of the tool 20 in a state where the front end of the tool body 21 faces radially outward of the tool magazine 4. The tool 20 is mounted on the tool holding portion 9 in a predetermined mounting direction A from the back side toward the front side of the tool magazine 4 ( Figure 6 ).exist Figure 7 In the figure, the installation direction A is from the front side toward the back side of the paper.

[0074] Specifically, if Figure 6 as well as Figure 7 As shown, each tool holding portion 9 includes: a substantially semicircular recess 12 that receives the flange 25 in the mounting direction A and supports the front side of the flange 25 in the tool magazine 4; a pair of rollers 13a and 13b that support the flange 25 supported by the recess 12 at the back side in the tool magazine 4; a pair of swingable arms 15 that respectively support the pair of rollers 13a and 13b; and a spring or other urging member 14 that urges the pair of arms 15 in a closing direction in which the pair of rollers 13a and 13b approach each other. A protrusion 12a that fits into the groove 25a of the flange 25 is provided on the recess 12.

[0075] Each roller 13a, 13b is supported by the arm 15 in a manner that allows rotation around a central axis that is substantially parallel to the central axis of the tool 20 supported by the recessed portion 12. The pair of rollers 13a, 13b is fitted into the groove 25a of the flange portion 25, and supports the flange portion 25 at two locations in the circumferential direction. In addition, the pair of rollers 13a, 13b can overcome the force of the biasing member 14 and move in the opening direction away from each other.

[0076] The pair of rollers 13a and 13b are rotated and opened by the flange portion 25 moving toward the recessed portion 12 in the mounting direction A, whereby the flange portion 25 is arranged in the recessed portion 12. When the flange portion 25 is arranged in the recessed portion 12, the pair of rollers 13a and 13b are approached to each other by the force of the force applying member 14. In the state where the pair of rollers 13a and 13b are approached, the flange portion 25 is supported by the protruding portion 12a on the inner surface of the recessed portion 12 and the pair of rollers 13a and 13b, and is stably held in the tool holding portion 9.

[0077] Furthermore, when the flange portion 25 in the recessed portion 12 moves in the direction opposite to the mounting direction A, the pair of rollers 13 a and 13 b rotate and open, whereby the flange portion 25 is removed from the tool holding portion 9 .

[0078] The spindle head 6 is a component having a cylindrical portion extending in the vertical direction, and is supported on the column 8 in a manner that allows it to move in the vertical direction. The spindle 5 extends in the vertical direction inside the spindle head 6, and is supported by the spindle head 6 so as to be rotatable around the long axis of the spindle 5. The spindle head 6, the spindle 5, and the tool 20 move integrally in the vertical direction relative to the worktable 3 and the workpiece W by a motor (not shown) provided on the column 8. In addition, the spindle 5 and the tool 20 rotate integrally around the long axis of the spindle 5 by a spindle motor 5a connected to the upper end of the spindle 5.

[0079] The machine tool 1 moves the workpiece W and the tool 20 relatively by horizontally moving the worktable 3 and vertically moving the spindle head 6 , and processes the workpiece W by rotating the tool body 21 of the tool 20 .

[0080] Figure 8 FIG. 5 is a diagram showing the internal structure of the main shaft 5. Figure 8 As shown, the traction bolt 23 and the tapered portion 24 are inserted from the lower end side of the spindle 5, and the traction bolt 23 is held by the fixing mechanism FM in the spindle 5. Specifically, the spindle 5 includes a cylindrical spindle body 5a and a fixing mechanism FM, which is provided in the spindle body 5a and pulls the tool 20 toward the spindle body 5a.

[0081] The spindle body 5 a provided with the tapered portion 24 has an inner surface 15 a at the lower end portion having a tapered shape that fits with the outer surface of the tapered portion 24 .

[0082] The fixing mechanism FM includes a shaft 16 extending in the vertical direction in the main shaft body 5a, and a force applying member 17 such as a spring that pulls the shaft 16 vertically upward. The force applying member 17 may also be a hydraulic cylinder, an air cylinder, etc. The central axis of the shaft 16 and the central axis of the main shaft body 5a coincide with the central axis of the main shaft 5. The traction bolt 23 is inserted into the recess 16a at the lower end of the shaft 16, and the head 23a is supported by a plurality of metal balls 18 held at the lower end of the shaft 16.

[0083] Specifically, when the shaft 16 is moved downward relative to the main spindle body 5a, the plurality of metal balls 18 are in a state of being able to move radially outward. In this state, the head 23a of the pull bolt 23 is inserted into the recess 16a. Furthermore, when the shaft 16 is moved upward by the force applying member 17, the metal balls 18 are moved radially inward through the inner circumference of the main spindle body 5a. As a result, the metal balls 18 abut against the tapered surface 23d of the head 23a, and the tapered portion 24 of the tool 20 abuts against the inner surface 15a formed at the lower end of the main spindle body 5a. In this state, when the shaft 16 is forced upward by the force applying member 17, the tapered portion 24 is pressed against the inner surface 15a by a strong force, thereby fixing the tool 20 to the main spindle body 5a.

[0084] Therefore, the magnitude of the fixing force of the tool 20 relative to the spindle 5 varies depending on the type of the draw bolt 23. For example, the fixing force of the tool 20 varies depending on the inclination angle θ ( Figure 3 ), the position of the tapered surface 23d relative to the tapered portion 24 in the direction along the central axis CL, etc. are different.

[0085] The spindle 5 is adapted to a predetermined type of draw bolt 23 having a predetermined shape and a predetermined size. That is, in the case of the predetermined type of draw bolt 23, the spindle 5 fixes the tool 20 with a rated fixing force. For example, Figure 3 As shown, the predetermined type of traction bolt 23 has an inclination angle θ of 45° and has a predetermined dimension L in a direction along the center axis CL.

[0086] like Figure 7 As shown, the machine tool 1 has a visual sensor 30, and the visual sensor 30 photographs the draw bolt 23 of the tool 20 mounted on the tool holding part 9 at the tool loading and unloading position P. The visual sensor 30 is a two-dimensional camera, a three-dimensional camera, a three-dimensional distance sensor, etc. The visual sensor 30 is connected to the control unit 40 of the machine tool 1. In this embodiment, the visual sensor 30 is set in the space S surrounded by the covers 10 and 11 of the tool magazine 4, and is installed on the back cover 11.

[0087] like Fig. 9 As shown, the control unit 40 includes: a processor 41 such as a CPU; a display device 42; a storage device 43 having a non-volatile memory, a ROM, etc.; a plurality of motor controllers 44 that control various motors such as the spindle 5 and the tool magazine 4; an input unit 45 such as an operation panel; a transceiver 46 having an antenna, a connector, etc.; and a sound generator 47 such as a speaker. The storage device 43 stores a machining program, and the processor 41 sends an action command to the motor controller 44 based on the machining program, thereby performing machining by the machine tool 1, replacing the tool 20 using the tool magazine 4 with respect to the spindle 5, etc.

[0088] The storage device 43 stores shape data (shape model) 43 a of the draw bolt 23 suitable for the type of the machine tool 1 .

[0089] On the other hand, Figure 6 As shown, a mounting sensor 15 a is provided on each of the plurality of tool holding portions 9 , and the mounting sensor 15 a detects whether the tool 20 has been mounted or is about to be mounted on the tool holding portion 9 .

[0090] The installation sensor 15a detects whether the tool 20 has been installed or is about to be installed in the tool holding portion 9 by, for example, detecting the swing position of one or both arms 15. A proximity sensor, a power-on sensor, or the like, which is provided in the recess 12 and detects the proximity or contact between the recess 12 and the tool 20, may also be used as the installation sensor. The installation sensor 15a is connected to the control unit 40, and the control unit 40 recognizes whether the tool 20 has been installed or is about to be installed in the tool holding portion 9 at the tool mounting and dismounting position P based on the detection result of the installation sensor 15a.

[0091] For example, when the tool 20 is mounted or is about to be mounted on the tool holding portion 9 at the tool mounting and dismounting position P, the control unit 40 sends a shooting command to the visual sensor 30. As a result, detection data (image) of the draw bolt 23 of the tool 20 at the tool mounting and dismounting position P is obtained. The processor 41 of the control unit 40 performs predetermined image processing such as binarization processing on the obtained detection data based on the shape judgment program 43b stored in the storage device 43, and compares the draw bolt 23 in the processed image with the shape data 43a stored in the storage device 43.

[0092] Furthermore, the processor 41 determines whether the draw bolt 23 of the tool 20 at the tool attachment position P is of a type suitable for the machine tool 1 based on the comparison result. Furthermore, when the draw bolt 23 of the tool 20 at the tool attachment position P is not suitable for the machine tool 1, the processor 41 performs a predetermined display (notification) using the display device 42 or a notification using the sound generator 47. In this case, the display device 42 or the sound generator 47 functions as a notification device.

[0093] For example, in a type of draw bolt 23 suitable for the machine tool 1, Figure 3 When the angle θ shown is 45°, if the angle θ of the draw bolt 23 of the tool 20 at the tool attachment and detachment position P is 60°, the processor 41 determines that the draw bolt 23 is not suitable for the machine tool 1 .

[0094] In addition, if Figure 7As shown, the machine tool 1 may further include a position sensor 50, which detects the position of the front end of the draw bolt 23 of the tool 20 mounted on the tool holding part 9 at the tool mounting and unmounting position P (the length of the draw bolt 23). The position sensor 50 is arranged in the space S of the tool magazine 4 and fixed to the back cover 11, the holding base 9a, etc. The position sensor 50 includes: a servo motor 51; a guide member 52 extending in the direction along the output shaft 51a of the servo motor 51; and a movable member 53 mounted on the guide member 52 in a manner that can move along the extending direction of the guide member 52. The output shaft 51a of the servo motor 51 is threadedly coupled to the movable member 53, and the movable member 53 moves along the guide member 52 according to the rotation of the output shaft 51a. Preferably, the movable member 53 includes a ball screw nut. The servo motor 51 includes a working position detection device such as an encoder. The servo motor 51 is connected to the control unit 40, and the control unit 40 recognizes the rotation amount and working position of the output shaft 51a of the servo motor 51.

[0095] When the tool 20 is mounted on the tool holding portion 9 at the tool mounting and removal position P, the processor 41 of the control unit 40 controls the servo motor 51 based on the mounting determination program 43c stored in the storage device 43 to bring the movable member 53 into contact with the tip of the draw bolt 23. The processor 41 determines whether the rotation amount (detection data) and the working position (detection data) of the output shaft 51a at this time, or the position of the tip of the draw bolt 23 calculated based on the rotation amount and the working position, is within the reference range.

[0096] Then, when it is outside the reference range, the processor 41 performs a predetermined display (notification) using the display device 42 or a notification using the sound generating device 47 .

[0097] For example, when the tightening of the draw bolt 23 is loose, the tip end position of the draw bolt 23 is outside the reference range.

[0098] like Fig.10 As shown, a gas blowing component 54 may be provided at the front end of the movable component 53. The gas blowing component 54 is connected to a gas supply device (not shown) such as a compressor. A pressure gauge 55 for detecting the pressure of the blown gas blown from the gas blowing surface 54a of the gas blowing component 54 is also provided, and the pressure gauge 55 is connected to the control unit 40.

[0099] In this case, the processor 41 of the control unit 40 controls the servo motor 51 based on the installation determination program 43c to place the movable member 53 at a predetermined position. The processor 41 determines whether the detection data of the pressure gauge 55 at this time is within the reference range.

[0100] For example, at the predetermined position, the distance between the tip end of the normally mounted draw bolt 23 and the movable member 53 is close, and thus the pressure detected by the pressure gauge 55 becomes high.

[0101] If the length of the pull bolt 23 is outside the reference range, the processor 41 determines that the length of the pull bolt 23 is outside the predetermined length, and performs a predetermined display (notification) using the display device 42 or a notification using the sound generator 47 .

[0102] In addition, if Fig.11 As shown, a strain gauge 56 may be mounted on the movable member 53. An elastically deformable deformation portion 53a is provided on at least a portion of the movable member 53. When the movable member 53 abuts against the front end of the traction bolt 23, the deformation portion 53a is elastically deformed.

[0103] In this case, the processor 41 of the control unit 40 controls the servo motor 51 based on the mounting determination program 43c to place the movable member 53 at a predetermined position. The processor 41 determines whether the detection data of the strain gauge 56 at this time is within the reference range.

[0104] For example, at the predetermined position, the front end portion of the normally mounted pull bolt 23 contacts the movable member 53 , whereby the deformed portion 53 a is elastically deformed.

[0105] Then, when it is outside the reference range, the processor 41 performs a predetermined display (notification) using the display device 42 or a notification using the sound generating device 47 .

[0106] In addition, if Fig.12 As shown, an electric confirmation sensor 60 for detecting the resistance or capacitance between the movable member 53 and the tool holding portion 9 may also be provided. The electric confirmation sensor 60 may be a well-known ammeter, electrostatic capacitance meter, etc. The electric confirmation sensor 60 is connected to the movable member 53 and the arm 15 of the tool holding portion 9. The electric confirmation sensor 60 may also be connected to other parts of the tool magazine 4 such as the holding base 9a and the front cover 10 instead of the arm 15.

[0107] In this case, the processor 41 of the control unit 40 controls the servo motor 51 according to the mounting determination program 43c to bring the movable member 53 into contact with the pull bolt 23. The processor 41 determines whether the detection data of the electrical confirmation sensor 60 at this time is within the reference range.

[0108] For example, when the tightening of the pull bolt 23 is loosened, the resistance or capacitance between the movable member 53 and the arm 15 changes.

[0109] Then, when it is outside the reference range, the processor 41 performs a predetermined display (notification) using the display device 42 or a notification using the sound generating device 47 .

[0110] In addition, if Fig.13 As shown, an electrical characteristic measuring sensor 70 for detecting the resistance or capacitance between the fixing mechanism FM and the tool holding portion 9 may also be provided. The electrical characteristic measuring sensor 70 may be a well-known ammeter, electrostatic capacitance meter, etc. The electrical characteristic measuring sensor 70 is connected to the shaft 16 or the force applying member 17 of the fixing mechanism FM and the arm 15 of the tool holding portion 9. The electrical characteristic measuring sensor 70 may also replace the arm 15 and be connected to other parts of the tool magazine 4 such as the holding base 9a and the front cover 10.

[0111] When the tool 20 disposed at the tool replacement position is mounted on the spindle 5 , the processor 41 of the control unit 40 determines whether the detection data of the electrical characteristic measurement sensor 70 is within a reference range based on the mounting determination program 43 c .

[0112] For example, when the tightening of the pull bolt 23 is loosened, the resistance or capacitance between the fixing mechanism FM and the arm 15 changes.

[0113] Then, when it is outside the reference range, the processor 41 performs a predetermined display (notification) using the display device 42 or a notification using the sound generating device 47 .

[0114] In the above-described embodiments, the control unit 40 of the machine tool 1 compares the detection data (image) of the visual sensor 30 with the shape data 43a, and determines whether the draw bolt 23 of the tool 20 at the tool attachment and detachment position P is of a type suitable for the machine tool 1. On the other hand, another computer may include the shape data 43a and the shape determination program 43b, and the other computer may determine whether the draw bolt 23 of the tool 20 at the tool attachment and detachment position P is of a type suitable for the machine tool 1.

[0115] In the above-described embodiments, the control unit 40 of the machine tool 1 determines whether the detection data of the position sensor 50, the pressure gauge 55, the strain gauge 56, the electrical confirmation sensor 60, and the electrical characteristic measurement sensor 70 are within the reference range. Alternatively, another computer may determine whether the detection data are within the reference range.

[0116] In addition, you can Fig.14 As shown, the host system (computer) 100 of the management control unit 40 includes shape data 43 a and a shape determination program 43 b , and the host system 100 determines whether the draw bolt 23 of the tool 20 at the tool attachment / detachment position P is of a type suitable for the machine tool 1 .

[0117] Alternatively, the host system 100 may determine whether the detection data of the position sensor 50 , the pressure gauge 55 , the strain gauge 56 , the electrical confirmation sensor 60 , and the electrical characteristic measurement sensor 70 are within a reference range.

[0118] Furthermore, in each of the above-mentioned embodiments, the visual sensor 30 is disposed in the tool magazine 4 at a position where the draw bolt 23 of the tool 20 mounted on the tool holding portion 9 at the tool attachment and detachment position P is photographed. Alternatively, the visual sensor 30 may be disposed at another position in the tool magazine 4, and the visual sensor 30 may photograph the draw bolt 23 of the tool 20 of the tool holding portion 9 disposed at another position other than the tool attachment and detachment position P.

[0119] The position sensor 50 may be provided at another position in the tool magazine 4. In this case, the detection data of the position sensor 50, the pressure gauge 55, the strain gauge 56, and the electrical confirmation sensor 60 are data on the tool 20 of the tool holding unit 9 arranged at a position other than the tool attachment and detachment position P.

[0120] Furthermore, in each of the above-mentioned embodiments, the visual sensor 30 may be arranged outside the tool magazine 4. Furthermore, the visual sensor 30 may be arranged outside the machine tool 1. In these cases, as long as the visual sensor 30 is arranged so as to be able to capture the drawing bolt 23 of the tool 20 mounted on the tool holding portion 9 at the tool attachment and detachment position P, the same effect as described above can be achieved.

[0121] In addition, if Fig.15 As shown, the visual sensor 30 can also be installed at the front end of the robot 200. In the present embodiment, the robot 200 performs predetermined operations such as replacement and deburring of the workpiece W on the machine tool 1. The robot 200 is, for example, a vertical multi-jointed robot having a plurality of joints. The robot 200 is controlled by a robot control device 210. In this case, when a shooting instruction is sent from the control unit 40 to the robot control device 210, the robot control device 210 moves the visual sensor 30 to a predetermined position through the robot 200. The predetermined position is a position at which the traction bolt 23 of the tool 20 mounted on the tool holding portion 9 at the tool loading and unloading position P can be photographed by the visual sensor 30.

[0122] In the above embodiments, the control unit 40 determines whether the draw bolt 23 is suitable based on the detection data of the visual sensor 30 of the draw bolt 23 of the imaging tool 20. Therefore, when the angle of the tapered surface 23d of the draw bolt 23 is different, the abnormality can be detected efficiently and reliably.

[0123] In addition, the control unit 40 determines whether the draw bolt is suitable based on the detection results of sensors such as the position sensor 50, the pressure gauge 55, the strain gauge 56, and the electrical confirmation sensor 60 provided in the tool magazine 4. Therefore, when the draw bolt 23 is loosely tightened, the abnormality can be detected efficiently and reliably.

[0124] As described above, when the pull bolt 23 is abnormal, the force that fixes the tool 20 to the spindle 5 changes. Figure 3 The angle θ shown as 45° is suitable for the machine tool 1. However, if θ becomes 60°, the force of pulling the draw bolt 23 upward by the fixing mechanism FM may be reduced by 5 to 10%. This reduction in fixing force may cause a reduction in processing quality, scratches on the taper 24 of the tool 20, damage to the tool body 21 of the tool 20, etc.

[0125] Furthermore, in the above-mentioned embodiment, whether the tightening of the draw bolt 23 is appropriate or not is determined based on the detection data of the electric confirmation sensor 60 provided in the tool magazine 4. Furthermore, in the above-mentioned embodiment, whether the tightening of the draw bolt 23 is appropriate or not is determined based on the detection data of the position sensor 50 provided in the tool magazine 4. These structures are advantageous in that the tightening failure of the draw bolt 23 can be reliably detected by a simple structure.

[0126] Furthermore, in each of the above-described embodiments, when it is determined that the draw bolt 23 is unsuitable, a predetermined notification is made. With this configuration, the operator can reliably recognize that the draw bolt 23 is unsuitable.

[0127] In addition, in the above-mentioned embodiment, an electrical characteristic measurement sensor 70 is provided to detect the resistance or capacitance between the fixing mechanism FM of the tool 20 in the spindle 5 and the tool holding portion 9. And the control unit 40 determines whether the draw bolt 23 is suitable or not based on the detection data of the electrical characteristic measurement sensor 70. In this structure, the abnormality of the draw bolt 23 that is not detected in the tool magazine 4 is detected when the tool 20 is mounted on the spindle 5. This structure can more reliably detect whether the draw bolt 23 is suitable or not with a simple structure.

Claims

1. A machine tool, characterized in that: The machine tool processes a workpiece using a tool having a draw bolt at a base end portion, and the machine tool comprises: A tool magazine having a plurality of tool holding portions capable of loading and unloading the tools respectively; a spindle that holds the tool while machining the workpiece; a control unit that determines whether the type of the draw bolt is appropriate based on detection data of a visual sensor that is disposed inside or outside the machine tool and that photographs the draw bolt of the tool, or determines whether the installation state of the draw bolt is appropriate based on detection data of a sensor that is disposed inside the tool magazine and that measures the length, resistance, or capacitance of the draw bolt; and an electrical characteristic measuring sensor for detecting the resistance or capacitance between the fixing mechanism of the tool in the spindle and the tool holding portion, The control unit determines whether the mounting state of the draw bolt is appropriate based on detection data of the electrical characteristic measurement sensor.

2. The machine tool according to claim 1, characterized in that: The sensor is an electrical confirmation sensor that detects the resistance or capacitance between the pull bolt and the tool holding portion, The control unit determines whether the pull bolt is suitable based on detection data of the electrical confirmation sensor.

3. The machine tool according to claim 1, characterized in that: The sensor is a position sensor that detects the position of the front end of the traction bolt. The control unit determines whether the attachment state of the pull bolt to the tool is appropriate based on the detection data of the position sensor.

4. The machine tool according to any one of claims 1 to 3, characterized in that: The control unit performs the suitability determination when the tool is installed in the tool magazine. The control unit performs notification using a predetermined notification device when determining that the pull bolt of the tool to be mounted is unsuitable.

5. A processing system, characterized in that: have: The machine tool according to any one of claims 1 to 4; Robots; and a robot control device for controlling the robot, The robot is equipped with the visual sensor. The robot control device moves the visual sensor to a position for imaging the pull bolt according to an imaging command from the control unit of the machine tool.

6. A method for determining whether a draw bolt is suitable or not, for determining whether a draw bolt of a tool installed in a tool magazine is suitable or not, characterized in that: The method comprises the following steps: installing the tool in the tool library; The control unit acquires detection data of a visual sensor or detection data of a sensor that measures the length, resistance, or capacitance of the traction bolt for the traction bolt to be installed in the tool magazine or the traction bolt already installed in the tool magazine; acquiring the resistance or capacitance between the fixing mechanism of the tool in the spindle and the tool holding portion detected by the electrical characteristic measuring sensor; Determining whether the type of the traction bolt is suitable based on the detection data of the visual sensor, or determining whether the installation state of the traction bolt is suitable based on the detection data of the sensor that measures the length, resistance, or capacitance of the traction bolt; Based on the detection data of the electrical characteristic measurement sensor, it is determined whether the installation state of the draw bolt is appropriate or not.

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