Combined machining device, control method for combined machining device, and program for executing control method

Abstract

Provided are a combined machining device, a control method for the combined machining device, and a program for executing the control method. A method for controlling a combined machining device for performing cutting and friction stir welding includes: acquiring tool information indicating which of a cutting tool and a friction stir welding tool is a plurality of tools attachable to the combined machining device; acquiring a command indicating an execution tool called by a machining program executed by the combined machining device among the plurality of tools; if the execution tool is determined to be a tool for cutting processing based on the tool information and the command, the position correction of the execution tool based on a temperature detected from a temperature sensor provided in the combined processing device is enabled during the cutting processing; if it is determined that the execution tool is a tool for friction stir welding on the basis of the tool information and the command, a load applied to a motor that rotates the execution tool is obtained during friction stir welding, and correction of the position of the execution tool by the load is enabled.

Description

Technical Field

[0001] The present invention relates to a composite machining device, a control method of the composite machining device, and a program for executing the control method. Background Art

[0002] A combined machining apparatus capable of performing cutting and friction stir welding together is known (e.g., Patent Document 1). There are two known methods for controlling a tool: position control suitable for cutting (e.g., Patent Document 2) and load control of a motor (spindle motor) that rotates a spindle by controlling the insertion depth of a friction stir welding tool (e.g., Patent Document 3).

[0003] Patent Document 1: International Publication No. 2017 / 115401 Patent Document 2: International Publication No. 2016 / 067874 Patent Document 3: Japanese Patent Application Publication No. 2003-080380

[0004] Patent document 1 describes a machine tool that can be installed with a friction stir welding tool and a cutting tool. When the welding program is executed, the friction stir welding tool is called and installed, and when the cutting program is executed, the cutting tool is called and installed. The tool is called based on the individual identification number (pin number) or individual identification mark (pin symbol) recorded in the processing program. However, the machine tool of patent document 1 does not identify whether the currently started processing program is a welding program or a cutting program. It is just an action to move the tool to the position of the action in the processing program. Similarly, the machine tool of patent document 1 does not identify whether the tool installed on the processing head is a friction stir welding tool or a cutting tool. It is just to identify the individual identification number or individual identification mark recorded in the processing program, and the individual identification number or individual identification mark of the tool installed on the processing head. In this way, since patent document 1 does not have a means for identifying whether it is friction stir welding or cutting processing, even if patent document 2 recording position control and patent document 3 recording load control are combined in patent document 1, position control and load control cannot be automatically switched. Summary of the invention

[0005] The technology disclosed in the present application aims to provide a combined machining device, a control method, and a program that can automatically switch between position control and load control according to the type of tool.

[0006] The control method of the first mode of the present invention is a control method for a composite processing device for performing cutting processing and friction stir welding, comprising: obtaining tool information, the tool information indicating which of the multiple tools that can be installed in the composite processing device are tools for cutting processing and tools for friction stir welding. The control method comprises: obtaining a command, the command indicating an execution tool called by a processing program executed by the composite processing device among the multiple tools. The control method comprises: based on the tool information and the command, determining which of the execution tool is a tool for cutting processing and a tool for friction stir welding. The control method comprises: if it is determined that the execution tool is a tool for cutting processing, then in the cutting processing, the position correction of the execution tool based on the temperature detected by the temperature sensor provided in the composite processing device is effective. The control method comprises: if it is determined that the execution tool is a tool for friction stir welding, then in the friction stir welding, the load applied to the motor that rotates the execution tool is obtained, and the position correction of the execution tool based on the load is effective.

[0007] According to a second aspect of the present invention, in the control method of the first aspect, obtaining the load applied to the motor includes obtaining a drive current of the motor or a drive torque of the motor.

[0008] According to a third aspect of the present invention, in the control method of the first aspect or the second aspect, executing the position correction of the tool based on the load is executing the correction of the position of the tool in the rotation axis direction.

[0009] According to the fourth aspect of the present invention, in the control method of any one of the first aspect to the third aspect, making the temperature-based position correction of the executing tool effective includes: based on the temperature detected from the temperature sensor, estimating the position offset of the tool tip position of the executing tool relative to the case where the temperature detected from the temperature sensor is a reference temperature, and performing the position correction of the executing tool based on the position offset during cutting processing.

[0010] According to the fifth aspect of the present invention, in the control method of any one of the first to fourth aspects, making the position correction of the executing tool based on temperature effective includes: even if a load adjustment code indicating the position correction of the executing tool based on load is included in the part of the machining program that stipulates that the executing tool is to be machined, the load adjustment code is ignored.

[0011] According to the sixth aspect of the present invention, in the control method of the fifth aspect, making the position correction of the executing tool based on temperature effective includes: if the part of the processing program that stipulates that the executing tool is to be processed contains a load adjustment code indicating the position correction of the executing tool based on load, an error message is notified.

[0012] According to the seventh aspect of the present invention, in the control method of any one of the first to sixth aspects, making the position correction of the executing tool based on the load effective includes: if a load adjustment code indicating the position correction of the executing tool based on the load is included in the part of the machining program specified by the executing tool, the load adjustment code is executed.

[0013] According to the eighth aspect of the present invention, in the control method of the seventh aspect, the load-based position correction of the executing tool is effectively made to include: if the load adjustment code is not included in the part of the machining program that is specified to be machined by the executing tool, neither the load-based position correction of the executing tool nor the temperature-based position correction of the executing tool is performed.

[0014] According to a ninth aspect of the present invention, the control method according to any one of the first to eighth aspects further includes: storing the tool information input by the user in a storage device. Acquiring the tool information includes reading the tool information from the storage device.

[0015] According to a tenth aspect of the present invention, in the control method according to any one of the first to ninth aspects, executing the position correction of the tool based on the load includes performing feedback correction of the position of the tool so that the load does not substantially change.

[0016] A program according to an eleventh aspect of the present invention includes instructions for causing the hardware processor of the multi-functional machining device to execute the processing of the control method according to any one of the first to tenth aspects when the program is executed by the hardware processor.

[0017] The twelfth embodiment of the composite processing device of the present invention includes: a means for executing the processing of the control method of any one of the first to tenth embodiments; a storage device, configured to store tool information; a spindle, which can be equipped with both a tool for cutting and a tool for friction stir welding; a motor, configured to rotate the spindle; a driver, configured to send a drive signal for driving the motor; and a temperature sensor.

[0018] According to a thirteenth aspect of the present invention, the composite machining device of the twelfth aspect further includes: a tool magazine capable of storing both tools for cutting and tools for friction stir welding; and a tool changing device configured to change the tool between the tool magazine and the spindle.

[0019] According to a fourteenth aspect of the present invention, the combined machining device of the twelfth aspect or the thirteenth aspect further includes an interface for a user to input tool information.

[0020] According to a fifteenth aspect of the present invention, in the composite processing apparatus of any one of the twelfth to fourteenth aspects, the storage device is a memory. The means for executing the processing of the control method of any one of the first to tenth aspects includes: a program of the eleventh aspect stored in the memory; and a hardware processor for executing the program.

[0021] In the control method of the first mode, the program of the eleventh mode that causes the hardware processor to execute the processing of the control method of the first mode, and the composite processing device of the twelfth mode including means for executing the processing of the control method of the first mode, if it is determined that the execution tool is a tool for cutting, the position correction of the execution tool based on temperature, that is, the position control is enabled, and if it is determined that the execution tool is a tool for friction stir welding, the position correction of the execution tool based on load, that is, the load control is enabled. Therefore, it is possible to automatically switch between position control and load control according to the type of tool.

[0022] In the control method of the second mode, the program of the eleventh mode for causing a hardware processor to execute the processing of the control method of the second mode, and the composite processing device of the twelfth mode including means for executing the processing of the control method of the second mode, the motor load can be calculated in real time by using the input to the motor, that is, the drive current of the motor or the drive torque that can be calculated from the drive current according to the characteristics of the motor. In addition, when the drive torque is used, since it does not depend on the motor characteristics, it can be applied to a variety of machine tools with different types of motors.

[0023] In the control method of the third method, the program of the eleventh method for causing the hardware processor to execute the processing of the control method of the third method, and the composite machining device of the twelfth method including means for executing the processing of the control method of the third method, since the position in the direction of the rotation axis is corrected, the tool tip resistance can be efficiently reduced and the machining quality can be improved.

[0024] In the composite processing device of the fourth method of control, the eleventh method of program which causes a hardware processor to execute the processing of the fourth method of control, and the twelfth method of means which includes means for executing the processing of the fourth method of control, when the executing tool is a tool for cutting processing, the processing quality in the cutting processing can be improved by executing the tool tip position based on temperature.

[0025] In the control method of the fifth embodiment, the program of the eleventh embodiment that causes the hardware processor to execute the processing of the control method of the fifth embodiment, and the composite processing device of the twelfth embodiment including means for executing the processing of the control method of the fifth embodiment, when the executing tool is a tool for cutting processing, since the load adjustment code is ignored, even if the load adjustment code is added to the program by mistake, the position control originally required for cutting processing can be made effective. As a result, the processing quality of cutting processing can be improved.

[0026] In the control method of the sixth method, the program of the eleventh method that causes the hardware processor to execute the processing of the control method of the sixth method, and the composite processing device of the twelfth method that includes means for executing the processing of the control method of the sixth method, when the executing tool is a tool for cutting processing, if the load adjustment code is erroneously added to the program, an error message is displayed, so that the user can be aware that an invalid code has been entered, thereby improving the user experience.

[0027] In the control method of the seventh method, the program of the eleventh method that causes the hardware processor to execute the processing of the control method of the seventh method, and the composite machining device of the twelfth method including means for executing the processing of the control method of the seventh method, when the executing tool is a tool for friction stir welding, since the execution of load control can be determined by the load adjustment code, the user can freely decide whether to execute load control.

[0028] In the control method of the eighth mode, the program of the eleventh mode that causes the hardware processor to execute the processing of the control method of the eighth mode, and the composite machining device of the twelfth mode that includes means for executing the processing of the control method of the eighth mode, when the executing tool is a tool for friction stir welding, in the absence of a load adjustment code, since it is possible to execute neither position control nor load control, the user can selectively execute the original code of the program.

[0029] In the control method of the ninth method, the program of the eleventh method that causes the hardware processor to execute the processing of the control method of the ninth method, and the composite processing device of the twelfth method including the means for executing the processing of the control method of the ninth method, the user registers whether the new tool is a tool for cutting processing or a tool for friction stir welding in a storage device, and the composite processing device can automatically distinguish whether it is a tool for cutting processing or a tool for friction stir welding based on the information registered in the storage device.

[0030] In the composite processing device of the tenth control method, the eleventh program for causing a hardware processor to execute the processing of the tenth control method, and the twelfth means including means for executing the processing of the tenth control method, the processing quality of friction stir welding can be improved because the load can be controlled in such a way that the load of the spindle motor is constant.

[0031] In the thirteenth embodiment of the composite processing device, it is possible to store cutting tools and friction stir welding tools without distinguishing the types of tools, so that the tool storage slot of the tool magazine can be effectively utilized. In addition, since the cutting tools and friction stir welding tools can be replaced mechanically, it is possible to increase the number of manufacturing processes that can be automated.

[0032] In the composite processing device of the fourteenth embodiment, since the user can input the tool information from the composite processing device, the registration of the tool information becomes easy. In addition, since it is possible to confirm whether it is a tool for cutting processing or a tool for friction stir welding based on the tool information, it is not necessary to confirm what kind of tool is installed in the tool magazine of the composite processing device, and the creation and modification of the program becomes easy.

[0033] In the combined machining apparatus of the fifteenth aspect, since the control of the first aspect to the tenth aspect can be realized with a common architecture, the manufacturing cost of the combined machining apparatus can be reduced.

[0034] According to the technology disclosed in the present application, it is possible to provide a combined machining device, a control method, and a program that can automatically switch between position control and load control according to the type of tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a diagram showing the external appearance structure of the composite processing device according to the embodiment. Figure 2 It is a diagram showing the configuration of an electronic circuit of a composite machining device according to an embodiment. Figure 3 Yes means Figure 1 A schematic cross-sectional view of a machining head of the composite machining device shown. Figure 4 Yes means Figure 1 A schematic cross-sectional view of a machining head of the composite machining device shown. Figure 5 This is an enlarged perspective view showing the tool magazine and tool changing device. Figure 6 This is a flowchart showing a control method of the composite machining device, that is, the operation of a control program. Fig. 7A This is an example of tool data for a cutting tool. Figure 7B This is an example of tool data of a tool for friction stir welding. Figure 8 It is a flowchart showing the details of the operation of step S2. Fig. 9 It is a flowchart showing the details of the operation of step S3. Fig.10 It is a flowchart showing the details of the operation of step S4. Fig.11 It is a flowchart showing the details of the operation of step S5. Fig. 12A This is an example of a machining program for cutting. Fig. 12B This is an example of a friction stir welding process. Fig.13A This is another example of a machining procedure for cutting. Fig. 13B This is another example of the friction stir welding process. DETAILED DESCRIPTION

[0036] Hereinafter, the present invention will be described in detail based on the accompanying drawings showing the embodiments. In addition, in the drawings, the same reference numerals represent corresponding or substantially the same structures. <Implementation Method> <Structure of the composite processing device 1> Figure 1 It is a perspective view showing the external appearance structure of a combined machining device 1 for performing cutting and friction stir welding according to the embodiment. Figure 2 1 is a diagram showing the structure of an electronic circuit of the composite processing device 1 according to the embodiment. Figure 1 As shown, the composite machining device 1 includes a control panel 10, a workpiece W (see Figure 3 , Figure 4 ), a machining table 11, a machining head 12 that can move in the XYZ directions relative to the workpiece W, a tool magazine 15, and a tool replacement device 16. Figure 1 However, the composite machining device 1 may further include a cover covering the above-mentioned structure except for the control board 10 .

[0037] Reference Figure 2 , the control panel 10 has: a numerical control device 2, which controls the action of the composite processing device 1; an input interface 10a such as keys, buttons, dials and touch panels, which is used for the user to input processing conditions in the processing control performed by the numerical control device 2; and a display device 10b, which displays the processing conditions, the detection results of various sensors, etc. to the user. The numerical control device 2 has a hardware processor 3, a memory 4, a bus 5 and an input and output interface 6. The memory 4 stores: processing programs 7 such as joining programs and cutting programs; a control program 8 for controlling the tool; and tool data 9, which stores tool information indicating whether the tool is a tool for cutting processing or a tool for friction stir welding. The memory 4 can also be called a storage device. That is, the storage device is configured to store tool information. The hardware processor 3 executes various programs. In the following embodiments, the hardware processor 3 can also be referred to as the processor 3.

[0038] Figure 3 and Figure 4 Yes means Figure 1 FIG. 1 is a schematic cross-sectional view of the processing head 12 of the composite processing device 1. Figure 3 and Figure 4 As shown in FIG. 1 , the machining head 12 includes a hollow spindle frame 12a in the form of a box and a spindle 12b built into the spindle frame 12a. The spindle frame 12a of the machining head 12 is installed at Figure 2 The XYZ drive mechanism 13 shown in the figure can move in the three-axis direction of XYZ. Preferably, the XYZ drive mechanism 13 includes: a plurality of motors, which move in each direction of XYZ; and a plurality of rotation and parallel conversion mechanisms, which are respectively connected to the plurality of motors and are composed of ball screws, gears, etc. In addition, one end of the main shaft 12b is configured to be connected to a rotation drive device 14 such as a motor and rotate around the rotation axis AX1. The rotation drive device 14 includes a stator 14s fixed to the main shaft frame 12a and a rotor 14r fixed to the main shaft 12b. Preferably, the rotation drive device 14 is an AC induction motor, but it can also be an AC synchronous motor or a DC motor. The XYZ drive mechanism 13 is connected to an XYZ driver 22, which is used to send a driving current to control the rotation of the above-mentioned plurality of motors, and the rotation drive device 14 is connected to a rotation driver 23, which is used to send a driving current to the rotation drive device 14. The XYZ driver 22 and the rotation driver 23 are connected to the numerical control device 2 via an input / output interface 6.

[0039] The tool support 17 is detachably mounted on the lower end of the machining head 12 . Figure 3 The tool T1 for friction stir welding of the embodiment is shown. Friction stir welding is to insert a probe TT at the tip of the tool T1 between two workpieces W1 and W2 while rotating, and soften and stir the metal materials by friction heat, thereby joining the two workpieces W1 and W2. Figure 4 2 represents a tool T2 for cutting processing according to an embodiment of the present invention. Figure 3 and Figure 4 As shown, the tools T1 and T2 are held in a tool holder 17 .

[0040] The tool holder 17 has a pull pin 18 at the upper end and a substantially truncated cone-shaped holder flange 17F connected to the pull pin 18. The holder flange 17F has a groove portion 17G cut out in the radial direction relative to the rotation axis AX1 of the main shaft 12b. On the other hand, the main shaft 12b has a spring chuck 19 that can be engaged with the pull pin 18 and a key portion 12K that can be engaged with the groove portion 17G. The spring chuck 19 can move in the rotation axis direction DX along the rotation axis AX1 of the main shaft 12b. The spring chuck 19 is configured to open in the radial direction relative to the rotation axis AX1 when it is displaced in the first direction DR1 from the pull pin 18 toward the tools T1 and T2 in the rotation axis direction DX, so that the pull pin 18 can be attached and detached. The spring chuck 19 is configured to close in the radial direction relative to the rotation axis AX1 and engage with the pull pin 18 when it is displaced in the second direction DR2 from the tools T1 and T2 toward the pull pin 18 in the rotation axis direction DX. The tool holder 17 is fixed to the spindle 14b by engaging the rivet 18 with the spring chuck 19. At this time, since the key portion 12K of the spindle 12b is engaged with the groove portion 17G of the tool holder 17, the rotation of the tool holder 17 relative to the spindle 12b is restricted. Therefore, the spindle 14b can be equipped with both the tool T2 for cutting and the tool T1 for friction stir welding. In the following embodiments, the tool installed on the spindle 14b is referred to as the execution tool TE.

[0041] The rotary driver 23 performs feedback control to control the drive current of the rotary drive device 14 so as to achieve the target spindle rotation speed set by the machining program 7. In the case where the rotary drive device 14 is an AC induction motor, if the rotary drive device 14 is vector controlled, the command current of the q-axis among the command current of the d-axis and the command current of the q-axis is controlled to be the drive current. That is, when the rotation speed detected by the rotation speed detection sensor 24 such as an encoder installed on the rotary drive device 14 is less than the target spindle rotation speed, the rotary driver 23 increases the drive current, and when the rotation speed is greater than the target spindle rotation speed, the rotary driver 23 decreases the drive current. The drive current is sent to the numerical control device 2 via the input / output interface 6.

[0042] like Figure 3 and Figure 4 As shown, the spindle frame 12a and the spindle 12b have temperature sensors 21a and 21b such as thermocouples. The temperature sensor 21a is supplied with power by wire, and the temperature sensor 21b is supplied with power by an electromagnetic induction coupler (not shown). The temperature sensors 21a and 21b can send the value indicating the detected temperature to the numerical control device 2 by wireless communication. The temperature sensor 21a can also send the value indicating the detected temperature to the numerical control device 2 by wire instead of wirelessly. Figure 4As shown, the cutting tool T2 has a temperature sensor 21c. The temperature sensor 21c is supplied with power by an electromagnetic induction coupler (not shown) and can transmit a value indicating the detected temperature to the numerical control device 2 by wireless communication. In addition, any one of the temperature sensors 21a to 21c may be omitted.

[0043] The tool magazine 15 can accommodate both a tool holder 17 that holds a tool T1 for friction stir welding and a tool holder 17 that holds a tool T2 for cutting. Figure 5 1 is an enlarged perspective view showing a tool magazine 15 and a tool changing device 16. The tool magazine 15 has: a plurality of holding parts 15a, which hold a plurality of tool holders 17; and a holding part moving device 15b, which moves the plurality of holding parts 15a along a peripheral track. The tool magazine 15 may also have a holder taking-out device 15c, which moves the tool holder 17 stored in the tool magazine 15 to a standby position PH accessible to the tool changing device 16.

[0044] The tool changing device 16 is configured to change the tool between the tool magazine 15 and the spindle 12b. The tool changing device 16 comprises: a tool changing arm 16a; an arm rotating device 16b for rotating the tool changing arm 16a; and an arm moving device 16c for linearly moving the tool changing arm 16a. The arm rotating device 16b rotates the tool changing arm 16a around the additional rotation axis AX2. In addition, the arm moving device 16c moves the tool changing arm 16a in a direction parallel to the additional rotation axis AX2. The tool changing device 16 comprises gripping parts 16d and 16e having a structure similar to that of a robot capable of gripping the tool holder 17 before and after the replacement.

[0045] <Control program actions> Next, explain Figure 2 The operation of the control program 8, that is, the details of the control of the complex processing device 1. Figure 6 1 is a control method of the composite machining device 1, that is, a flowchart of the operation of the control program 8. The control program 8 includes instructions, and when the control program 8 is executed by the hardware processor 3 of the composite machining device 1, the instructions cause the hardware processor 3 to execute Figure 6 and affiliated to Figure 6 of Figure 8 to Figure 11 Processing of the control method described in . Execution Figure 6 and affiliated to Figure 6 of Figure 8 to Figure 11 The processing means of the control method described in the embodiment includes: a control program 8 stored in a memory 4; and a hardware processor 3 executing the control program 8. Figure 6In step S1, in the control method, the processor 3 executing the control program 8 obtains tool information (tool data 9) indicating which of the multiple tools that can be mounted on the composite machining device 1 is the tool T2 for cutting and the tool T1 for friction stir welding. Obtaining the tool information includes reading the tool information from the memory 4 (storage device).

[0046] Fig. 7A This is an example of the tool data 9 of the tool T2 for cutting. Figure 7B This is an example of the tool data 9 of the tool T1 for friction stir welding. In addition, the tool data 9 of the tool T2 for cutting processing may include other correction parameters. Fig. 7A and Figure 7B , TNo. is equivalent to T code. T code indicates which of the multiple holding parts 15a of the tool magazine 15 the tool holder 17 is held in according to the T code. Therefore, different T codes are assigned to different multiple holding parts 15a. T code corresponds to a combination of tool name, nominal diameter and suffix. Any letter can be assigned to the suffix. Therefore, different T codes can be assigned to multiple identical tools by changing the suffix.

[0047] It is possible to determine whether the tool corresponding to each T code is the tool T1 for friction stir welding or the tool T2 for cutting based on the tool name, which is one of the commands indicating the tool. The tool name of the tool T1 for friction stir welding is the FSW tool. The tool name of the tool T2 for cutting is a name other than the FSW tool. Fig. 7A and Figure 7B In addition to the T code, tool name, nominal diameter, and suffix, tool data 9 may also include other tool attribute information such as tool length, tool diameter, probe diameter, and shoulder diameter (the portion of tool T1 that contacts the material surface during welding and has a diameter larger than the diameter of probe TT), as well as correction parameters such as length correction and diameter correction that take into account tool wear. However, tool data 9 may not include information other than the T code, tool name, nominal diameter, and suffix. As to whether the tool corresponding to each T code is tool T1 for friction stir welding or tool T2 for cutting, an example of a tool name of FSW tool is given as one of the tool commands. However, Fig. 7A and Figure 7B As shown in FIG. 1 , if the tool for cutting and the tool for friction stir welding are compared, the tool for friction stir welding has items inherent to the tool for friction stir welding, such as the probe diameter and the shoulder diameter. Therefore, assuming that the machining program 7 includes items inherent to the tool, the processor 3 executing the control program 8 may make a judgment based on the items inherent to the tool for friction stir welding as a command indicating the tool, instead of the tool name.

[0048] Then, in Figure 6 In step S2, in the control method, the processor 3 executing the control program 8 obtains a command indicating the execution tool TE used in each processing process called by the processing program 7 (each processing continuously performed by one tool such as cutting processing and friction stir welding). Specifically, the command is a command indicating the tool name. In step S3, in the control method, the processor 3 executing the control program 8 determines whether the execution tool TE is the tool T1 for friction stir welding or the tool T2 for cutting processing based on the tool information and the command. More specifically, when the tool name of the execution tool TE is an FSW tool, the processor 3 executing the control program 8 determines that the execution tool TE is the tool T1 for stir welding. When the tool name of the execution tool TE is a name other than the FSW tool, the processor 3 executing the control program 8 determines that the execution tool TE is the tool T2 for cutting processing.

[0049] In this control method, if the processor 3 executing the control program 8 determines in step S3 that the execution tool TE is the tool T1 for friction stir welding, then in step S4, the position correction (load control) of the execution tool TE based on the load applied to the rotation drive device 14 detected from the rotation driver 23 is enabled. For example, as shown in patent document 3, the processor 3 executing the control program 8 controls the insertion position of the tool T1 (the position instruction sent to the XYZ drive mechanism 13) so that the load applied to the rotation drive device 14 is close to the target load corresponding to the insertion depth of the tool T1 (which can be obtained from the XYZ drive mechanism 13). The load can also be the driving current value of the rotation drive device 14. The driving current value can be the absolute value of the successive current values, or it can be the square root of the value obtained by adding the square values ​​of the current values ​​obtained within a predetermined predetermined time interval. In addition, the load can also be a load rate expressed as a ratio of the driving current value output from the rotation driver 23 to the maximum driving current value of the rotation drive device 14. The load may also be a load rate expressed as a ratio of a driving current value output from the rotary driver 23 to a rated current value of the rotary driver 14. Alternatively, the load may also be a driving torque of the rotary driver 14 obtained based on the driving current value output from the rotary driver 23. If the rotary driver 14 is a DC motor, the driving torque is proportional to the motor current, so it can be calculated based on a torque constant determined from the motor characteristics. In addition, even if the rotary driver 14 is an AC induction motor or an AC synchronous motor, if vector control is performed, it can be considered that the driving torque is proportional to the q-axis current of the command current as a torque current component, so it can be calculated based on the q-axis current and using the characteristic value of the motor in the same way as a DC motor. Preferably, the position correction of the execution tool TE based on the load includes: feedback correction of the position of the execution tool TE in a manner that the load does not substantially change. In addition, the position correction of the execution tool TE based on the load is a correction of the position of the execution tool TE in the direction of the rotation axis DX.

[0050] In the control method, if the processor 3 executing the control program 8 determines in step S3 that the execution tool TE is the tool T2 for cutting, then in step S5, the position correction (position control) of the execution tool TE based on the temperature detected from the temperature sensors 21a to 21c is enabled during the cutting process. For example, as shown in International Publication No. 2021 / 044491, the position control is based on the temperature detected from the temperature sensors 21a to 21c, and the position offset (thermal displacement) of the tool tip position of the execution tool TE relative to the case where the temperature detected from the temperature sensors 21a to 21c is the reference temperature is estimated, and the position correction of the execution tool TE based on the position offset (thermal displacement) is performed during the cutting process. In this case, as shown in International Publication No. 2021 / 044491, the position offset can be estimated by multiplying the temperature deviation from the reference temperature by a predetermined coefficient for each temperature sensor 21a to 21c and calculating the sum thereof, or the tool tip offset corresponding to the temperature deviation from the reference temperature of each temperature sensor 21a to 21c can be stored in a table in advance, and the position offset can be estimated by referring to the table. In addition, the position correction of the execution tool TE based on the temperature is the correction of the position of the execution tool TE in the rotation axis direction DX.

[0051] The above-mentioned steps S2, S4, and S5 differ depending on the program format of the machining program 7. Hereinafter, the unique processing based on the program format of the machining program 7 will be described.

[0052] Figure 8 It is a flowchart showing the details of the operation of step S2. Fig. 9 It is a flowchart showing the details of the operation of step S3. Fig.10 It is a flowchart showing the details of the operation of step S4. Fig.11 It is a flowchart showing the details of the operation of step S5. Fig. 12A This is an example of a machining program 7 for cutting machining. Fig. 12B This is an example of a processing procedure 7 of friction stir welding. Fig. 12A and Fig. 12B The program format of the machining program 7 is called an interactive format. Hereinafter, the machining program 7 described in the interactive format is referred to as a machining program 7A.

[0053] The machining program 7A is described by program codes for numerically controlling the composite machining device 1. At least the following contents are defined in the machining program 7A. (1) Common unit: Material and shape of the workpiece W before processing (2) Basic coordinate unit: How to set the workpiece coordinate system and machine tool coordinate system (3) Processing unit: Processing method and shape of each part in the final processed shape The common unit, the basic coordinate unit, and the machining unit each have a unit number.

[0054] Fig. 12A and Fig. 12B Only the machining units among the above units are shown. The machining unit includes the unit number UNo., information that determines the machining content (unit name), a tool sequence TS that sets the tools T1, T2 and the cutting conditions of the tools T1, T2, and a shape sequence SS that specifies the machining shape machined in the machining unit. The tool sequence TS refers to a series of machining stages required to form the machining shape of the part specified by the machining unit (for example, a rod, a threaded hole). The shape sequence SS refers to a collection of segments defined by the starting point, the end point, and the connection relationship between the starting point and the end point (straight line, arc, etc.) of the tool tip in the workpiece coordinates used to determine the machining shape.

[0055] exist Fig. 12A and Fig. 12B In the example, an example is shown in which the machining unit has a tool sequence TS and a shape sequence SS. However, the machining unit may also have multiple tool sequences. In order to cope with complex machining shapes, the machining unit may also have multiple shape sequences. In the case where the machining unit has multiple tool sequences and multiple shape sequences, during the execution of the machining unit, the following is first performed: according to the arrangement order of the tool sequences, the tools are moved for each tool sequence one by one so that the shapes represented by all shape sequences until the next tool sequence appears in the program can be generated. Each tool sequence is distinguished by a sequence number SNo. Each shape sequence is distinguished by a number recorded in the FIG item.

[0056] If the tool name in the tool sequence TS is FSW tool, then Fig. 12B As shown in FIG. 1 , each shape sequence SS corresponding to the tool sequence TS includes a code indicating whether to perform load control ('load control') and a code specifying the load ('load torque'). Fig. 12BIn the example, the size of the load torque (unit N·m) is expressed as a numerical value of 'load torque'. In this example, the code indicating the specified load is the load torque, but it can also be a drive current value or the above-mentioned load rate. When load control is performed, the value of 'load control' is 'performed', and when load control is not performed, the value of 'load control' is 'not performed'. Here, the 'load control' code and the 'load torque' code including the value 'performed' are collectively referred to as a load adjustment code, and the load adjustment code indicates the position correction of the execution tool TE based on the load. When the value of the 'load control' code of the shape sequence SS is 'not performed', it is determined that the shape sequence SS does not include the load adjustment code.

[0057] Reference Figure 8 , Fig. 12A and Fig. 12B , in step S2, Figure 8 In the case where the program format in step S21 is an interactive format, in step S22, the processor 3 executing the control program 8 in the control method obtains the tool name of the tool sequence TS as a command indicating the execution of the tool TE. In addition, as an additional process in step S22, in the control method, the processor 3 executing the machining program 7 may also perform the following process: obtain the tool name, nominal diameter and suffix of the tool sequence TS, refer to the tool data 9, obtain the T code corresponding to the combination of the obtained tool name, nominal diameter and suffix, and install the tool holder 17 held in the holding portion 15a corresponding to the obtained T code on the spindle 12b.

[0058] In step S3, Fig. 9 In step S31, when the program format is an interactive format, in step S33, the processor 3 executing the control program 8 in the control method determines whether the tool name of the tool sequence TS is a FSW tool, and if it is a FSW tool, determines that the executing tool TE is a tool T1 for friction stir welding until the next tool sequence TS is executed (step S34). As described above, the program code based on the interactive format includes codes related to load control in each shape sequence SS. Therefore, the above-mentioned load-based position correction (load control) of the executing tool TE is made effective by including: if a load adjustment code indicating load-based position correction of the executing tool TE is included in the portion (shape sequence SS) specified in the machining program 7 where the executing tool TE is to be machined, then in the friction stir welding performed by the executing tool TE in the machining program 7, the position correction (load control) of the executing tool TE based on the load applied to the rotation drive device 14 is performed. Specifically, in step S4, Fig.10In step S41 of the control method, when the program format is an interactive format, in step S42, the processor 3 executing the control program 8 in the control method determines whether the shape sequence SS includes a load adjustment code. In the case where the shape sequence SS includes a load adjustment code (step S42 is "Yes"), the processor 3 executing the control program 8 in the control method performs load control until the next shape sequence SS is executed (step S43). On the other hand, in the case where the shape sequence SS does not include a load adjustment code (step S42 is "No"), in step S44, the processor 3 executing the control program 8 in the control method performs neither load control nor position control in the portion (shape sequence SS) specified in the machining program 7A to be machined by the execution tool TE.

[0059] In step S3, Fig. 9 In step S31, when the program format is an interactive format, in step S33, the processor 3 executing the control program 8 in the control method determines that the executing tool TE is the tool T2 for cutting processing when the tool name of the tool sequence TS is not the FSW tool (step S35). At this time, the above-mentioned temperature-based position correction (position control) of the executing tool TE is made effective, including: based on the temperature detected from the temperature sensors 21a~21c, the position offset (thermal displacement) of the tool tip position of the executing tool TE relative to the reference temperature detected from the temperature sensors 21a~21c is estimated, and the position correction (position control) of the executing tool TE based on the position offset (thermal displacement) is performed during the cutting process. Specifically, in step S5, Fig.11 In step S51, when the program format is an interactive format, in step S52, the processor 3 executing the control program 8 in the control method performs position control until the next tool sequence TS is executed if the tool name of the tool sequence TS is not an FSW tool.

[0060] Processing program 7 is not limited to Fig. 12A and Fig. 12B For example, a processing program 7 based on the EIA (Electonic Industries Association) / ISO (International Organization for Standardization) format may also be used. Fig.13A and Fig. 13B The program format of machining program 7 is called machining program 7B. Fig.13A The processing program 7B based on the tool T2 for cutting processing is shown. Fig. 13BThe machining program 7B based on the tool T1 for friction stir welding is shown. The machining program 7B based on the EIA / ISO format is referred to as Fig.13A and Fig. 13B If the code of the row number 4 is used, it can be identified whether it is the tool T1 for friction stir welding or the tool T2 for cutting by the T code recorded immediately before the M6 ​​code.

[0061] Specifically, in step S2, Figure 8 In step S21, when the program format is the EIA / ISO format, in step S23, the processor 3 executing the control program 8 in the control method obtains a T code from the machining program 7B as a command indicating the execution of the tool TE. Fig. 9 When the program format is the EIA / ISO format in step S31, in step S32, the processor 3 executing the control program 8 in the control method refers to the tool information (tool data 9) to obtain the tool name corresponding to the T code.

[0062] exist Fig.13A In the example, the T code read from the machining program 7B is T10. Referring to the tool data 9, the tool name of the execution tool TE with the T code T10 is a face milling cutter, so it is determined that the execution tool TE is the tool T2 for cutting machining. Fig. 9 In step S33, the processor 3 executing the control program 8 in the control method determines that the executing tool TE is the tool T2 for cutting when the tool name in the tool sequence TS is not the FSW tool (step S35). Fig. 13B In the example, the T code read from the machining program 7B is T11. Referring to the tool data 9, the tool name of the execution tool TE with the T code T11 is the FSW tool, so it is determined that the execution tool TE is the tool T2 for cutting machining. Fig. 9 In step S33, the hardware processor 3 executing the control program 8 in the control method determines whether the tool name of the tool sequence TS is a FSW tool. If it is a FSW tool, it is determined that the executing tool TE is a tool T1 for friction stir welding until the next tool sequence TS is executed (step S34).

[0063] In programming based on the EIA / ISO format, it is not required to include special codes related to position control in the program code, but it is required to include special codes related to load control in the program code. Fig. 13B The machining program 7B based on the tool T1 for friction stir welding includes a B118 code ( Fig. 13BThe code is the code of the line number 6). This code indicates the load torque (unit N·m) as the post-target of B. Moreover, the machining program 7B based on the tool T1 for friction stir welding includes the M800 code ( Fig. 13B The machining program 7B based on the friction stir welding tool T1 includes the code for moving the friction stir welding tool T2, followed by the M801 code for releasing the load control ( Fig. 13B Here, the B118. code and the M800 code are collectively referred to as a load adjustment code, which instructs to perform position correction of the tool TE based on the load.

[0064] If the tool name corresponding to the T code is not the FSW tool, the above-mentioned position control is performed by default based on the program code in the EIA / ISO format. However, if the tool name corresponding to the T code is not the FSW tool, and the program code based on the EIA / ISO format contains a load adjustment code, the compound processing device 1 displays an error message such as "The program contains an invalid M800 code (or B118. code, M801 code), which has been ignored" and ignores the load adjustment code to perform position control. In addition, in the case where the tool name corresponding to the T code is the FSW tool, if the program code based on the EIA / ISO format contains a load adjustment code, load control is performed according to the code. In the case where the tool name corresponding to the T code is the FSW tool and the program code based on the EIA / ISO format does not contain a load adjustment code, the compound processing device 1 does not perform either load control or position control.

[0065] therefore, Fig.13A The fact that the machining program 7B shown does not include any code related to the position correction of the executing tool TE based on the temperature detected from the temperature sensors 21a to 21c does not mean that the processor 3 executing the control program 8 does not perform position control. The effective position correction (position control) of the executing tool TE based on the temperature when the executing tool TE is the tool T2 for cutting machining includes: based on the temperature detected from the temperature sensors 21a to 21c, estimating the position offset (thermal displacement) of the tool tip position of the executing tool TE relative to the case where the temperature detected from the temperature sensors 21a to 21c is the reference temperature, and performing the position correction (position control) of the executing tool TE based on the position offset (thermal displacement) during the cutting machining. Specifically, in step S5, Fig.11In step S51 of the control method, when the program format is the EIA / ISO format and the code of the machining process called by the machining program 7 does not include the load adjustment code (step S53 is "No"), in step S52, the processor 3 executing the control program 8 in the control method performs position control in the portion of the machining program 7B that is specified to be machined by the executing tool TE. That is, in the control method, the processor 3 executing the control program 8 performs position control until the tool is replaced with another tool by the M6 ​​code or the machining program 7B is terminated by the M30 code.

[0066] On the other hand, for example Fig. 13B In the case where the T code in the code is not T11 but T10, in the case of Fig.11 In step S51 of the control method, when the program format is the EIA / ISO format and the code of the machining process called by the machining program 7 includes a load adjustment code (step S53 is "yes"), in step S54, even if the load adjustment code indicating the position correction of the execution tool TE based on the load is included in the portion of the machining program 7B that specifies the machining by the execution tool TE, the processor 3 that executes the control program 8 ignores the load adjustment code. That is, the position correction (position control) of the execution tool TE based on the temperature is made effective to include: even if the load adjustment code indicating the position correction of the execution tool TE based on the load is included in the portion of the machining program 7B that specifies the machining by the execution tool TE, the load adjustment code is ignored. Then, in step S55, the processor 3 that executes the control program 8 in the control method causes the display device 10b to display an error message. That is, the position correction (position control) of the execution tool TE based on the temperature is made effective to include: if the load adjustment code indicating the position correction of the execution tool TE based on the load is included in the portion of the machining program 7B that specifies the machining by the execution tool TE, an error message is notified. If the process of step S55 is completed, the processor 3 executing the control program 8 in the control method executes step S52.

[0067] In addition, the step S4 related to enabling the position correction (load control) of the execution tool TE based on the load applied to the rotation drive device 14 includes: when the program format is the EIA / ISO format in step S41, if the load adjustment code is included in the portion of the machining program 7B that specifies the execution tool TE to be machined (step S45 is "yes"), the load adjustment code is executed (step S43). Specifically, in this control method, the processor 3 that executes the control program 8 executes the load control based on the load adjustment code from the time when the M800 code is called to the time when the M801 code is called.

[0068] On the other hand, for example Fig.13AIn the case where the T code in the code is not T10 but T11, in the case of Fig. 9 In step S41, when the program format is the EIA / ISO format and the code of the machining process called by the machining program 7 (the portion of the machining process specified in the machining program 7B to be machined by the executing tool TE) does not include a load adjustment code (step S45 is "No"), in step S44, the processor 3 executing the control program 8 in the control method performs neither load control nor position control in the portion of the machining process specified in the machining program 7B to be machined by the executing tool TE. That is, the position correction (load control) of the executing tool TE based on the load is made effective to include: if the load adjustment code is not included in the portion of the machining process specified in the machining program 7B to be machined by the executing tool TE, neither the position correction (load control) of the executing tool TE based on the load applied to the rotation drive device 14 nor the position correction (position control) of the executing tool TE based on the temperature is performed. At this time, the processor 3 executing the control program 8 in the control method only performs the position correction (load control) of the executing tool TE based on the code for moving the executing tool TE ( Fig.13A , Fig. 13B The code at line number 14) executes the movement of tool TE.

[0069] The control program 8 also has a function of editing the tool information registered in the tool data 9. Specifically, in the control method, the processor 3 executing the control program 8 performs the following processing: Fig. 7A and Figure 7B The text, icons, and other indicators corresponding to the items shown in the first row of Fig. 7A and Figure 7B The input form such as a text box and a list box corresponding to the content shown in the second line of is displayed on the display device 10b. In the control method, the processor 3 executing the control program 8 performs the following processing: the information input by the user in the input form through the input interface 10a is stored in the memory 4. That is, in the control method, the processor 3 executing the control program 8 performs the processing of storing the tool information input by the user in the storage device. In addition, the input interface 10a and the display device 10b are interfaces for the user to input the tool information. <Features and Effects of the Control Method of the Composite Machining Device of the Present Embodiment> The composite processing device 1 and the control method thereof of the present embodiment include: if it is determined that the execution tool TE is the tool T2 for cutting processing, the position correction of the execution tool TE based on the temperature detected by the temperature sensors 21a to 21c provided in the composite processing device 1 or the tool T2 for cutting processing is enabled during cutting processing. The composite processing device 1 and the control method thereof of the present embodiment include: if it is determined that the execution tool TE is the tool T1 for friction stir welding, the position correction of the execution tool TE based on the load applied to the rotation drive device 14 is enabled during friction stir welding. Therefore, it is possible to automatically switch between position control and load control according to the type of tool. <Modification> In step S4 of the above-mentioned embodiment, the case where the load applied to the rotation drive device 14 is calculated based on the drive current as the command current sent to the rotation driver 23 is described as an example, but the load applied to the rotation drive device 14 can also be calculated using the drive current sent from the rotation driver 23 to the rotation drive device 14. The torque applied to the DC motor can be calculated from the drive current value directly applied to the DC motor based on the above-mentioned torque characteristics. In addition, in the case where the AC induction motor or the AC synchronous motor is vector-controlled, the torque applied to the AC induction motor or the AC synchronous motor can be calculated by the following method: based on the current value directly applied to the three phases of each motor, the q-axis current is calculated on the basis of two-phase conversion, and the torque conversion coefficient is calculated based on the relationship between the speed and the torque pre-stored in the numerical control device 2, and the q-axis current is multiplied. However, it is necessary to pre-store different torque conversion coefficients according to the type of AC motor.

[0070] In the above-mentioned embodiment, an example is shown in which the composite processing device 1 corresponds to both the interactive format and the EIA / ISO format, but it may correspond to only one of the program formats. Figures 8 to 10 Steps S21, S41, and S51 are omitted, and processing of a program format that is not compatible with the composite machining device 1 is omitted.

[0071] In the above-mentioned embodiment, an example in which the composite machining device 1 is a vertical machining center is shown, but even if the composite machining device 1 is a horizontal machining center, a lathe, or a composite machining device including additive manufacturing, the contents of this embodiment can be applied as long as cutting processing and friction stir welding can be performed together.

[0072] Part or all of the functions of the logic of the control program 8 of the numerical control device 2 may also be realized by a dedicated processor or integrated circuit. The control program 8 may be recorded not only in the memory 4 built into the numerical control device 2, but also in a storage medium such as a floppy disk, an optical disk, a CD-ROM, a magnetic disk, and an SD card, a USB memory, an external hard disk, etc. that can be removed from the numerical control device 2 and can be read by the numerical control device 2.

[0073] In this application, "include" and its derivatives are non-restrictive terms that describe the presence of constituent elements, and do not exclude the presence of other constituent elements that are not described. This also applies to "have", "include" and their derivatives.

[0074] Terms such as "part," "section," "element," "body," and "structure" may have various meanings such as a single part or a plurality of parts.

[0075] Ordinal numbers such as "first" and "second" are terms used only to identify structures and do not have other meanings (such as a specific order, etc.). For example, the presence of a "first element" does not imply the presence of a "second element", and the presence of a "second element" does not imply the presence of a "first element".

[0076] Unless otherwise specified in the embodiments, the terms "substantially", "about" and "approximately" indicating the degree may mean a reasonable deviation that does not significantly change the final result. All numerical values ​​recorded in this application may be interpreted as including the terms "substantially", "about" and "approximately".

[0077] In the present application, the term "at least one of A and B" should be interpreted as including only A, only B, and both A and B.

[0078] In view of the above disclosure, it is obvious that various changes and modifications of the present invention can be made. Therefore, the present invention can also be implemented by methods different from the specific disclosure of this application without departing from the scope of the present invention.

Claims

1. A control method for a combined machining device for performing cutting and friction stir welding, wherein: The control method comprises: acquiring tool information, the tool information indicating which of the plurality of tools that can be mounted on the composite machining device is the tool for cutting and the tool for friction stir welding; obtaining a command indicating an execution tool among the plurality of tools called by a machining program executed by the composite machining device; determining whether the executing tool is the tool for cutting or the tool for friction stir welding based on the tool information and the command; If it is determined that the executing tool is a tool for the cutting process, enabling position correction of the executing tool based on a temperature detected by a temperature sensor provided in the composite machining device during the cutting process; as well as If it is determined that the execution tool is a tool for the friction stir welding, a load applied to a motor that rotates the execution tool during the friction stir welding is obtained, and position correction of the execution tool based on the load is enabled.

2. The control method according to claim 1, wherein: Determining the load applied to the motor includes obtaining a drive current of the motor or a drive torque of the motor.

3. The control method according to claim 1 or 2, wherein: The position correction of the execution tool based on the load is correction of the position of the execution tool in the rotation axis direction.

4. The control method according to any one of claims 1 to 3, wherein: Making the position correction of the executing tool based on the temperature effective includes: based on the temperature detected from the temperature sensor, estimating the position offset of the tool tip position of the executing tool relative to a case where the temperature detected from the temperature sensor is a reference temperature, and performing the position correction of the executing tool based on the position offset during the cutting process.

5. The control method according to claim 5, wherein: Enabling the position correction of the execution tool based on the temperature includes: even if a load adjustment code instructing the position correction of the execution tool based on the load is included in a portion of the machining program that specifies machining by the execution tool, the load adjustment code is ignored.

6. The control method according to claim 5, wherein: Enabling the position correction of the execution tool based on the temperature includes notifying an error message if a load adjustment code instructing the position correction of the execution tool based on the load is included in a portion of the machining program that specifies machining by the execution tool.

7. The control method according to any one of claims 1 to 6, wherein: Enabling the position correction of the execution tool based on the load includes executing the load adjustment code instructing the position correction of the execution tool based on the load if a load adjustment code instructing the position correction of the execution tool based on the load is included in a portion of the machining program that specifies machining by the execution tool.

8. The control method according to claim 7, wherein: Making the position correction of the executing tool based on the load effective includes: if the load adjustment code is not included in the part of the machining program specified by the executing tool to be machined, neither the position correction of the executing tool based on the load nor the position correction of the executing tool based on the temperature is performed.

9. The control method according to any one of claims 1 to 8, wherein: The method further comprises storing the tool information input by the user in a storage device, Acquiring the tool information includes reading the tool information from the storage device.

10. The control method according to any one of claims 1 to 9, wherein: Correcting the position of the execution tool based on the load includes performing feedback correction on the position of the execution tool so that the load does not substantially change.

11. A program, wherein: The program includes instructions for causing the hardware processor of the multi-functional machining device to execute the processing of the control method according to any one of claims 1 to 10 when the hardware processor of the multi-functional machining device executes the program.

12. A composite processing device, comprising: Means for executing the processing of the control method according to any one of claims 1 to 10; a storage device configured to store the tool information; A main spindle, on which both the cutting tool and the friction stir welding tool can be mounted; a motor configured to rotate the spindle; a driver configured to send a drive signal for driving the motor; and The temperature sensor.

13. The composite processing device according to claim 12, further comprising: A tool magazine capable of storing both the cutting tool and the friction stir welding tool; as well as The tool changing device is configured to change a tool between the tool magazine and the spindle.

14. The composite processing device according to claim 12 or 13, wherein: Also included is an interface for a user to input the tool information.

15. The composite processing device according to any one of claims 12 to 14, wherein: The storage device is a memory, Means for executing the processing of the control method described in any one of claims 1 to 10 include: the program described in claim 11 stored in the memory; and a hardware processor that executes the program.

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