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 the temperature detected from a temperature sensor provided in the combined processing device is enabled during the cutting processing; and if it is determined that the execution tool is a tool for friction stir welding based on the tool information and the command, determining a load applied to the execution tool during friction stir welding, and enabling position correction of the execution tool based on the load.

Description

Technical Field

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

[0002] A combined machining apparatus capable of performing both cutting and friction stir welding 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 thrust control suitable for friction stir welding (e.g., Patent Document 3).

[0003] Patent Document 1: Japanese Patent No. 6099291 Patent Document 2: Japanese Patent Application Publication No. 2010-172981 Patent Document 3: Japanese Patent Application Publication No. 2001-198683

[0004] The method of Patent Document 2 can change the position control parameters according to the type of tool, but does not disclose anything about thrust control. Patent Documents 1 and 3 do not disclose automatic detection of the type of tool and switching of control parameters. Summary of the invention

[0005] The purpose of the technology disclosed in the present application is to provide a composite machining device, a control method, and a program that can automatically switch between position control and thrust 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 and friction stir welding, comprising obtaining tool information, wherein the tool information indicates which of the multiple tools that can be installed on the composite processing device are tools for cutting and tools for friction stir welding. The control method includes obtaining a command, wherein the command indicates an execution tool called by a processing program executed by the composite processing device among the multiple tools. The control method includes determining which of the execution tool is a tool for cutting and a tool for friction stir welding based on the tool information and the command. The control method includes if the execution tool is determined to be a tool for cutting, then enabling the position correction of the execution tool based on the temperature detected from the temperature sensor provided in the composite processing device during cutting. The control method includes if the execution tool is determined to be a tool for friction stir welding, then determining the load applied to the execution tool during friction stir welding, and enabling the position correction of the execution tool based on the load.

[0007] According to a second aspect of the present invention, in the control method of the first aspect, obtaining the load applied to the execution tool includes obtaining the load detected by a load sensor provided in the composite machining device or the tool for friction stir welding. In addition, the thrust correction code for instructing the position correction of the execution tool based on the load preferably includes a code for specifying a sensor output value of 0 in the value of the load sensor.

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

[0009] According to the fourth embodiment of the present invention, in the control method of any one of the first embodiment to the third embodiment, 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 temperature detected from the temperature sensor as a reference temperature, and performing the position correction of the executing tool based on the position offset during the cutting process.

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

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

[0012] According to the seventh embodiment of the present invention, in the control method of any one of the first embodiment to the sixth embodiment, making the position correction of the executing tool based on the load effective includes: if the part of the machining program that stipulates that the executing tool is to be machined contains a thrust correction code indicating the position correction of the executing tool based on the load, then the thrust correction 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 thrust correction code is not included in the part of the machining program that is specified to be machined by the executing tool, neither the position correction of the executing tool based on the load applied to the executing tool nor the position correction of the executing tool based on the temperature 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, the position correction of the actuating tool based on the load applied to the actuating tool includes performing feedback correction on the position of the actuating tool so that the load does not substantially change.

[0016] A program according to an eleventh aspect of the present invention includes instructions, and when the program is executed by a hardware processor of a complex machining device, the instructions cause the hardware processor to execute the processing of the control method according to any one of the first to tenth aspects.

[0017] The twelfth embodiment of the composite processing device of the present invention comprises: a means for executing the processing of the control method of any one of the first to tenth embodiments; a storage mechanism, configured to store tool information; a spindle, on which both a tool for cutting and a tool for friction stir welding can be installed; a load sensor, arranged on at least one of the spindle and the tool for friction stir welding, for detecting the load; and a temperature sensor.

[0018] According to the thirteenth aspect of the present invention, the composite machining device of the twelfth aspect further comprises: 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 comprises an interface for a user to input tool information.

[0020] According to a fifteenth aspect of the present invention, in the composite processing device of any one of the twelfth to fourteenth aspects, the storage means is a memory. The means for executing the processing of the control method of any one of the first to tenth aspects includes the 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 for causing a hardware processor to execute the processing of the control method of the first mode, and the composite processing device of the twelfth mode having means for executing the processing of the control method of the first mode, if it is determined that the executing tool is a tool for cutting, the position correction of the executing tool based on temperature, i.e., the position control, is enabled, and if it is determined that the executing tool is a tool for friction stir welding, the position correction of the executing tool based on load, i.e., the thrust control, is enabled. Therefore, the position control and the thrust control can be automatically switched according to the type of the tool.

[0022] In the control method of the second embodiment, the program of the eleventh embodiment for causing a hardware processor to execute the processing of the control method of the second embodiment, and the composite processing device of the twelfth embodiment having means for executing the processing of the control method of the second embodiment, the load applied to the execution tool is detected by a load sensor provided in the composite processing device or the tool for friction stir welding, so that the load applied to the execution tool can be detected with high accuracy. In addition, in the case where the thrust correction code for instructing the position correction of the execution tool based on the load includes a code for the sensor output value of the load corresponding to 0 among the values ​​of the prescribed load sensor, the value of the signal can be ignored in the case where a signal appears from the load sensor due to the influence of the assembly of the load sensor, the temperature rise, etc.

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

[0024] In the control method of the fourth method, the program of the eleventh method for causing a hardware processor to execute the processing of the control method of the fourth method, and the composite processing device of the twelfth method having means for executing the processing of the control method of the fourth method, when the executing tool is a tool for cutting processing, the processing quality during 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 a hardware processor to execute the processing of the control method of the fifth embodiment, and the composite processing device of the twelfth embodiment having means for executing the processing of the control method of the fifth embodiment, when the executing tool is a tool for cutting processing, the thrust control code is ignored, so even if the thrust control code is added to the program by mistake, the position control originally required in the cutting processing can be made effective. As a result, the processing quality of the cutting processing can be improved.

[0026] In the control method of the sixth mode, the program of the eleventh mode that enables the hardware processor to execute the processing of the control method of the sixth mode, and the composite processing device of the twelfth mode having means for executing the processing of the control method of the sixth mode, when the executing tool is a tool for cutting processing, if the thrust control code is erroneously added to the program, an error message is displayed, so that the user can realize 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 for causing a hardware processor to execute the processing of the control method of the seventh method, and the composite machining device of the twelfth method having means for executing the processing of the control method of the seventh method, when the executing tool is a tool for friction stir welding, the execution of thrust control can be determined by a thrust correction code, so that the user can freely decide whether to execute thrust 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 having 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 thrust correction code, it is possible not to execute either the position control or the thrust control, so that 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 having means for executing the processing of the control method of the ninth method, the user registers information on whether the new tool is a tool for cutting processing or a tool for friction stir welding into a storage device, and the composite processing device can automatically distinguish whether the tool 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 control method of the tenth method, the program of the eleventh method that causes the hardware processor to execute the processing of the control method of the tenth method, and the composite processing device of the twelfth method having means for executing the processing of the control method of the tenth method, the thrust can be controlled in a manner that makes the thrust constant, thereby improving the processing quality of friction stir welding.

[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. Furthermore, the cutting tools and friction stir welding tools can be mechanically replaced, so that the manufacturing process that can be automated can be increased.

[0032] In the fourteenth embodiment of the composite processing device, the user can input tool information from the composite processing device, so the registration of tool information becomes easy. In addition, it is possible to confirm from the tool information whether the tool is a tool for cutting or a tool for friction stir welding, so there is no need 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 processing apparatus of the fifteenth aspect, the control of the first aspect to the tenth aspect can be realized with a common architecture, and thus the manufacturing cost of the combined processing apparatus can be reduced.

[0034] According to the technology disclosed in the present application, it is possible to provide a composite machining device, a control method, and a program that can automatically switch between position control and thrust 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 drawings showing the embodiment. In addition, the same reference numerals in the drawings represent corresponding or substantially the same structures. <Implementation Method> <Structure of composite processing device 1> Figure 1 It is a perspective view showing the external 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, and the tool data 9 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 mechanism. That is, the storage mechanism 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 2The XYZ drive mechanism 13 shown can move in the three-axis directions of XYZ. In addition, one end of the spindle 12b is connected to a rotation drive device 14 such as a motor and rotates around the rotation axis AX1. The rotation drive device 14 includes a stator 14s fixed to the spindle frame 12a and a rotor 14r fixed to the spindle 12b. The XYZ drive mechanism 13 and the rotation drive device 14 are connected to the numerical control device 2 via the input / output interface 6.

[0039] The tool holder 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 to join the two workpieces W1 and W2. Figure 4 2 shows a tool T2 for cutting processing according to an embodiment. 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 holder flange 17F of a substantially truncated cone shape connected to the pull pin 18. The holder flange 17F has a groove portion 17G cut along 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 is movable 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 and enable the pull pin 18 to be attached and detached 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. 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 tool holder 17 is restricted from rotating relative to the spindle 12b. Therefore, the spindle 14b can be mounted with both the tool T2 for cutting and the tool T1 for friction stir welding. In the following embodiments, the tool mounted on the spindle 14b is referred to as an execution tool TE.

[0041] like Figure 3As shown, the friction stir welding tool T1 has a load sensor 20 such as a load cell. The load sensor 20 is powered by an electromagnetic induction coupler (not shown), and the load sensor 20 can send the detected load value to the numerical control device 2 through wireless communication. That is, the input / output interface 6 includes a wireless communication interface. Figure 3 In the example of FIG. 1 , the load sensor 20 is provided on the tool T1 for friction stir welding, but may be provided on the spindle 12 b. Figure 3 20X is shown in the figure as an example of such a load sensor. In addition, the servo motor may be used as the load sensor 20 by utilizing the load applied to the servo motor of the XYZ moving mechanism 13 that moves the machining head 12 .

[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 powered by wired means, and the temperature sensor 21b is powered by an electromagnetic induction coupler (not shown). The temperature sensors 21a and 21b can send a value indicating the detected temperature to the numerical control device 2 by wireless communication. The temperature sensor 21a can also send a value indicating the detected temperature to the numerical control device 2 by wired means instead of wirelessly. Figure 4 As shown, the cutting tool T2 has a temperature sensor 21c. The temperature sensor 21c is powered by an electromagnetic induction coupler (not shown) similarly to the load sensor 20, and transmits 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 17. The tool magazine 15 has a plurality of holding portions 15a for holding a plurality of tool holders 17, and a holding portion moving device 15b for moving the plurality of holding portions 15a along a peripheral track. The tool magazine 15 may also have a holder taking-out device 15c for moving 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 has 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 has gripping parts 16d and 16e of a structure similar to a robot hand that can grip the tool holder 17 before and after the replacement.

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

[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] Based on the tool name, which is one of the commands representing the tool, 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. 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 part of tool T1 that contacts the material surface during joining and has a larger diameter than 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 joining or tool T2 for cutting, although the case where the tool name is an FSW tool is cited as one of the tool commands, if 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 (cutting processing, friction stir welding, etc., each processing continuously performed by one tool) called by the processing program 7. 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 executing tool TE is the tool T1 for friction stir welding, then in step S4, the position correction (thrust control) of the executing tool TE based on the load applied to the executing tool TE detected from the load sensor 20 (20X) is enabled. This thrust control, for example, is also shown in patent document 3, in which 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 executing tool TE detected from the load sensor 20 (20X) approaches the target load corresponding to the insertion depth of the tool T1 (which can be obtained from the XYZ drive mechanism 13). Preferably, the position correction of the executing tool TE based on the load applied to the executing tool TE includes feedback correction of the position of the executing tool TE in a manner that the load does not substantially change. In addition, the position correction of the executing tool TE based on the load is a correction of the position of the executing 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 executing tool TE is the tool T2 for cutting, then in step S5, the position correction (position control) of the executing 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 Gazette 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 executing tool TE relative to the temperature detected from the temperature sensors 21a to 21c is estimated as the reference temperature, and the position correction of the executing tool TE based on the position offset (thermal displacement) is performed during the cutting process. In this case, as shown in International Gazette No. 2021 / 044491, the temperature deviation from the reference temperature of each temperature sensor 21a to 21c may be multiplied by a predetermined coefficient and the sum thereof may be obtained to estimate the position offset, or the tool tip offset corresponding to the temperature deviation from the reference temperature of each temperature sensor 21a to 21c may be pre-stored in a table or the like, and the position offset may be estimated with reference 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.11It 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 friction stir welding process 7. 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 processing 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 bar, 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 (straight line, arc, etc.) between the starting point and the end point of the tool tip in the workpiece coordinates used to determine the machining shape.

[0055] exist Fig. 12A and Fig. 12BIn the example, an example is shown in which a 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 tool is moved for each tool sequence one by one so that the shapes shown by all the shape sequences can be generated until the next tool sequence appears in the program. Each tool sequence is distinguished by a sequence number SNo. Each shape sequence is distinguished by the number recorded in the FIG item.

[0056] If the tool name in the tool sequence TS is FSW tool, then Fig. 12B As shown, the shape sequence SS corresponding to the tool sequence TS includes a code indicating whether to perform thrust control ("thrust control") and a code specifying thrust ("thrust"), respectively. When thrust control is performed, the value of "thrust control" is "performed", and when thrust control is not performed, the value of "thrust control" is "not performed". Here, the "thrust control" code including the value "performed" and the "thrust" code are collectively referred to as a thrust correction code indicating the position correction of the execution tool TE based on the load. When the value of the "thrust control" code of the shape sequence SS is "not performed", it is determined that the shape sequence SS does not include a thrust correction 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, and obtain a T code corresponding to the combination of the obtained tool name, nominal diameter and suffix with reference to the tool data 9, and install the tool holder 17 held in the holding portion 15a corresponding to the obtained T code to the spindle 12b.

[0058] In step S3, Fig. 9In the case where the program format in step S31 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 thrust control in each shape sequence SS. Therefore, the above-mentioned load-based position correction (thrust control) of the executing tool TE is made effective by including: if a thrust correction code indicating load-based position correction of the executing tool TE is included in the portion (shape sequence SS) of the machining program 7 that is specified to be machined by the executing tool TE, then in the friction stir welding performed by the executing tool TE in the machining program 7, the position correction (thrust control) of the executing tool TE based on the load applied to the executing tool TE is performed. Specifically, in step S4, Fig.10 In 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 thrust correction code. In the case where the shape sequence SS includes a thrust correction code ("Yes" in step S42), the processor 3 executing the control program 8 in the control method performs thrust 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 thrust correction code ("No" in step S42), in step S44, the processor 3 executing the control program 8 in the control method performs neither thrust 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 that executes 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 an 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 temperature detected from the temperature sensors 21a~21c is estimated as the reference temperature, 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.11In step S51, when the program format is an interactive format, in step S52, the processor 3 that executes 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. 13B FIG. 7B shows a machining program 7B using the tool T1 for friction stir welding. Fig.13A and Fig. 13B The code of line number 4 of the machining program 7B based on the EIA / ISO format can distinguish whether the tool is the tool T1 for friction stir welding or the tool T2 for cutting machining 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 the 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 the execution tool TE is determined to be 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 of the tool sequence TS is not the FSW tool (step S35). Fig. 13BIn 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 the execution tool TE is determined to be 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 the FSW tool. If it is the FSW tool, it is determined that the executing tool TE is the 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 thrust control in the program code. Fig. 13B The machining program 7B based on the tool T1 for friction stir welding includes an M37 code ( Fig. 13B 5). If the M37 code is called, the value of the load sensor of the M37 code is set to thrust 0. That is, the M37 code specifies that the load in the value of the load sensor 20 (20X) is equivalent to the sensor output value of 0. As a result, when a signal appears due to the influence of the assembly of the load sensor, temperature rise, etc., the value of the signal can be ignored. The machining program 7B based on the tool T1 for friction stir welding includes the BT3500 code ( Fig. 13B The machining program 7B based on the tool T1 for friction stir welding includes the M38 code for executing thrust control after the code for specifying coordinates ( Fig. 13B The machining program 7B based on the tool T1 for friction stir welding includes the code for moving the tool T2 for friction stir welding, followed by the code M39 for releasing the thrust control ( Fig. 13B Here, the M37 code, the BT3500 code, and the M38 code are collectively referred to as a thrust correction code for instructing execution of 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 program code based on the EIA / ISO format performs the above-mentioned position control by default. 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 thrust correction code, the compound processing device 1 displays an error message such as "The program contains an invalid M37 code (or BT3500 code, M38 code, M39 code), which has been ignored" and ignores the thrust correction 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 thrust correction code, thrust 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 thrust correction code, the compound processing device 1 does not perform either position control or thrust 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 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 temperature detected from the temperature sensors 21a to 21c as 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.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 does not include the thrust correction code ("No" in step S53), 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.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 includes a thrust correction code ("Yes" in step S53), in step S54, even if the thrust correction 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 thrust correction 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 thrust correction 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 thrust correction code is ignored. Thereafter, 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 thrust correction 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 method of enabling the position correction (thrust control) of the execution tool TE based on the load applied to the execution tool TE includes: when the program format is the EIA / ISO format in step S41, if the thrust correction code is included in the portion of the machining program 7B that specifies machining by the execution tool TE ("Yes" in step S45), the thrust correction code is executed (step S43). Specifically, in this control method, the processor 3 that executes the control program 8 executes the thrust control based on the thrust correction code from when the M38 code is called to when the M39 code or the M30 code is called.

[0068] On the other hand, for example Fig.13A In the case where the T code in the code is not T10 but T11, in the case of Fig. 9In step S41, when the thrust correction code is not included in the code of the machining process (the portion of the machining program 7B that is specified to be machined by the executing tool TE) whose program format is the EIA / ISO format and is called by the machining program 7 ("No" in step S45), in step S44, the processor 3 that executes the control program 8 in the control method performs neither thrust control nor position control in the portion of the machining program 7B that is specified to be machined by the executing tool TE. That is, the position correction (thrust control) of the executing tool TE based on the load is made effective to include: if the thrust correction code is not included in the portion of the machining program 7B that is specified to be machined by the executing tool TE, neither the position correction (thrust control) of the executing tool TE based on the load applied to the executing tool TE nor the position correction (thrust control) of the executing tool TE based on the temperature is performed. At this time, the processor 3 that executes the control program 8 in the control method performs the position correction (thrust control) of the executing tool TE based on the code ( 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 mechanism. 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 in 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 execution tool TE detected by the load sensor 20 (20X) provided in the composite processing device 1 or the tool T1 for friction stir welding is enabled during friction stir welding. Therefore, it is possible to automatically switch between position control and thrust control according to the type of tool. <Modification> 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.

[0070] In the above-mentioned embodiment, an example in which the composite processing device 1 is a vertical machining center is shown, but even if the composite processing device 1 is a horizontal machining center, a lathe, or a composite processing device including an additive manufacturing device, the contents of this embodiment can also be applied as long as cutting processing and friction stir welding can be performed together.

[0071] 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 a storage medium such as an SD card, a USB memory, and an external hard disk that can be removed from the numerical control device 2 and read by the numerical control device 2.

[0072] In the present application, "having" 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 "having", "including" and their derivatives.

[0073] Phrases such as "~ member", "~ part", "~ element", "~ body" and "~ structure" can have multiple meanings such as a single part or a plurality of parts.

[0074] Ordinal numbers such as "first" and "second" are merely terms used to identify structures and do not have other meanings (such as a specific order, etc.). For example, the existence of a "first element" does not imply the existence of a "second element", and the existence of a "second element" does not imply the existence of a "first element".

[0075] Unless otherwise specified in the embodiments, the words "substantially", "about" and "approximately" indicating the degree may refer to a reasonable deviation without a significant change in the final result. All numerical values ​​recorded in this application may be interpreted as including the words "substantially", "about" and "approximately".

[0076] In the present application, the phrase "at least one of A and B" should be interpreted as including only A, only B, and both A and B.

[0077] It is obvious that various changes and modifications of the present invention can be made in view of the above disclosure. Therefore, the present invention can also be implemented in a manner 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 are the tools for cutting and the tools 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 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 actuating tool includes acquiring the load detected by a load sensor provided in the combined machining device or the friction stir welding tool.

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 the temperature detected from the temperature sensor as 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 4, wherein: Enabling the position correction of the execution tool based on the temperature includes ignoring the thrust correction code even if a thrust correction code indicating 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.

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 thrust correction 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 thrust correction code if a thrust correction 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 thrust correction code is not included in the part of the machining program that stipulates that the executing tool is to be machined, neither the position correction of the executing tool based on the load applied to the executing tool 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 into 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 actuating tool based on the load applied to the actuating tool includes performing feedback correction on the position of the actuating tool so that the load does not substantially change.

11. A program, wherein: The invention further comprises an instruction 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 program is executed by the hardware processor of the multi-functional machining device.

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 mechanism 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 load sensor provided on at least one of the spindle and the friction stir welding tool, for detecting the load; as well as 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; and 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: The utility model also has an interface for allowing a user to input the tool information.

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

Images