Machine tool, diagnostic tool, and diagnostic method for machine tool

Abstract

The invention provides a machine tool, a diagnostic tool and a diagnostic method of the machine tool. A machine tool includes: a tool spindle capable of holding a diagnostic tool having a sensor; a tool transfer device provided independently of the tool spindle and capable of transferring the diagnostic tool; and a diagnostic device. The diagnostic device receives, from the sensor, data indicating a physical quantity acting on the diagnostic tool when the diagnostic tool is transferred by the tool transfer device. The diagnostic device diagnoses the presence or absence of an abnormality in the machine tool by analyzing the data.

Description

Technical Field

[0001] The present invention relates to a machine tool, a diagnostic tool, and a diagnostic method for a machine tool. Background Art

[0002] Techniques for diagnosing a machine tool are known.

[0003] As a related technique, Patent Document 1 discloses a tool for spindle testing. The tool for spindle testing described in Patent Document 1 includes a simulation tool that is detachably mounted on the spindle of a machine tool. In addition, the simulation tool is internally provided with a hammer for striking the simulation tool, a mechanism for driving the hammer, and a detector for detecting the vibration of the simulation tool.

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2001-153758 Summary of the Invention

[0005] An object of the present invention is to provide a machine tool, a diagnostic tool, and a diagnostic method for a machine tool that can detect an abnormality of the machine tool at an early stage.

[0006] Machine tools according to several embodiments include: a tool spindle that can hold a diagnostic tool having a sensor; a tool transfer device that is provided independently of the tool spindle and can transfer the diagnostic tool; and a diagnostic device that receives data representing a physical quantity acting on the diagnostic tool when the diagnostic tool is transferred by the tool transfer device from the sensor, and diagnoses whether there is an abnormality in the machine tool by analyzing the data.

[0007] Diagnostic tools according to several embodiments are diagnostic tools that are transferred by the tool transfer device of the machine tool to detect whether there is an abnormality in the machine tool. The diagnostic tool includes: a first part that can be held by the tool spindle of the machine tool; a second part that can be held by the tool transfer device; a sensor that detects a physical quantity acting on the diagnostic tool when the diagnostic tool is transferred by the tool transfer device; and at least one of a transmission circuit that transmits data representing the physical quantity to the diagnostic device of the machine tool and a memory that stores data representing the physical quantity.

[0008] A diagnostic method for a machine tool according to several embodiments includes: a step of preparing a diagnostic tool having a sensor that can be mounted on the tool spindle of the machine tool and can be transferred by a tool transfer device other than the tool spindle; a step of transferring the diagnostic tool by the tool transfer device; a step of detecting, by the sensor, a physical quantity acting on the diagnostic tool when the diagnostic tool is transferred by the tool transfer device; and a step of diagnosing whether there is an abnormality in the machine tool based on the physical quantity detected by the sensor when the diagnostic tool is transferred by the tool transfer device.

[0009] According to the present invention, a machine tool, a diagnostic tool, and a diagnostic method for a machine tool capable of detecting an abnormality of the machine tool at an early stage can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 FIG. is a diagram schematically showing a part of the machine tool according to the first embodiment. Figure 2 FIG. is a diagram schematically showing a case where a tool is mounted on a tool spindle. Figure 3 FIG. is a diagram schematically showing a case where a diagnostic tool is mounted on a tool spindle. Figure 4 FIG. is a diagram schematically showing a part of the machine tool according to the first embodiment. Figure 5 FIG. is a diagram schematically showing a part of the machine tool according to the first embodiment. Figure 6 FIG. is a diagram schematically showing a case where a diagnostic device diagnoses whether there is an abnormality in the machine tool based on data. Figure 7 FIG. is a diagram schematically showing the diagnostic tool according to the first embodiment. Figure 8 FIG. is a flowchart showing an example of the diagnostic method for the machine tool according to the first embodiment. Figure 9 FIG. is a diagram schematically showing a part of the machine tool according to the first embodiment. Figure 10 FIG. is a diagram schematically showing a part of the machine tool according to the first embodiment. Figure 11 FIG. is a schematic perspective view showing the machine tool according to the second embodiment. Figure 12 FIG. is a diagram schematically showing the machine tool according to the second embodiment. Figure 13 FIG. is a diagram schematically showing the diagnostic tool according to the second embodiment. Figure 14 FIG. is a block diagram showing an example of the hardware configuration of the diagnostic device. Figure 15 FIG. is a diagram schematically showing a part of the machine tool according to the second embodiment. Figure 16 FIG. is a diagram schematically showing a part of the machine tool according to the second embodiment. Figure 17 FIG. is a diagram schematically showing a case where the diagnostic device diagnoses whether there is an abnormality in the machine tool based on the first data. Figure 18 FIG. is a diagram schematically showing a part of the machine tool according to the second embodiment. Figure 19 FIG. is a diagram schematically showing a part of the machine tool according to the second embodiment. Figure 20 It is a diagram schematically showing a situation where a diagnostic device diagnoses whether there is an abnormality in a machine tool based on first data. Figure 21 It is a diagram schematically showing an example of data acquired by a sensor. Figure 22 It is a diagram schematically showing an example of a coordinate graph obtained by frequency analysis of vibrations acting on a diagnostic tool. Figure 23 It is a diagram schematically showing an example of a coordinate graph obtained by frequency analysis of vibrations acting on a diagnostic tool. Figure 24 It is a diagram schematically showing a part of a machine tool according to a second embodiment. Figure 25 It is a diagram schematically showing a part of a machine tool according to a second embodiment. Figure 26 It is a diagram schematically showing a part of a machine tool according to a second embodiment. Figure 27 It is a diagram schematically showing a part of a machine tool according to a second embodiment. Figure 28 It is a diagram schematically showing a part of a machine tool according to a second embodiment. Figure 29 It is a diagram schematically showing a part of a machine tool according to a second embodiment. Figure 30 It is a diagram schematically showing a part of a machine tool according to a second embodiment. Figure 31 It is a diagram schematically showing a part of a machine tool according to a second embodiment. Figure 32 It is a diagram schematically showing a situation where a diagnostic device diagnoses whether there is an abnormality in a machine tool based on second data. Figure 33 It is a diagram schematically showing an example of an image displayed on a display device. Figure 34 It is a diagram schematically showing an example of an image displayed on a display device. Figure 35 It is a diagram schematically showing an example of an image displayed on a display device. Figure 36 It is a diagram schematically showing a situation where a diagnostic device and a control device are communicably connected. Figure 37 It is a flowchart showing an example of a diagnostic method for a machine tool according to a second embodiment. Detailed implementation mode

[0011] Hereinafter, with reference to the drawings, the machine tool 100, the diagnostic tool 9, and the diagnostic method of the machine tool according to the embodiment will be described. In addition, in the following description of the embodiment, the same reference numerals are given to parts and components having the same functions, and the repeated description of the parts and components given the same reference numerals is omitted.

[0012] (First Embodiment) With reference to Figures 1 to 10 , the machine tool 100A, the diagnostic tool 9A, and the diagnostic method of the machine tool according to the first embodiment will be described. Figure 1 FIG. is a schematic diagram showing a part of the machine tool 100A according to the first embodiment. Figure 2 FIG. is a schematic diagram showing a case where the cutting tool B is mounted on the tool spindle 2. Figure 3 FIG. is a schematic diagram showing a case where the diagnostic tool 9A is mounted on the tool spindle 2. Figure 4 and Figure 5 FIG. is a schematic diagram showing a part of the machine tool 100A according to the first embodiment. Figure 6 FIG. is a schematic diagram showing a case where the diagnostic device 8 diagnoses whether the machine tool is abnormal based on the data DT. Figure 7 FIG. is a schematic diagram showing the diagnostic tool 9A according to the first embodiment. Figure 8 FIG. is a flowchart showing an example of the diagnostic method of the machine tool according to the first embodiment. Figure 9 and Figure 10 FIG. is a schematic diagram showing a part of the machine tool 100A according to the first embodiment.

[0013] (Machine Tool 100A) As Figure 1 illustrated, the machine tool 100A according to the first embodiment includes a tool spindle 2, a tool transfer device 3, and a diagnostic device 8. The machine tool 100A may also include the cutting tool B. In addition, the machine tool 100A may also include the diagnostic tool 9A.

[0014] As Figure 2 illustrated, the tool spindle 2 can hold the cutting tool B. In the Figure 2 example described, the tool spindle 2 has: a rotating body 21 that can hold the cutting tool B; and a support body 23 that supports the rotating body 21 so as to be rotatable about the first axis AX1.

[0015] As Figure 3 illustrated, the tool spindle 2 can hold the diagnostic tool 9A. In the Figure 3 example described, the rotating body 21 of the tool spindle 2 holds the diagnostic tool 9A. In addition, the support body 23 supports the rotating body 21 holding the diagnostic tool 9A so as to be rotatable about the first axis AX1.

[0016] As Figure 4 and Figure 5As illustrated, the tool transfer device 3 can transfer the tool B and the diagnostic tool 9A respectively. The tool transfer device 3 is provided independently of the tool spindle 2. In Figure 4 In the example described in Figure 5 the tool transfer device 3 has a holding body 31 for holding the tool B and a moving device 36 for moving the holding body 31. In

[0017] As Figure 5 illustrated, the diagnostic tool 9A has a sensor 91. The sensor 91 detects the physical quantity PV acting on the diagnostic tool 9A. The physical quantity PV detected by the sensor 91 is, for example, the acceleration acting on the diagnostic tool 9A, the vibration acting on the diagnostic tool 9A, etc.

[0018] In Figure 5 the example described in

[0019] the sensor 91 detects the physical quantity PV (for example, the acceleration acting on the diagnostic tool 9A, the vibration acting on the diagnostic tool 9A, etc.) acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred by the tool transfer device 3.

[0020] In addition, in this specification, the transfer of the diagnostic tool 9 by the tool transfer device 3 includes the entire process of the tool transfer device 3 transferring the diagnostic tool 9. More specifically, the transfer of the diagnostic tool 9 by the tool transfer device 3 includes: (1) the tool transfer device 3 receives the diagnostic tool 9 from one component of the machine tool (for example, one of the tool magazine and the tool spindle). The transfer of the diagnostic tool 9 by the tool transfer device 3 includes: (2) the tool transfer device 3 moves the diagnostic tool 9 from one component of the machine tool (for example, one of the tool magazine and the tool spindle) to another component of the machine tool (for example, the other of the tool magazine and the tool spindle). In addition, the transfer of the diagnostic tool 9 by the tool transfer device 3 includes: (3) the tool transfer device 3 delivers the diagnostic tool 9 to another component of the machine tool (for example, the other of the tool magazine and the tool spindle).

[0020] As Figure 5 illustrated, the diagnostic device 8 receives the data DT representing the physical quantity PV acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred by the tool transfer device 3 from the sensor 91. In addition, the data DT can be analog data representing the physical quantity PV (for example, the sensor signal itself), or digital data obtained by processing the analog data representing the physical quantity PV.

[0021] As Figure 6 illustrated, the diagnostic device 8 diagnoses whether the machine tool 100A has an abnormality by analyzing the data DT representing the physical quantity PV acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred by the tool transfer device 3.

[0022] For example, when the deviation of the data DT from the reference data exceeds the allowable range, the diagnostic device 8 determines that the machine tool 100A is abnormal. In addition, when the deviation of the data DT from the reference data is within the allowable range, the diagnostic device 8 determines that the machine tool 100A is not abnormal. Additionally, the reference data can be set based on the initial state of the machine tool 100A (e.g., the state of a new machine tool 100A), or can be set based on the state of the machine tool 100A immediately after maintenance.

[0023] In the machine tool 100A of the first embodiment, by analyzing the data DT representing the physical quantity PV acting on the diagnostic tool 9A when it is transferred by the tool transfer device 3, the abnormality of the machine tool 100A is diagnosed. Through this diagnosis, the abnormality of the machine tool 100A can be detected early.

[0024] In addition, in the machine tool 100A of the first embodiment, the tool transfer device 3 for transferring the tool B is used to transfer the diagnostic tool 9A. Therefore, there is no need to provide a dedicated device for transferring the diagnostic tool 9A. In addition, the diagnostic tool 9A moves along the same path as the path along which the tool B is transferred by the tool transfer device 3. Therefore, figuratively speaking, the diagnostic device 8 can use the diagnostic tool 9A to detect the state of the machine tool when observed from the tool transferred by the tool transfer device 3.

[0025] (Diagnostic tool 9A) As Figure 5 illustrated, the diagnostic tool 9A of the first embodiment is a diagnostic tool transferred by the tool transfer device 3 of the machine tool 100A to detect the abnormality of the machine tool 100A.

[0026] As Figure 7 illustrated, the diagnostic tool 9A includes a first part 93, a second part 94, a sensor 91, and a transmission circuit 95.

[0027] As Figure 3 illustrated, the first part 93 is held by the tool spindle 2 (more specifically, the rotating body 21) of the machine tool 100A.

[0028] As Figure 5 illustrated, the second part 94 is held by the tool transfer device 3 (more specifically, the holding body 31).

[0029] The sensor 91 detects the physical quantity PV (e.g., the acceleration acting on the diagnostic tool 9A, the vibration acting on the diagnostic tool 9A, etc.) acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred by the tool transfer device 3.

[0030] The transmission circuit 95 transmits the data DT indicating the physical quantity PV acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred by the tool transfer device 3 to the diagnostic device 8 of the machine tool. The transmission circuit 95 may also transmit the data DT indicating the physical quantity PV acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred by the tool transfer device 3 to the diagnostic device 8 of the machine tool in real time.

[0031] Alternatively or additionally, as Figure 7 illustrated, the diagnostic tool 9A may also include a memory 97 for storing the data DT. The memory 97 stores the data DT indicating the physical quantity PV acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred by the tool transfer device 3. In this case, the diagnostic device 8 receives the data DT directly or indirectly from the memory 97 and analyzes the received data DT.

[0032] The diagnostic tool 9A of the first embodiment detects the data DT indicating the physical quantity PV acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred by the tool transfer device 3. The diagnostic device 8 diagnoses whether there is an abnormality in the machine tool 100A based on the data DT. Thus, the abnormality of the machine tool 100A is detected early.

[0033] In addition, the tool transfer device 3 for transferring the tool B is used to transfer the diagnostic tool 9A of the first embodiment. Therefore, there is no need to provide a dedicated device for transferring the diagnostic tool 9A. In addition, the diagnostic tool 9A moves along the same path as the path along which the tool B is transferred by the tool transfer device 3. Therefore, in a figurative sense, the diagnostic tool 9A can detect the state of the machine tool when observed from the tool transferred by the tool transfer device 3 by detecting the physical quantity acting on itself.

[0034] (Diagnostic method of machine tool 100A) Refer to Figures 1 to 10 , and describe the diagnostic method of the machine tool 100A of the first embodiment.

[0035] As Figure 7 illustrated, in the first step ST1, a diagnostic tool 9A having a sensor 91 is prepared. The first step ST1 is a preparation process. The diagnostic tool 9A prepared in the preparation process can be mounted on the tool spindle 2 (more specifically, the rotating body 21) (refer to Figure 3 ). In addition, the diagnostic tool 9A prepared in the preparation process can be transferred by a tool transfer device 3 other than the tool spindle 2 (refer to Figure 5 ).

[0036] As Figure 5 illustrated, in the second step ST2, the diagnostic tool 9A is transferred by the tool transfer device 3. The second step ST2 is a transfer process.

[0037] In addition, in this specification, the transfer process (in other words, the diagnostic tool 9 is transferred by the tool transfer device 3) includes the entire process of the tool transfer device 3 transferring the diagnostic tool 9. More specifically, the transfer process includes: (1) The tool transfer device 3 receives the diagnostic tool 9 from one component of the machine tool (for example, one of the tool magazine and the tool spindle). The transfer process includes: (2) The tool transfer device 3 moves the diagnostic tool 9 from one component of the machine tool (for example, one of the tool magazine and the tool spindle) to another component of the machine tool (for example, the other of the tool magazine and the tool spindle). In addition, the transfer process includes: (3) The tool transfer device 3 delivers the diagnostic tool 9 to another component of the machine tool (for example, the other of the tool magazine and the tool spindle).

[0038] As Figure 5 illustrated, in the third step ST3, the physical quantity PV acting on the diagnostic tool 9A is detected by the sensor 91. The third step ST3 is a detection process. In the detection process, the physical quantity PV (for example, the acceleration acting on the diagnostic tool 9A, the vibration acting on the diagnostic tool 9A, etc.) acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred by the tool transfer device 3 is detected by the sensor 91.

[0039] In the fourth step ST4, data DT representing the above physical quantity PV (for example, analog data or digital data) is sent to the diagnostic device 8. The fourth step ST4 is a data sending process. In the data sending process, data DT representing the physical quantity PV detected by the sensor 91 is sent from the diagnostic tool 9A to the diagnostic device 8. The diagnostic device 8 stores the received data DT in the memory.

[0040] In addition, when the diagnostic tool 9A does not have a data sending function, the fourth step ST4 is omitted. In this case, the data DT stored in the memory 97 of the diagnostic tool 9A is taken out later, and the taken-out data DT is stored in the memory of the diagnostic device 8.

[0041] As Figure 5 and Figure 6 illustrated, in the fifth step ST5, it is diagnosed whether the machine tool 100A is abnormal. The fifth step ST5 is a diagnosis process. In the diagnosis process, based on the physical quantity PV (for example, the acceleration acting on the diagnostic tool 9A, the vibration acting on the diagnostic tool 9A, etc.) detected by the sensor 91 when the diagnostic tool 9A is transferred by the tool transfer device 3, it is diagnosed whether the machine tool 100A is abnormal. More specifically, the diagnosis process includes: (1) The diagnostic device 8 directly or indirectly receives data DT representing the physical quantity PV acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred by the tool transfer device 3 from the diagnostic tool 9A; (2) The diagnostic device 8 diagnoses whether the machine tool 100A is abnormal by analyzing the data DT.

[0042] When the deviation of the data DT received from the sensor 91 from the reference data exceeds the allowable range, for example, the diagnostic device 8 determines that the machine tool 100A is abnormal. In addition, when the deviation of the data DT received from the sensor 91 from the reference data is within the allowable range, for example, the diagnostic device 8 determines that the machine tool 100A is not abnormal.

[0043] In the diagnostic method of the machine tool according to the first embodiment, based on the physical quantity PV detected by the sensor 91 when the tool transfer device 3 transfers the tool, it is diagnosed whether the machine tool 100A is abnormal. Through this diagnosis, the abnormality of the machine tool 100A can be detected at an early stage.

[0044] In addition, in the diagnostic method of the machine tool according to the first embodiment, the tool transfer device 3 for transferring the tool B is used to transfer the diagnostic tool 9A. Therefore, there is no need to provide a dedicated device for transferring the diagnostic tool 9A. In addition, the diagnostic tool 9A moves along the same path as the path along which the tool transfer device 3 transfers the tool B. Therefore, in a figurative sense, the diagnostic tool 9A can be used to detect the state of the machine tool when observed from the tool transferred by the tool transfer device 3.

[0045] (Optional additional structure) Refer to Figures 1 to 10 to describe any optional additional structures that can be adopted in the machine tool 100A, the diagnostic tool 9A, and the diagnostic method of the machine tool according to the first embodiment.

[0046] In Figure 9 or Figure 10 In the examples described, the sensor 91 includes a first sensor 91a (such as an acceleration sensor), and the first sensor 91a detects at least one of the acceleration and vibration acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred between the tool transfer device 3 and the tool spindle 2.

[0047] In Figure 9 or Figure 10 In the examples described, the above detection process (the third step ST3) includes: when the diagnostic tool 9A is transferred between the tool transfer device 3 and the tool spindle 2, the sensor 91 detects the physical quantity PV acting on the diagnostic tool 9A (for example, at least one of the acceleration and vibration acting on the diagnostic tool 9A).

[0048] In addition, Figure 9 represents the case where the diagnostic tool 9A is transferred from the tool transfer device 3 to the tool spindle 2. In addition, Figure 10 represents the case where the diagnostic tool 9A is transferred from the tool spindle 2 to the tool transfer device 3 (more specifically, the case where the tool transfer device 3 receives the diagnostic tool 9A from the tool spindle 2).

[0049] InFigure 9 Or Figure 10 In the example described above, the above data transmission process (the fourth step ST4) includes: transmitting data DT representing the physical quantity PV acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred between the tool transfer device 3 and the tool spindle 2 from the diagnostic tool 9A to the diagnostic device 8.

[0050] This data DT includes first data DT1, and the first data DT1 represents the physical quantity PV detected by the sensor 91 (for example, at least one of the acceleration and vibration acting on the diagnostic tool 9A) when the diagnostic tool 9A is transferred between the tool transfer device 3 and the tool spindle 2. Figure 9 In the example described above, this data DT includes first data DT1-1, and the first data DT1-1 represents the physical quantity PV acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred from the tool transfer device 3 to the tool spindle 2. In addition, Figure 10 In the example described above, this data DT includes first data DT1-2, and the first data DT1-2 represents the physical quantity PV acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred from the tool spindle 2 to the tool transfer device 3.

[0051] In Figure 9 Or Figure 10 In the example described above, the above diagnostic process (the fifth step ST5) includes: the diagnostic device 8 diagnosing whether the machine tool 100A is abnormal based on the physical quantity PV (for example, at least one of the acceleration and vibration acting on the diagnostic tool 9A) detected by the sensor 91 when the diagnostic tool 9A is transferred between the tool transfer device 3 and the tool spindle 2.

[0052] More specifically, the diagnostic process (the fifth step ST5) includes: (1) the diagnostic device 8 receiving the first data DT1 representing the physical quantity PV (for example, at least one of the acceleration and vibration acting on the diagnostic tool 9A) detected by the sensor 91 when the diagnostic tool 9A is transferred between the tool transfer device 3 and the tool spindle 2 from the diagnostic tool 9A; (2) the diagnostic device 8 diagnosing whether the machine tool 100A is abnormal by analyzing the first data DT1.

[0053] In Figure 9 In the example described above, the diagnostic process (the fifth step ST5) includes: (1) the diagnostic device 8 receiving the first data DT1-1 representing the physical quantity PV (for example, at least one of the acceleration and vibration acting on the diagnostic tool 9A) detected by the sensor 91 when the diagnostic tool 9A is transferred from the tool transfer device 3 to the tool spindle 2 from the diagnostic tool 9A; (2) the diagnostic device 8 diagnosing whether the machine tool 100A is abnormal by analyzing the first data DT1-1.

[0054] In Figure 10In the described example, the diagnosis process (fifth step ST5) includes: (1) the diagnosis device 8 receives, from the diagnosis tool 9A, first data DT1-2 indicating a physical quantity PV (for example, at least one of acceleration and vibration acting on the diagnosis tool 9A) detected by the sensor 91 when transferring the diagnosis tool 9A from the tool spindle 2 to the tool transfer device 3; (2) the diagnosis device 8 diagnoses whether the machine tool 100A is abnormal by analyzing the first data DT1-2.

[0055] The diagnosis device 8 may also determine that the machine tool 100A is abnormal when the first data (DT1, DT1-1, DT1-2) indicates that abnormal acceleration or abnormal vibration acts on the diagnosis tool 9A. More specifically, the diagnosis device 8 may also determine that the machine tool 100A is abnormal when the first data (DT1, DT1-1, DT1-2) indicates that the acceleration or vibration acting on the diagnosis tool 9A deviates from a preset allowable range. In addition, the diagnosis device 8 may also determine that the machine tool 100A is not abnormal when the first data (DT1, DT1-1, DT1-2) indicates that the acceleration or vibration acting on the diagnosis tool 9A is within the preset allowable range.

[0056] (Second Embodiment) Refer to Figures 11 to 37 to describe the machine tool 100B, the diagnosis tool 9B, and the diagnosis method of the machine tool according to the second embodiment. Figure 11 is a schematic perspective view schematically showing the machine tool 100B according to the second embodiment. Figure 12 is a view schematically showing the machine tool 100B according to the second embodiment. Figure 13 is a view schematically showing the diagnosis tool 9B according to the second embodiment. Figure 14 is a block diagram showing an example of the hardware structure of the diagnosis device 8. Figure 15 and Figure 16 is a view schematically showing a part of the machine tool 100B according to the second embodiment. Figure 17 is a view schematically showing a situation where the diagnosis device 8 diagnoses whether the machine tool is abnormal based on the first data DT1. Figure 18 and Figure 19 is a view schematically showing a part of the machine tool 100B according to the second embodiment. Figure 20 is a view schematically showing a situation where the diagnosis device 8 diagnoses whether the machine tool is abnormal based on the first data DT1. Figure 21 is a view schematically showing an example of the data DT acquired by the sensor 91. Figure 22 and Figure 23 is a view schematically showing an example of a coordinate diagram obtained by frequency analysis of the vibration acting on the diagnosis tool 9B. Figures 24 to 31 is a view schematically showing a part of the machine tool 100B according to the second embodiment.Figure 32 FIG. is a diagram schematically showing a case where the diagnostic device 8 diagnoses whether or not the machine tool is abnormal based on the second data DT2. Figures 33 to 35 FIG. is a diagram schematically showing an example of an image displayed on the display device 84. Figure 36 FIG. is a diagram schematically showing a case where the diagnostic device 8 and the control device 5 are communicably connected. Figure 37 FIG. is a flowchart showing an example of a diagnostic method for a machine tool according to the second embodiment.

[0057] As Figure 11 and Figure 12 illustrated, the machine tool 100B according to the second embodiment includes: (1) a tool spindle 2 capable of holding a diagnostic tool 9B having a sensor 91; (2) a tool transfer device 3 provided independently of the tool spindle 2 and capable of transferring the diagnostic tool 9B; (3) a diagnostic device 8 that receives data DT representing a physical quantity PV acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3 from the sensor 91 and diagnoses whether or not the machine tool 100B is abnormal by analyzing the data DT. Therefore, the machine tool 100B according to the second embodiment achieves the same effect as the machine tool 100A according to the first embodiment.

[0058] The diagnostic tool 9B according to the second embodiment is a diagnostic tool transferred by the tool transfer device 3 of the machine tool 100B to detect whether or not the machine tool 100B is abnormal. As Figure 13 illustrated, the diagnostic tool 9B according to the second embodiment includes: (1) a first part 93 that can be held by the tool spindle 2 of the machine tool 100B; (2) a second part 94 that can be held by the tool transfer device 3; (3) a sensor 91 that detects a physical quantity PV acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3; (4) at least one of a transmission circuit 95 and a memory 97, the transmission circuit 95 transmits data DT representing the physical quantity PV to the diagnostic device 8 of the machine tool 100B, and the memory 97 stores the data DT representing the physical quantity PV. Therefore, the diagnostic tool 9B according to the second embodiment achieves the same effect as the diagnostic tool 9A according to the first embodiment.

[0059] As Figure 12As illustrated, the diagnostic method of the machine tool according to the second embodiment includes: (1) a step of preparing a diagnostic tool 9B, the diagnostic tool 9B having a sensor 91 that can be mounted on the tool spindle 2 of the machine tool 100B and can be transferred by a tool transfer device 3 other than the tool spindle 2; (2) a step of transferring the diagnostic tool 9B by the tool transfer device 3; (3) a step of detecting, by the sensor 91, a physical quantity PV acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3; (4) a step of diagnosing whether there is an abnormality in the machine tool 100B based on the physical quantity PV detected by the sensor 91 when the diagnostic tool 9B is transferred by the tool transfer device 3. Therefore, the diagnostic method of the machine tool according to the second embodiment achieves the same effect as the diagnostic method of the machine tool according to the first embodiment.

[0060] (Optional additional structure) Refer to Figures 11 to 37 , and describe any optional additional structure that can be adopted in the machine tool 100B, diagnostic tool 9B, and diagnostic method of the machine tool according to the second embodiment.

[0061] (Tool spindle 2) In Figure 15 the example described, the tool spindle 2 has a rotating body 21, a support body 23, a bearing 24, and a rotation driving device 25.

[0062] The rotating body 21 can hold the tool B (if necessary, refer to Figure 12 ). In addition, the rotating body 21 can hold the diagnostic tool 9B. More specifically, the rotating body 21 can selectively hold the tool B and the diagnostic tool 9B.

[0063] In Figure 15 the example described, the support body 23 supports the rotating body 21 so as to be rotatable about a first axis AX1. The bearing 24 is interposed between the rotating body 21 and the support body 23. In other words, the support body 23 supports the rotating body 21 via the bearing 24 so as to be rotatable.

[0064] The rotation driving device 25 rotates the rotating body 21 about the first axis AX1. The rotation driving device 25 includes a motor. More specifically, the rotation driving device 25 includes a stator 25s fixed to the support body 23 and a rotor 25r fixed to the rotating body 21. If current is supplied to the stator 25s, the rotor 25r rotates about the first axis AX1 by the electromagnetic action between the stator 25s and the rotor 25r. Alternatively, the rotation driving device 25 may have a motor and a transmission mechanism (such as gears, belts, etc.) that transmits the power of the motor to the rotating body 21.

[0065] (Tool magazine 4) In Figure 12In the described example, the machine tool 100B includes a tool magazine 4 (in other words, a tool storage). The tool magazine 4 can store multiple tools (B1, B2...). In addition, the tool magazine 4 can store the diagnostic tool 9B.

[0066] In Figure 11 the described example, the tool magazine 4 has: a plurality of holding parts 41 for holding multiple tools; and a holding part moving device 45 for moving the plurality of holding parts 41 along the surrounding track OB. At least one of the plurality of holding parts 41 can hold the diagnostic tool 9B. It is also possible that each of all the holding parts 41 can hold the diagnostic tool 9B.

[0067] (Tool changer 30) In Figure 12 the described example, the tool transfer device 3 includes a tool changer 30. The tool changer 30 can replace the tool B held by the tool spindle 2 (more specifically, the rotating body 21) with another tool.

[0068] In Figure 12 the described example, the tool changer 30 can replace the tool B held by the tool spindle 2 (more specifically, the rotating body 21) with the diagnostic tool 9B. More specifically, if the tool changer 30 replaces the tool B held by the tool spindle 2 with the diagnostic tool 9B, then the tool spindle 2 holds the diagnostic tool 9B.

[0069] In addition, the tool changer 30 can replace the diagnostic tool 9B held by the tool spindle 2 (more specifically, the rotating body 21) with the tool B. More specifically, if the tool changer 30 replaces the diagnostic tool 9B held by the tool spindle 2 with the tool B, then the tool spindle 2 holds the tool B.

[0070] In Figure 11 the described example, the tool changer 30 has a tool changing arm 32. The tool changing arm 32 functions as a holding body 31 for holding the tool B (or the diagnostic tool 9B). The tool changing arm 32 has a first arm 32a and a second arm 32b. In addition, the first arm 32a has a first gripping part 33a capable of gripping the tool B (or the diagnostic tool 9B), and the second arm 32b has a second gripping part 33b capable of gripping the diagnostic tool 9B (or the tool B). In Figure 11 the described example, the angle between the first arm 32a and the second arm 32b is 180 degrees. Alternatively, the angle between the first arm 32a and the second arm 32b can also be an angle other than 180 degrees.

[0071] In Figure 11In the described example, the tool changing device 30 includes: an arm rotating device 35 that rotates the tool changing arm 32 around the second axis AX2; and a moving device 36 that linearly moves the tool changing arm 32. In Figure 11 the described example, the second axis AX2 is parallel to the first axis AX1. The tool changing device 30 may also include: a rotating shaft 37 that rotates around the second axis AX2 together with the tool changing arm 32; and a shaft support member 38 that supports the rotating shaft 37 so as to be rotatable around the second axis AX2.

[0072] The moving device 36 includes a first moving device 36a that moves the tool changing arm 32 in a direction perpendicular to the second axis AX2. The moving device 36 may also include a second moving device 36b that moves the tool changing arm 32 in a direction parallel to the second axis AX2. The moving device 36 may also enable the tool changing arm 32 to move three-dimensionally.

[0073] In Figure 11 the described example, the tool changing device 30 transfers the diagnostic tool 9B (or the tool B) between the tool spindle 2 and the tool magazine 4. Alternatively, the tool changing device 30 may also transfer the diagnostic tool 9B (or the tool B) between the tool spindle 2 and other transfer devices (in other words, intermediate transfer devices). In other words, the tool transfer device 3 may also include the tool changing device 30 and other transfer devices (in other words, intermediate transfer devices).

[0074] (diagnostic tool 9B) In Figure 13 the described example, the diagnostic tool 9B has a sensor 91 that detects the physical quantity PV acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3. In addition, the diagnostic tool 9B has a transmission circuit 95 that transmits data DT representing the physical quantity PV to the diagnostic device 8 (for example, analog data of the sensor signal output by the sensor 91 itself or digital data obtained by processing the analog data). Preferably, the transmission circuit 95 wirelessly transmits the data DT representing the above physical quantity PV to the diagnostic device 8. The transmission circuit 95 may also transmit the data DT representing the above physical quantity PV to the diagnostic device 8 in real time.

[0075] Alternatively or additionally, the diagnostic tool 9B may also include a memory 97 that stores the data DT representing the above physical quantity PV. In this case, the diagnostic device 8 directly or indirectly receives the data DT from the memory 97 and analyzes the received data DT.

[0076] The diagnostic tool 9B may also have a receiving circuit 96. The receiving circuit 96 receives an induction start command from the diagnostic device 8 at the timing when the diagnostic tool 9B is transferred by the tool transfer device 3. Preferably, the receiving circuit 96 receives the induction start command from the diagnostic device 8 wirelessly. The sensor 91 starts detecting the above physical quantity PV in response to receiving the induction start command via the receiving circuit 96. Data DT representing the physical quantity PV detected by the sensor 91 is transmitted to the diagnostic device 8 via the transmission circuit 95. Additionally, the transmission circuit 95 and the receiving circuit 96 may be included in one circuit.

[0077] At the timing after the transfer of the diagnostic tool 9B by the tool transfer device 3 is completed, the receiving circuit 96 receives an induction end command from the diagnostic device 8. The sensor 91 ends the detection of the above physical quantity PV in response to receiving the induction end command via the receiving circuit 96.

[0078] The diagnostic tool 9B may also have a battery 98. The battery 98 supplies power to the sensor 91. In addition, the battery 98 supplies power to the transmission circuit 95 and / or the receiving circuit 96. In Figure 13 the example described, the battery 98 and the sensor 91 are electrically connected by a conductive wire 99.

[0079] In this specification, in the direction along the long side direction of the diagnostic tool 9B, the direction from the base end portion of the diagnostic tool 9B toward the tip end portion of the diagnostic tool 9B is defined as the first direction DR1. In addition, in this specification, the direction opposite to the first direction DR1 is defined as the second direction DR2.

[0080] In Figure 13 the example described, in the direction along the central axis AT of the diagnostic tool 9B, the transmission circuit 95 (or the receiving circuit 96) is arranged on the side closer to the first direction DR1 than the first portion 93 that can be held by the tool spindle 2. The transmission circuit 95 (or the receiving circuit 96) may also be arranged on the side closer to the first direction DR1 than the second portion 94 that can be held by the tool transfer device 3 (more specifically, the tool changer 30). The transmission circuit 95 (or the receiving circuit 96) may also be arranged at the tip end portion of the diagnostic tool 9B.

[0081] In Figure 13In the described example, in the direction along the central axis AT of the diagnostic tool 9B, the sensor 91 is disposed on the first direction DR1 side with respect to the first portion 93 that can be held by the tool spindle 2. The sensor 91 may also be disposed on the first direction DR1 side with respect to the second portion 94 that can be held by the tool transfer device 3 (more specifically, the tool changer 30). Alternatively, the sensor 91 may also be disposed inside the first portion 93 that can be held by the tool spindle 2 or inside the second portion 94 that can be held by the tool transfer device 3.

[0082] In Figure 13 the described example, the first portion 93 that can be held by the tool spindle 2 has a conical shape with an outer diameter that decreases as it faces the second direction DR2. In Figure 13 the described example, the second portion 94 that can be held by the tool transfer device 3 (more specifically, the tool changer 30) is disposed on the first direction DR1 side with respect to the first portion 93. The second portion 94 may also have an annular groove 94v that is gripped by the tool change arm 32.

[0083] The sensor 91 may also include a first sensor 91a that detects at least one of the acceleration and vibration acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3 (for example, when the diagnostic tool 9B is transferred between the tool transfer device 3 and the tool spindle 2). The first sensor 91a is, for example, an acceleration sensor.

[0084] The sensor 91 may also include a second sensor 91b that detects the angular velocity of the diagnostic tool 9B (in other words, the posture change of the diagnostic tool 9B) when the diagnostic tool 9B is transferred by the tool transfer device 3 (for example, when the diagnostic tool 9B is transferred between the tool transfer device 3 and the tool spindle 2).

[0085] In Figure 13 the described example, the diagnostic tool 9B is a simulation tool without a machining portion that omits the machining portion of the workpiece. Alternatively, the diagnostic tool 9B may also be a real tool with a machining portion for machining the workpiece.

[0086] (Diagnostic device 8) In Figure 14In the described example, the diagnostic device 8 includes a memory 82 and an arithmetic unit 83. The diagnostic device 8 may also include a display device 84 and / or an input device 85. The input device 85 may be incorporated into the display device 84 (more specifically, the display device 84 may be a touch panel-equipped display 841 having the input device 85a built therein). Alternatively or additionally, the diagnostic device 8 may include an input device 85b (such as buttons, switches, joysticks, pointing devices, keyboards, etc.) provided independently of the display device 84.

[0087] Alternatively, the diagnostic device 8 may include a communication circuit 86. The communication circuit 86 receives the above-described data DT from the transmission circuit 95 of the diagnostic tool 9B. The data DT received by the communication circuit 86 is stored in the memory 82. The communication circuit 86 may also send the above-described induction start instruction and the above-described induction end instruction to the reception circuit 96 of the diagnostic tool 9B.

[0088] In Figure 14 the described example, the memory 82, the arithmetic unit 83, the communication circuit 86, the display device 84, and / or the input device 85 are connected to each other via a bus 87. The arithmetic unit 83 includes at least one processor 83a (such as at least one CPU).

[0089] The memory 82 is a storage medium readable by the arithmetic unit 83. The memory 82 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, or a flash memory, may be a magnetic disk, or may be other forms of memory. The memory 82 stores programs 829 (such as a diagnostic program 829a and a display program 829b) and data (such as the above-described data DT received from the diagnostic tool 9B).

[0090] (Transfer of the diagnostic tool 9B between the tool transfer device 3 and the tool spindle 2) As Figure 15 and Figure 16 illustrated, the diagnostic device 8 receives from the sensor 91 data DT representing a physical quantity PV acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3 (more specifically, the tool changer 30). In Figure 16 the described example, the above-described data DT includes first data DT1, and the first data DT1 represents a physical quantity detected by the sensor 91 when the diagnostic tool 9B is transferred between the tool transfer device 3 and the tool spindle 2.

[0091] In Figure 16In the described example, the above data DT (more specifically, the first data DT1) includes first acceleration data DA1, and the first acceleration data DA1 represents the acceleration acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred between the tool changer 30 and the tool spindle 2. Alternatively or additionally, the above data DT (more specifically, the first data DT1) may also include first vibration data DB1, and the first vibration data DB1 represents the vibration acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred between the tool changer 30 and the tool spindle 2. In addition, acceleration can be calculated by time differentiation of velocity, and velocity can be calculated by time differentiation of displacement. Therefore, although it is preferable that the first acceleration data DA1 is data obtained by an acceleration sensor, the first acceleration data DA1 may also be data obtained by a velocity sensor or a displacement sensor.

[0092] In Figure 16 In the described example, the diagnostic device 8 diagnoses whether there is an alignment abnormality between the tool changer 30 and the tool spindle 2 by analyzing the above first acceleration data DA1. More specifically, the diagnostic device 8 diagnoses whether the eccentricity between the tool changer 30 and the tool spindle 2 exceeds the allowable range by analyzing the above first acceleration data DA1.

[0093] Alternatively or additionally, the diagnostic device 8 may also diagnose whether there is an alignment abnormality between the tool changer 30 and the tool spindle 2 by analyzing the above first vibration data DB1. More specifically, the diagnostic device 8 may also diagnose whether the eccentricity between the tool changer 30 and the tool spindle 2 exceeds the allowable range by analyzing the above first vibration data DB1.

[0094] In Figure 15 In the described example, there is a significant alignment abnormality between the first axis AX1 of the tool spindle 2 (in other words, the rotation axis of the rotating body 21) and the tool changer 30 (in other words, the central axis AT of the diagnostic tool 9B held by the tool changer 30). In this case, in Figure 16 In the described example, the first acceleration data DA1 becomes data indicating that an abnormal acceleration acts on the diagnostic tool 9B. In addition, the first vibration data DB1 becomes data indicating that an abnormal vibration acts on the diagnostic tool 9B.

[0095] In Figure 16 In the described example, the above first acceleration data DA1 includes data of the acceleration acting on the diagnostic tool 9B when the diagnostic tool 9B is installed on the tool spindle 2. In addition, the above first vibration data DB1 includes data of the vibration acting on the diagnostic tool 9B when the diagnostic tool 9B is installed on the tool spindle 2.

[0096] InFigure 16 In the described example, the diagnostic device 8 diagnoses whether there is an alignment abnormality between the tool changer 30 and the tool spindle 2 in a direction perpendicular to the long side direction of the diagnostic tool 9B by analyzing the above-described first data DT1 (more specifically, at least one of the above-described first acceleration data DA1 and the above-described first vibration data DB1). More specifically, the diagnostic device 8 diagnoses whether the eccentricity between the tool changer 30 and the tool spindle 2 in a direction perpendicular to the long side direction of the diagnostic tool 9B (in other words, the eccentricity in the X-axis direction or the Y-axis direction) exceeds the allowable range by analyzing the above-described first data DT1.

[0097] As Figure 17 Illustrated, the diagnostic device 8 can also diagnose whether there is an alignment abnormality between the tool changer 30 and the tool spindle 2 by comparing at least one of the first acceleration data DA1 and the first vibration data DB1 with the reference data ND1 stored in the memory 82. For example, when the deviation of the first acceleration data DA1 (or the first vibration data DB1) from the reference data ND1 exceeds the allowable range, the diagnostic device 8 determines that there is an alignment abnormality between the tool changer 30 and the tool spindle 2. In addition, when the deviation of the first acceleration data DA1 (or the first vibration data DB1) from the reference data ND1 is within the allowable range, the diagnostic device 8 determines that there is no alignment abnormality between the tool changer 30 and the tool spindle 2.

[0098] Alternatively, AI technology can also be used in the above-described determination of whether there is an alignment abnormality by the diagnostic device 8. For example, (1) machine learning is performed using training data with at least one of the acceleration data and vibration data when the tool changer 30 installs the diagnostic tool 9B on the tool spindle 2 as input data and whether there is an alignment abnormality between the tool changer 30 and the tool spindle 2 as output data. (2) The learned completed model obtained through machine learning is stored in the memory 82 of the diagnostic device 8. (3) The diagnostic device 8 inputs at least one of the above-described first acceleration data DA1 and the above-described first vibration data DB1 into the learned completed model stored in the memory 82 and obtains whether there is an alignment abnormality between the tool changer 30 and the tool spindle 2 as output data.

[0099] In Figure 18 In the described example, there is a significant alignment abnormality (refer to the eccentricity L1) between the tool changer 30 and the tool spindle 2 in a direction parallel to the long side direction of the diagnostic tool 9B. In this case, in Figure 19 In the described example, the first acceleration data DA1 becomes data indicating that an abnormal acceleration acts on the diagnostic tool 9B. In addition, the first vibration data DB1 becomes data indicating that an abnormal vibration acts on the diagnostic tool 9B.

[0100] In Figure 19 In the example described above, the first acceleration data DA1 includes data of the acceleration acting on the diagnostic tool 9B when the tool changing device 30 (more specifically, the tool changing arm 32) contacts the diagnostic tool 9B held by the tool spindle 2. Further, the first vibration data DB1 includes data of the vibration acting on the diagnostic tool 9B when the tool changing device 30 (more specifically, the tool changing arm 32) contacts the diagnostic tool 9B held by the tool spindle 2.

[0101] In Figure 19 In the example described above, the diagnostic device 8 diagnoses at least whether there is an alignment abnormality between the tool changing device 30 and the tool spindle 2 in a direction parallel to the long side direction of the diagnostic tool 9B by analyzing the first data DT1 (more specifically, at least one of the first acceleration data DA1 and the first vibration data DB1). More specifically, the diagnostic device 8 diagnoses whether the amount of eccentricity (in other words, the amount of eccentricity in the Z-axis direction) between the tool changing device 30 and the tool spindle 2 in a direction parallel to the long side direction of the diagnostic tool 9B exceeds an allowable range by analyzing the first data DT1.

[0102] As Figure 20 Illustrated, the diagnostic device 8 may also diagnose whether there is an alignment abnormality between the tool changing device 30 and the tool spindle 2 by comparing at least one of the first acceleration data DA1 and the first vibration data DB1 with the reference data ND2 stored in the memory 82. For example, when the deviation of the first acceleration data DA1 (or the first vibration data DB1) from the reference data ND2 exceeds the allowable range, the diagnostic device 8 determines that there is an alignment abnormality between the tool changing device 30 and the tool spindle 2 in a direction parallel to the long side direction of the diagnostic tool 9B. Further, when the deviation of the first acceleration data DA1 (or the first vibration data DB1) from the reference data ND2 is within the allowable range, the diagnostic device 8 determines that there is no alignment abnormality between the tool changing device 30 and the tool spindle 2 in a direction parallel to the long side direction of the diagnostic tool 9B.

[0103] Alternatively, AI technology can also be used in the above determination of the presence or absence of alignment abnormality by the diagnostic device 8. For example, (1) machine learning is performed using training data with at least one of the acceleration data and vibration data when the tool changing device 30 receives the diagnostic tool 9B from the tool spindle 2 as input data and the presence or absence of alignment abnormality between the tool changing device 30 and the tool spindle 2 as output data. (2) The learned completed model obtained through machine learning is stored in the memory 82 of the diagnostic device 8. (3) The diagnostic device 8 inputs at least one of the above first acceleration data DA1 and the above first vibration data DB1 into the learned completed model stored in the memory 82, and obtains the presence or absence of alignment abnormality between the tool changing device 30 and the tool spindle 2 as output data.

[0104] Figure 21 An example of the data DT including the first acceleration data DA1 (in other words, an example of the data DT including the first acceleration data DA1 representing the acceleration acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred between the tool changing device 30 and the tool spindle 2).

[0105] In Figure 21 In the example described, the first acceleration data DA1 includes lateral acceleration data (more specifically, the first lateral acceleration data DAx and / or the second lateral acceleration data DAy), and the lateral acceleration data is the acceleration data of the diagnostic tool 9B in a direction perpendicular to the long side direction of the diagnostic tool 9B. The first lateral acceleration data DAx is the acceleration data of the diagnostic tool 9B in the direction along the X-axis perpendicular to the long side direction of the diagnostic tool 9B. In addition, the second lateral acceleration data DAy is the acceleration data of the diagnostic tool 9B in the direction along the Y-axis perpendicular to the long side direction of the diagnostic tool 9B and perpendicular to the X-axis.

[0106] Alternatively or additionally, the first acceleration data DA1 may also include axial acceleration data DAz, and the axial acceleration data DAz is the acceleration data of the diagnostic tool 9B in a direction parallel to the long side direction of the diagnostic tool 9B (in other words, a direction parallel to the Z-axis).

[0107] The diagnostic device 8 can also diagnose whether there is an alignment abnormality between the tool changing device 30 and the tool spindle 2 based at least on the above-described lateral acceleration data (the first lateral acceleration data DAx or the second lateral acceleration data DAy). For example, when the peak value of the first lateral acceleration data DAx or the peak value of the second lateral acceleration data DAy during the transfer of the diagnostic tool 9B between the tool changing device 30 and the tool spindle 2 exceeds the first threshold value TH1, the diagnostic device 8 can also determine that there is an alignment abnormality between the tool changing device 30 and the tool spindle 2. In addition, when both the peak value of the first lateral acceleration data DAx and the peak value of the second lateral acceleration data DAy during the transfer of the diagnostic tool 9B between the tool changing device 30 and the tool spindle 2 are below the first threshold value TH1, the diagnostic device 8 can also determine that there is no alignment abnormality between the tool changing device 30 and the tool spindle 2.

[0108] Alternatively or additionally, the diagnostic device 8 can also diagnose whether there is an alignment abnormality between the tool changing device 30 and the tool spindle 2 based at least on the above-described axial acceleration data DAz. For example, when the peak value of the axial acceleration data DAz during the transfer of the diagnostic tool 9B between the tool changing device 30 and the tool spindle 2 exceeds the second threshold value, the diagnostic device 8 can also determine that there is an alignment abnormality between the tool changing device 30 and the tool spindle 2.

[0109] Alternatively or additionally, the diagnostic device 8 can also analyze the vibration frequency of the diagnostic tool 9B in the direction parallel to the long side direction of the diagnostic tool 9B based on at least one of the above-described first acceleration data DA1 and the above-described first vibration data DB1. Figure 22 Represents the analysis result of the vibration frequency of the diagnostic tool 9B in the direction parallel to the long side direction of the diagnostic tool 9B.

[0110] The diagnostic device 8 can also diagnose whether there is an alignment abnormality between the tool changing device 30 and the tool spindle 2 based on the analysis result of the vibration frequency.

[0111] In Figure 22 In the example described, due to the alignment abnormality between the tool changing device 30 and the tool spindle 2, vibrations that are continuous in time series exist in a frequency band of about 40 Hz. Figure 23 Represents the situation of the vibration of the diagnostic tool 9B after adjusting the alignment between the tool changing device 30 and the tool spindle 2. In Figure 23 In the example described, the vibrations that are continuous in time series in the frequency band of about 40 Hz substantially disappear. In Figure 22 and Figure 23In the described example, the diagnostic device 8 can diagnose whether there is an alignment abnormality between the tool changing device 30 and the tool spindle 2 by at least analyzing the vibration frequency of the diagnostic tool 9B in the direction parallel to the long side direction of the diagnostic tool 9B.

[0112] In Figures 15 to 20 the described example, the diagnostic device 8 can early detect the alignment abnormality between the tool transfer device 3 (more specifically, the tool changing device 30) and the tool spindle 2. For example, assume that due to changes over time or environmental changes, the eccentricity between the tool transfer device 3 (more specifically, the tool changing device 30) and the tool spindle 2 gradually increases. In this case, before reaching the eccentricity that causes a machine stop, the diagnostic device 8 can early detect a slight alignment abnormality. In addition, the user of the machine tool can avoid a machine stop by formulating a maintenance plan based on the diagnostic result of the diagnostic device 8.

[0113] (Detection of the angular velocity of the diagnostic tool 9B) In Figure 26 the described example, the diagnostic device 8 receives, from the sensor 91, the data DT representing the physical quantity PV acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3 (more specifically, the tool changing device 30). The above data DT may also include the angular velocity data DC representing the angular velocity acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3 (more specifically, the tool changing device 30).

[0114] Figure 21 An example of the data DT including the angular velocity data DC (in other words, an example of the data DT including the angular velocity data DC representing the angular velocity acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3).

[0115] The angular velocity data DC may also include the first angular velocity data DCx, which is the angular velocity data of the diagnostic tool 9B about the X axis. The angular velocity data DC may also include the second angular velocity data DCy, which is the angular velocity data of the diagnostic tool 9B about the Y axis. In addition, the angular velocity data DC may also include the third angular velocity data DCz, which is the angular velocity data of the diagnostic tool 9B about the central axis AT of the diagnostic tool 9B.

[0116] The diagnostic device 8 can also diagnose whether there is an abnormality in the tool transfer device 3 (for example, the tool changer 30) based at least on the above-described angular velocity data DC. For example, the diagnostic device 8 can also diagnose the degree of looseness between multiple components constituting the tool transfer device 3 based at least on the above-described angular velocity data DC (the first angular velocity data DCx, the second angular velocity data DCy, or the third angular velocity data DCz).

[0117] As Figure 26 illustrated, the above data DT can also include angular velocity data DC representing the angular velocity acting on the diagnostic tool 9B when the diagnostic tool 9B is rotated about the second axis AX2 by the tool changer 30.

[0118] The diagnostic device 8 can also diagnose whether there is an abnormality in the tool changer 30 based at least on the above-described angular velocity data DC. For example, the diagnostic device 8 can also diagnose the degree of looseness between the rotating shaft 37 that rotates together with the tool change arm 32 and the shaft support member 38 that supports the rotating shaft based at least on the above-described angular velocity data DC (the first angular velocity data DCx, the second angular velocity data DCy, or the third angular velocity data DCz).

[0119] (Transfer of the diagnostic tool 9B between the tool transfer device 3 and the tool magazine 4) In Figure 30 the example described, the diagnostic device 8 receives data DT representing the physical quantity PV acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3 (more specifically, the tool changer 30) from the sensor 91. This data DT includes second data DT2, and the second data DT2 represents the physical quantity PV detected by the sensor 91 (for example, at least one of the acceleration and vibration acting on the diagnostic tool 9B) when the diagnostic tool 9B is transferred between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4. In addition, the diagnostic device 8 diagnoses whether there is an abnormality in the machine tool 100B by analyzing this second data DT2. The diagnostic device 8 can also diagnose whether there is an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 (more specifically, whether the eccentricity between the tool changer 30 and the tool magazine 4 exceeds the allowable range) by analyzing this second data DT2.

[0120] In Figure 30In the described example, the above data DT (more specifically, the second data DT2) includes second acceleration data DA2, and the second acceleration data DA2 represents the acceleration acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4. Alternatively or additionally, the above data DT (more specifically, the second data DT2) may also include second vibration data DB2, and the second vibration data DB2 represents the vibration acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4.

[0121] In Figure 30 the described example, the diagnostic device 8 diagnoses whether there is an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 by analyzing the above second acceleration data DA2. Alternatively or additionally, the diagnostic device 8 may also diagnose whether there is an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 by analyzing the above second vibration data DB2.

[0122] In Figure 30 the described example, the above second acceleration data DA2 includes data on the acceleration acting on the diagnostic tool 9B when the diagnostic tool 9B is stored in the tool magazine 4 from the tool transfer device 3. Alternatively or additionally, the above second acceleration data DA2 may also include data on the acceleration acting on the diagnostic tool 9B when the tool transfer device 3 removes the diagnostic tool 9B from the tool magazine 4. In Figure 30 the described example, the above second vibration data DB2 includes data on the vibration acting on the diagnostic tool 9B when the diagnostic tool 9B is stored in the tool magazine 4 from the tool transfer device 3. Alternatively or additionally, the above second vibration data DB2 may also include data on the vibration acting on the diagnostic tool 9B when the tool transfer device 3 removes the diagnostic tool 9B from the tool magazine 4.

[0123] As Figure 32As illustrated, the diagnostic device 8 can also diagnose whether there is an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 by comparing at least one of the second acceleration data DA2 and the second vibration data DB2 with the reference data ND3 stored in the memory 82. For example, when the deviation of the second acceleration data DA2 (or the second vibration data DB2) from the reference data ND3 exceeds the allowable range, the diagnostic device 8 determines that there is an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4. In addition, when the deviation of the second acceleration data DA2 (or the second vibration data DB2) from the reference data ND3 is within the allowable range, the diagnostic device 8 determines that there is no alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4.

[0124] Alternatively, AI technology can also be used in the above determination of whether there is an alignment abnormality performed by the diagnostic device 8. For example, (1) machine learning is performed using training data with at least one of the acceleration data and vibration data when transferring the diagnostic tool 9B between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 as input data and whether there is an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 as output data. (2) The learned completed model obtained through machine learning is stored in the memory 82 of the diagnostic device 8. (3) The diagnostic device 8 inputs at least one of the above-mentioned second acceleration data DA2 and the above-mentioned second vibration data DB2 into the learned completed model stored in the memory 82, and obtains whether there is an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 as output data.

[0125] Figure 21 An example of the data DT including the second acceleration data DA2 is shown (more specifically, an example of the data DT including the second acceleration data DA2 representing the acceleration acting on the diagnostic tool 9B when transferring the diagnostic tool 9B between the tool changer 30 and the tool magazine 4).

[0126] In Figure 21 In the example described, the second acceleration data DA2 includes lateral acceleration data (more specifically, the first lateral acceleration data DAx and / or the second lateral acceleration data DAy), and the lateral acceleration data is the acceleration data of the diagnostic tool 9B in a direction perpendicular to the long side direction of the diagnostic tool 9B.

[0127] Alternatively or additionally, the second acceleration data DA2 may also include axial acceleration data DAz, which is the acceleration data of the diagnostic tool 9B in a direction parallel to the long side direction of the diagnostic tool 9B (in other words, a direction parallel to the Z-axis).

[0128] The diagnostic device 8 may also diagnose whether there is an alignment abnormality between the tool changer 30 and the tool magazine 4 based at least on the above-mentioned lateral acceleration data (the first lateral acceleration data DAx or the second lateral acceleration data DAy). For example, when the peak value of the first lateral acceleration data DAx or the peak value of the second lateral acceleration data DAy during the transfer of the diagnostic tool 9B between the tool changer 30 and the tool magazine 4 exceeds the third threshold value TH3, the diagnostic device 8 may also determine that there is an alignment abnormality between the tool changer 30 and the tool magazine 4. In addition, when the peak values of both the first lateral acceleration data DAx and the second lateral acceleration data DAy during the transfer of the diagnostic tool 9B between the tool changer 30 and the tool magazine 4 are below the third threshold value TH3, the diagnostic device 8 may also determine that there is no alignment abnormality between the tool changer 30 and the tool magazine 4.

[0129] Alternatively or additionally, the diagnostic device 8 may also diagnose whether there is an alignment abnormality between the tool changer 30 and the tool magazine 4 based at least on the above-mentioned axial acceleration data DAz. For example, when the peak value of the axial acceleration data DAz during the transfer of the diagnostic tool 9B between the tool changer 30 and the tool magazine 4 exceeds the fourth threshold value, the diagnostic device 8 may also determine that there is an alignment abnormality between the tool changer 30 and the tool magazine 4.

[0130] Alternatively or additionally, the diagnostic device 8 may also analyze the vibration frequency of the diagnostic tool 9B based on at least one of the above-mentioned second acceleration data DA2 and the above-mentioned second vibration data DB2. In addition, the diagnostic device 8 may also diagnose whether there is an alignment abnormality between the tool changer 30 and the tool magazine 4 based on the analysis result of the vibration frequency.

[0131] In Figure 30 and Figure 32 In the examples described above, the diagnostic device 8 can detect an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 at an early stage. For example, it is assumed that due to time-dependent changes or environmental changes, the eccentricity between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 gradually increases. In this case, before the eccentricity reaches a level that causes a machine stop, the diagnostic device 8 can detect a slight alignment abnormality at an early stage. In addition, the user of the machine tool can avoid a machine stop by formulating a maintenance plan based on the diagnostic result of the diagnostic device 8.

[0132] (Execution of Diagnostic Program 829a) The diagnostic device 8 analyzes the data DT representing the physical quantity acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3 by executing the diagnostic program 829a stored in the memory 82. For example, the diagnostic device 8 analyzes the first data DT1 (for example, at least one of the above-mentioned first acceleration data DA1 and the above-mentioned first vibration data DB1) representing the physical quantity detected by the sensor 91 when the diagnostic tool 9B is transferred between the tool transfer device 3 (more specifically, the tool changer 30) and the tool spindle 2. Alternatively or additionally, the diagnostic device 8 may also analyze the second data DT2 (for example, at least one of the above-mentioned second acceleration data DA2 and the above-mentioned second vibration data DB2) representing the physical quantity detected by the sensor 91 when the diagnostic tool 9B is transferred between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4.

[0133] In addition, the diagnostic device 8 diagnoses whether there is an abnormality in the machine tool 100B based on the analysis result of the above data DT by executing the diagnostic program 829a stored in the memory 82. For example, the diagnostic device 8 diagnoses whether there is an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool spindle 2 based on the analysis result of the above first data DT1 by executing the diagnostic program 829a stored in the memory 82. Alternatively or additionally, the diagnostic device 8 may also diagnose whether there is an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 based on the analysis result of the above second data DT2 by executing the diagnostic program 829a stored in the memory 82.

[0134] The diagnostic device 8 may also calculate the recommended maintenance period of the machine tool 100B based on the time change of the above data DT by executing the diagnostic program 829a stored in the memory 82. For example, the diagnostic device 8 may also calculate the recommended maintenance period of the machine tool 100B based on the time change of the first data DT1 representing the physical quantity detected by the sensor 91 when the diagnostic tool 9B is transferred between the tool changer 30 and the tool spindle 2. In addition, the diagnostic device 8 may also calculate the recommended maintenance period of the machine tool 100B based on the time change of the second data DT2 representing the physical quantity detected by the sensor 91 when the diagnostic tool 9B is transferred between the tool changer 30 and the tool magazine 4.

[0135] (Execution of Display Program 829b) The diagnostic device 8 may also cause the diagnostic result of the machine tool 100B to be displayed on the display device 84 by executing the display program 829b stored in the memory 82.

[0136] InFigure 33 In the described example, the diagnostic device 8 causes the display device 84 to display whether there is an abnormality in the machine tool 100B by executing the display program 829b stored in the memory 82. The diagnostic device 8 can also cause a message MG1 indicating whether there is an alignment abnormality between the tool spindle 2 and the tool changer 30 to be displayed on the display device 84. Alternatively or additionally, the diagnostic device 8 can also cause a message MG2 indicating whether there is an alignment abnormality between the tool magazine 4 and the tool changer 30 to be displayed on the display device 84.

[0137] In Figure 33 In the described example, the diagnostic device 8 causes the maintenance recommended period of the machine tool 100B (more specifically, the expected period for issuing the first alarm) to be displayed on the display device 84 by executing the display program 829b stored in the memory 82. The diagnostic device 8 can also calculate the maintenance recommended period of the machine tool 100B based on the temporal change of the above-mentioned first data DT1, and cause information IN1 indicating the calculated maintenance recommended period to be displayed on the display device 84. In addition, the diagnostic device 8 can also calculate the maintenance recommended period of the machine tool 100B based on the temporal change of the above-mentioned second data DT2, and cause information IN2 indicating the calculated maintenance recommended period to be displayed on the display device 84.

[0138] The diagnostic device 8 can also cause a first alarm WA1 (refer to Figure 34 ) to be displayed on the display device 84 when the deviation of the data DT (more specifically, the data DT representing the physical quantity PV acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3) from the reference data stored in the memory 82 exceeds the first allowable range and the deviation is within the second allowable range. The first alarm WA1 is, for example, an alarm urging the operator to pay attention (in other words, a mild alarm). The diagnostic device 8 can also cause a second alarm WA2 (refer to Figure 35 ) to be displayed on the display device 84 when the deviation of the data DT (more specifically, the data DT representing the physical quantity PV acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3) from the reference data stored in the memory 82 exceeds the second allowable range. The second alarm WA2 is, for example, an alarm urging contact with the machine tool manufacturer or the maintenance service provider (in other words, a more severe alarm).

[0139] (Machine tool 100B) The machine tool 100B is, for example, a multi-tasking machine that can perform various machining operations on a workpiece. The machine tool 100B can also be a machining center.

[0140] In Figure 11In the described example, the machine tool 100B includes a tool spindle 2, a tool transfer device 3 (more specifically, a tool changer 30), and a control device 5. The machine tool 100B may also include a tool magazine 4 and / or a workpiece support device 6 that supports the workpiece W.

[0141] Since the tool spindle 2, the tool transfer device 3, and the tool magazine 4 have already been described, repeated descriptions thereof are omitted.

[0142] The control device 5 generates control instructions by executing a machining program stored in a memory. In addition, the control device 5 sends the control instructions to a plurality of controlled devices (for example, a rotation drive device 25, an arm rotation device 35, a movement device 36, a holding part movement device 45). As Figure 14 illustrated, the control device 5 may also include the above-described diagnostic device 8. For example, the control device 5 may also include the above-described memory 82, the above-described arithmetic device 83 (for example, a processor 83a), the above-described display device 84, the above-described input device 85, and the above-described communication circuit 86.

[0143] In Figure 14 the described example, the memory 82 may also store a machining program 828. In addition, the arithmetic device 83 may generate control instructions by executing the machining program 828 stored in the memory 82. Alternatively, the control device 5 may have a second arithmetic device independent of the arithmetic device 83, and the second arithmetic device executes the machining program. The control instructions generated by the arithmetic device 83 (or the second arithmetic device) are sent to a plurality of controlled devices (for example, a rotation drive device 25, an arm rotation device 35, a movement device 36, a holding part movement device 45).

[0144] Alternatively, the diagnostic device 8 may be constituted by a computer independent of the control device 5. In Figure 36 the described example, the diagnostic device 8 is communicably connected to the control device 5. The control device 5 may also include: a second memory 52 that stores a machining program and the like; a second arithmetic device 53 (for example, a second processor 53a) that generates control instructions by executing the machining program; and a second communication circuit 56 that sends the control instructions CR to a plurality of controlled devices (for example, a rotation drive device 25, an arm rotation device 35, a movement device 36, a holding part movement device 45). In addition, the control device 5 may also include a second input device 55 that accepts inputs from an operator and / or a second display 54 that displays various data.

[0145] (Diagnostic method for machine tool) Refer to Figures 1 to 37 to describe the diagnostic method for the machine tool of the second embodiment.

[0146] In the first step ST1, a diagnostic tool 9 having a sensor 91 is prepared (refer to Figure 7 or Figure 13 ). The first step ST1 is a preparation process. The diagnostic tool 9 prepared in the preparation process can be mounted on the tool spindle 2 (more specifically, the rotating body 21 of the tool spindle 2). In addition, the diagnostic tool 9 prepared in the preparation process can be transferred by a tool transfer device 3 other than the tool spindle 2 (for example, a tool changer 30).

[0147] The diagnostic tool 9 prepared in the preparation process can be the diagnostic tool 9A of the first embodiment, the diagnostic tool 9B of the second embodiment, or other diagnostic tools. Since the diagnostic tool 9A of the first embodiment and the diagnostic tool 9B of the second embodiment have been described, the repeated description of the diagnostic tools (9A, 9B) is omitted.

[0148] The diagnostic tool 9 prepared in the preparation process can also be stored in the tool magazine 4.

[0149] In the second step ST2, the diagnostic tool 9 is transferred by the tool transfer device 3. The second step ST2 is a transfer process. The transfer process can also include transferring the diagnostic tool 9 by the tool changer 30.

[0150] As Figure 12 , Figure 15 , Figure 16 illustrated, the transfer process can also include a first transfer process of transferring the diagnostic tool 9 from the tool magazine 4 to the tool spindle 2. At least a part of the first transfer process is performed using the tool changer 30.

[0151] Alternatively or additionally, as Figures 24 to 31 illustrated, the transfer process can also include a second transfer process of transferring the diagnostic tool 9 from the tool spindle 2 to the tool magazine 4. At least a part of the second transfer process is performed using the tool changer 30.

[0152] In the third step ST3, the physical quantity PV acting on the diagnostic tool 9 is detected by the sensor 91. The third step ST3 is a detection process. In the detection process, the physical quantity PV (for example, the acceleration acting on the diagnostic tool 9, the angular velocity acting on the diagnostic tool 9, the vibration acting on the diagnostic tool 9, etc.) acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred by the tool transfer device 3 is detected by the sensor 91. The detection of the physical quantity acting on the diagnostic tool 9 is performed using the first sensor 91a (for example, an acceleration sensor) of the diagnostic tool 9 and / or the second sensor 91b (for example, an angular velocity sensor) of the diagnostic tool 9.

[0153] It is also possible to start the detection of the physical quantity PV by the sensor 91 in response to the induction start instruction received by the diagnostic tool 9 from the diagnostic device 8. In addition, it is also possible to end the detection of the physical quantity PV by the sensor 91 in response to the induction end instruction received by the diagnostic tool 9 from the diagnostic device 8. The diagnostic device 8 can also send an induction start instruction to the diagnostic tool 9 before the transfer start of the diagnostic tool 9 by the tool transfer device 3. In addition, the diagnostic device 8 can also send an induction end instruction to the diagnostic tool 9 after the transfer of the diagnostic tool 9 by the tool transfer device 3 is completed.

[0154] In the fourth step ST4, data DT (for example, analog data or digital data) representing the above physical quantity PV is sent to the diagnostic device 8. The fourth step ST4 is a data transmission process. In the data transmission process, data DT representing the physical quantity PV detected by the sensor 91 is sent from the sensor 91 via the transmission circuit 95 to the diagnostic device 8. The diagnostic device 8 stores the received data DT in the memory 82.

[0155] The transmission circuit 95 can also send data DT representing the physical quantity PV detected by the sensor 91 to the diagnostic device 8 in real time.

[0156] Alternatively, the transmission circuit 95 can also send data DT representing the physical quantity PV to the diagnostic device 8 after a series of detections of the physical quantity PV by the sensor 91 are completed. For example, the sensor 91 continuously detects the physical quantity PV acting on the diagnostic tool 9 during the period from the reception of the induction start instruction to the reception of the induction end instruction. The detected physical quantity PV (in other words, data DT representing the physical quantity PV) is stored in the memory 97 of the diagnostic tool 9. In addition, the transmission circuit 95 sends data DT representing the physical quantity PV stored in the memory 97 to the diagnostic device 8 in response to the diagnostic tool 9 receiving the induction end instruction.

[0157] In addition, when the diagnostic tool 9 does not have the transmission circuit 95, the fourth step ST4 is omitted. In this case, the data DT stored in the memory 97 is taken out later. In addition, the data DT taken out from the memory 97 of the diagnostic tool 9 is stored in the memory 82 of the diagnostic device 8.

[0158] In the fifth step ST5, it is diagnosed whether there is an abnormality in the machine tool 100. The fifth step ST5 is a diagnosis process. In the diagnosis process, based on the physical quantity PV detected by the sensor 91 when the diagnostic tool 9 is transferred by the tool transfer device 3 (for example, the acceleration acting on the diagnostic tool 9, the angular velocity acting on the diagnostic tool 9, the vibration acting on the diagnostic tool 9, etc.), it is diagnosed whether there is an abnormality in the machine tool 100A. More specifically, the diagnosis process includes: (1) the diagnostic device 8 receives, via the transmission circuit 95 or the memory 97, the data DT representing the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred by the tool transfer device 3 from the sensor 91; (2) the diagnostic device 8 diagnoses whether there is an abnormality in the machine tool 100 by analyzing the data DT. The diagnosis process may also include: (3) the diagnostic device 8 causes the display device 84 to display whether there is an abnormality in the machine tool 100.

[0159] The detection process (the third step ST3) may also include: the sensor 91 of the diagnostic tool 9 detects the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred between the tool changer 30 and the tool spindle 2 (for example, the acceleration acting on the diagnostic tool 9, the angular velocity acting on the diagnostic tool 9, the vibration acting on the diagnostic tool 9, etc.). In addition, the diagnosis process (the fifth step ST5) may also include: (1) the diagnostic device 8 receives, via the transmission circuit 95 or the memory 97, the first data DT1 representing the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred between the tool changer 30 and the tool spindle 2 from the sensor 91 (for example, refer to Figure 16 , Figure 19 ); (2) the diagnostic device 8 diagnoses whether there is an abnormality in the machine tool 100 by analyzing the first data DT1.

[0160] In Figure 15 and Figure 16 the examples described, the detection process (the third step ST3) includes: the sensor 91 of the diagnostic tool 9 detects the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is installed on the tool spindle 2 (for example, the acceleration acting on the diagnostic tool 9, the angular velocity acting on the diagnostic tool 9, the vibration acting on the diagnostic tool 9, etc.).

[0161] In addition, in Figure 16 the examples described, the diagnosis process (the fifth step ST5) includes: (1) the diagnostic device 8 receives the first data DT1 via the transmission circuit 95 or the memory 97 from the sensor 91, and the first data DT1 represents the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is installed on the tool spindle 2; (2) the diagnostic device 8 diagnoses whether there is an alignment abnormality between the tool changer 30 and the tool spindle 2 (more specifically, diagnoses whether the eccentricity between the tool changer 30 and the tool spindle 2 exceeds the allowable range) by analyzing the first data DT1.

[0162] The diagnosis process (the fifth step ST5) may also include: (1) the diagnosis device 8 receives the first acceleration data DA1 from the sensor 91, and the first acceleration data DA1 represents the acceleration acting on the diagnostic tool 9 when the diagnostic tool 9 is installed on the tool spindle 2; (2) the diagnosis device 8 diagnoses whether there is an alignment abnormality between the tool changing device 30 and the tool spindle 2 by analyzing the first acceleration data DA1. Alternatively or additionally, the diagnosis process (the fifth step ST5) may also include: (1) the diagnosis device 8 receives the first vibration data DB1 from the sensor 91, and the first vibration data DB1 represents the vibration acting on the diagnostic tool 9 when the diagnostic tool 9 is installed on the tool spindle 2; (2) the diagnosis device 8 diagnoses whether there is an alignment abnormality between the tool changing device 30 and the tool spindle 2 by analyzing the first vibration data DB1.

[0163] In Figure 18 and Figure 19 In the example described, the detection process (the third step ST3) includes: the sensor 91 of the diagnostic tool 9 detects the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred from the tool spindle 2 to the tool changing device 30 (for example, the acceleration acting on the diagnostic tool 9, the angular velocity acting on the diagnostic tool 9, the vibration acting on the diagnostic tool 9, etc.).

[0164] In addition, in Figure 19 the example described, the diagnosis process (the fifth step ST5) includes: (1) the diagnosis device 8 receives the first data DT1 from the sensor 91 via the transmission circuit 95 or the memory 97, and the first data DT1 represents the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred from the tool spindle 2 to the tool changing device 30; (2) the diagnosis device 8 diagnoses whether there is an alignment abnormality between the tool changing device 30 and the tool spindle 2 (more specifically, diagnoses whether the eccentricity between the tool changing device 30 and the tool spindle 2 exceeds the allowable range) by analyzing the first data DT1.

[0165] The diagnosis process (the fifth step ST5) may also include: (1) the diagnosis device 8 receives the first acceleration data DA1 from the sensor 91, and the first acceleration data DA1 represents the acceleration acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred from the tool spindle 2 to the tool changing device 30; (2) the diagnosis device 8 analyzes the first acceleration data DA1 (refer to Figure 21), thereby diagnosing whether there is any alignment abnormality between the tool changing device 30 and the tool spindle 2. Alternatively or additionally, the diagnosis process (fifth step ST5) may also include: (1) the diagnosis device 8 receives the first vibration data DB1 from the sensor 91, and the first vibration data DB1 represents the vibration acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred from the tool spindle 2 to the tool changing device 30; (2) the diagnosis device 8 diagnoses whether there is any alignment abnormality between the tool changing device 30 and the tool spindle 2 by analyzing the first vibration data DB1.

[0166] As Figure 26 and Figure 27 illustrated, the detection process (third step ST3) may also include: the sensor 91 of the diagnostic tool 9 detects the physical quantity PV acting on the diagnostic tool 9 (for example, the acceleration acting on the diagnostic tool 9, the angular velocity acting on the diagnostic tool 9, the vibration acting on the diagnostic tool 9, etc.) when the diagnostic tool 9 is rotated around the second axis AX2 by the tool changing device 30.

[0167] In addition, the diagnosis process (fifth step ST5) may also include: (1) the diagnosis device 8 receives the third data DT3 from the sensor 91 via the transmission circuit 95 or the memory 97, and the third data DT3 represents the physical quantity PV acting on the diagnostic tool 9 (for example, the acceleration acting on the diagnostic tool 9, the angular velocity acting on the diagnostic tool 9, the vibration acting on the diagnostic tool 9, etc.) when the diagnostic tool 9 is rotated around the second axis AX2; (2) the diagnosis device 8 diagnoses whether there is any abnormality in the machine tool 100 (for example, the diagnosis device 8 diagnoses the degree of looseness between the rotating shaft 37 rotating together with the tool changing arm 32 and the shaft support member 38 supporting the rotating shaft 37) by analyzing the third data DT3 (refer to Figure 21 ).

[0168] As Figure 29 illustrated, the detection process (third step ST3) may also include: the sensor 91 of the diagnostic tool 9 detects the physical quantity PV acting on the diagnostic tool 9 (for example, the acceleration acting on the diagnostic tool 9, the angular velocity acting on the diagnostic tool 9, the vibration acting on the diagnostic tool 9, etc.) when the diagnostic tool 9 is moved in a direction perpendicular to the second axis AX2 by the tool changing device 30.

[0169] In addition, the diagnosis process (the fifth step ST5) may also include: (1) the diagnostic device 8 receives the fourth data DT4 from the sensor 91 via the transmission circuit 95 or the memory 97, and the fourth data DT4 represents the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 moves in a direction perpendicular to the second axis AX2 (for example, the acceleration acting on the diagnostic tool 9, the angular velocity acting on the diagnostic tool 9, the vibration acting on the diagnostic tool 9, etc.); (2) the diagnostic device 8 diagnoses whether there is an abnormality in the machine tool by analyzing the fourth data DT4 (refer to Figure 21 ), thereby diagnosing the degree of looseness between the components in the mechanism that linearly moves the tool changing arm 32).

[0170] As Figure 30 illustrated, the detection process (the third step ST3) may also include: the sensor 91 of the diagnostic tool 9 detects the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred between the tool changing device 30 and the tool magazine 4 (for example, the acceleration acting on the diagnostic tool 9, the angular velocity acting on the diagnostic tool 9, the vibration acting on the diagnostic tool 9, etc.).

[0171] In addition, the diagnosis process (the fifth step ST5) may also include: (1) the diagnostic device 8 receives the second data DT2 from the sensor 91 via the transmission circuit 95 or the memory 97, and the second data DT2 represents the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred between the tool changing device 30 and the tool magazine 4; (2) the diagnostic device 8 diagnoses whether there is an abnormality in the machine tool by analyzing the second data DT2 (more specifically, the diagnostic device 8 diagnoses whether there is an alignment abnormality between the tool changing device 30 and the tool magazine 4).

[0172] The diagnosis process (the fifth step ST5) may also include: (1) the diagnostic device 8 receives the second acceleration data DA2 acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred between the tool changing device 30 and the tool magazine 4 from the sensor 91; (2) the diagnostic device 8 diagnoses whether there is an alignment abnormality between the tool changing device 30 and the tool magazine 4 by analyzing the second acceleration data DA2 (refer to Figure 21 ). Alternatively or additionally, the diagnosis process (the fifth step ST5) may also include: (1) the diagnostic device 8 receives the second vibration data DB2 from the sensor 91, and the second vibration data DB2 represents the vibration acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred between the tool changing device 30 and the tool magazine 4; (2) the diagnostic device 8 diagnoses whether there is an alignment abnormality between the tool changing device 30 and the tool magazine 4 by analyzing the second vibration data DB2.

[0173] The diagnostic result of the diagnostic device 8 diagnosing the machine tool 100 may also be uploaded to the cloud managed by the machine tool manufacturer or the maintenance service provider.

[0174] In Figure 33 the example described, the diagnosis process (fifth step ST5) includes: the diagnostic device 8 causes the display device 84 to display whether there is an abnormality in the machine tool 100. The diagnostic device 8 may also cause a message MG1 indicating whether there is an alignment abnormality between the tool spindle 2 and the tool changer 30 to be displayed on the display device 84. Alternatively or additionally, the diagnostic device 8 may also cause a message MG2 indicating whether there is an alignment abnormality between the tool magazine 4 and the tool changer 30 to be displayed on the display device 84.

[0175] The diagnostic device 8 may also cause the maintenance recommendation period of the machine tool 100 (more specifically, the expected period for issuing the first alarm) to be displayed on the display device 84. In addition, the maintenance recommendation period is calculated by the diagnostic device 8 based on the temporal change of the above-mentioned data DT.

[0176] The diagnostic device 8 may also, when the deviation of the data DT (more specifically, the data DT representing the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred by the tool transfer device 3) from the reference data stored in the memory 82 exceeds the first allowable range and the deviation is within the second allowable range, cause the first alarm WA1 (refer to Figure 34 ) to be displayed on the display device 84. The first alarm WA1 is, for example, an alarm urging the operator to pay attention. The diagnostic device 8 may also, when the deviation of the data DT (more specifically, the data DT representing the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred by the tool transfer device 3) from the reference data stored in the memory 82 exceeds the second allowable range, cause the second alarm WA2 (refer to Figure 35 ) to be displayed on the display device 84. The second alarm WA2 is, for example, an alarm urging contact with the machine tool manufacturer or maintenance service provider.

[0177] It is also possible to automatically notify the machine tool manufacturer or maintenance service provider of the generation of the alarm when an alarm (for example, the first alarm WA1 or the second alarm WA2) notifying the abnormality of the machine tool 100 is displayed on the display device 84. In this case, the notified machine tool manufacturer or maintenance service provider can introduce future countermeasures to the user of the machine tool 100.

[0178] Preferably, the diagnostic method of the machine tool according to the second embodiment (more specifically, the above-described second step ST2 to fifth step ST5) is executed when the workpiece is not being machined by the machine tool 100. The diagnostic method of the machine tool according to the second embodiment (more specifically, the above-described second step ST2 to fifth step ST5) may also be executed when the machine tool 100 is started up. The diagnostic method of the machine tool according to the second embodiment (more specifically, the above-described second step ST2 to fifth step ST5) may also be executed after the machine tool 100 has machined the first workpiece and before the machine tool 100 machines the next workpiece. The diagnostic method of the machine tool according to the second embodiment (more specifically, the above-described second step ST2 to fifth step ST5) may be executed daily, may be executed at a frequency of once every few days, or may be executed at a frequency of once every dozens of days.

[0179] The present invention is not limited to the above-described embodiments or modified examples, and each of the embodiments or modified examples can obviously be appropriately deformed or changed within the scope of the technical concept of the present invention. In addition, various techniques used in each of the embodiments or modified examples can also be applied to other embodiments or other modified examples as long as there is no technical contradiction. Furthermore, any additional structures in each of the embodiments or modified examples can be appropriately omitted. Description of Reference Numerals

[0180] 2 Tool spindle, 3 Tool transfer device, 4 Tool magazine, 5 Control device, 6 Workpiece support device, 8 Diagnostic device, 9, 9A, 9B Diagnostic tools, 21 Rotating body, 23 Support body, 24 Bearing, 25 Rotation drive device, 25r Rotor, 25s Stator, 30 Tool changer, 31 Holding body, 32 Tool change arm, 32a First arm, 32b Second arm, 33a First gripping part, 33b Second gripping part, 35 Arm rotation device, 36 Moving device, 36a First moving device, 36b Second moving device, 37 Rotation axis, 38 Axis support component, 41 Holding part, 45 Holding part moving device, 52 Second memory, 53 Second arithmetic device, 53a Second processor, 54 Second display, 55 Second input device, 56 Second communication circuit, 82 Memory, 83 Arithmetic device, 83a Processor, 84 Display device, 85, 85a, 85b Input device, 86 Communication circuit, 87 Bus, 91 Sensor, 91a First sensor, 91b Second sensor, 93 First part, 94 Second part, 94v Annular groove, 95 Transmitting circuit, 96 Receiving circuit, 97 Memory, 98 Battery, 99 Conductive wire, 100, 100A, 100B Machine tool, 828 Machining program, 829 Program, 829a Diagnostic program, 829b Display program, 841 Touch panel display, B Tool, CR Control instruction, DA1 First acceleration data, DA2 Second acceleration data, DAx First lateral acceleration data, DAy Second lateral acceleration data, DAz Axial acceleration data, DB1 First vibration data, DB2 Second vibration data, DC Angular velocity data, DCx First angular velocity data, DCy Second angular velocity data, DCz Third angular velocity data, DT Data, DT1, DT1-1, DT1-2 First data, DT2 Second data, DT3 Third data, DT4 Fourth data, IN1, IN2 Information indicating the maintenance recommended period of the machine tool, MG1, MG2 Message, ND1, ND2, ND3 Reference data, W Workpiece, WA1 First alarm, WA2 Second alarm.

Claims

1. A machine tool, comprising: A tool spindle capable of holding a diagnostic tool having a sensor; A tool transfer device provided independently of the tool spindle and capable of transferring the diagnostic tool; and A diagnostic device that receives data representing a physical quantity acting on the diagnostic tool when the diagnostic tool is transferred by the tool transfer device from the sensor, and diagnoses whether there is an abnormality in the machine tool by analyzing the data.

2. The machine tool according to claim 1, wherein, The data includes first data, and the first data represents a physical quantity detected by the sensor when the diagnostic tool is transferred between the tool transfer device and the tool spindle, The diagnostic device diagnoses whether there is an abnormality in the machine tool by analyzing the first data.

3. The machine tool according to claim 1 or 2, wherein, The tool transfer device includes a tool changer, The data includes at least one of first acceleration data and first vibration data, The first acceleration data represents the acceleration acting on the diagnostic tool when the diagnostic tool is transferred between the tool changer and the tool spindle, The first vibration data represents the vibration acting on the diagnostic tool when the diagnostic tool is transferred between the tool changer and the tool spindle, The diagnostic device diagnoses whether there is an alignment abnormality between the tool changer and the tool spindle by analyzing at least one of the first acceleration data and the first vibration data.

4. The machine tool according to claim 3, wherein, The first acceleration data includes lateral acceleration data, and the lateral acceleration data is the acceleration data of the diagnostic tool in a direction perpendicular to the long side direction of the diagnostic tool, The diagnostic device diagnoses whether there is the alignment abnormality based at least on the lateral acceleration data.

5. The machine tool according to claim 3 or 4, wherein, The first acceleration data includes axial acceleration data, and the axial acceleration data is the acceleration data of the diagnostic tool in a direction parallel to the long side direction of the diagnostic tool, The diagnostic device diagnoses whether there is the alignment abnormality based at least on the axial acceleration data.

6. The machine tool according to any one of claims 3 to 5, wherein, The diagnostic device analyzes the vibration frequency of the diagnostic tool in a direction parallel to the long side direction of the diagnostic tool based on at least one of the first acceleration data and the first vibration data, The diagnostic device diagnoses whether there is the alignment abnormality based on the analysis result of the vibration frequency.

7. The machine tool according to any one of claims 1 to 6, wherein, The data includes angular velocity data, and the angular velocity data represents the angular velocity acting on the diagnostic tool when the diagnostic tool is transferred by the tool transfer device, The diagnostic device diagnoses whether there is an abnormality in the tool transfer device by analyzing the angular velocity data.

8. The machine tool according to any one of claims 1 to 7, wherein, It further includes a tool magazine, The data includes at least one of second acceleration data and second vibration data, The second acceleration data represents the acceleration acting on the diagnostic tool when the diagnostic tool is transferred between the tool transfer device and the tool magazine. The second vibration data represents the vibration acting on the diagnostic tool when the diagnostic tool is transferred between the tool transfer device and the tool magazine. The diagnostic device diagnoses whether there is an alignment abnormality between the tool transfer device and the tool magazine by analyzing at least one of the second acceleration data and the second vibration data.

9. The machine tool according to any one of claims 1 to 8, wherein, it further includes a display device, the diagnostic device calculates a maintenance recommendation period of the machine tool based on the time change of the data, and the diagnostic device causes the maintenance recommendation period to be displayed on the display device.

10. The machine tool according to any one of claims 1 to 8, wherein, it further includes a display device, when the deviation of the data from the reference data exceeds a first allowable range and is within a second allowable range, the diagnostic device causes a first alarm to be displayed on the display device, when the deviation of the data from the reference data exceeds the second allowable range, the diagnostic device causes a second alarm to be displayed on the display device.

11. A diagnostic tool is transferred by a tool transfer device of a machine tool to detect whether there is an abnormality in the machine tool, and includes: a first part that can be held by a tool spindle of the machine tool; a second part that can be held by the tool transfer device; a sensor that detects a physical quantity acting on the diagnostic tool when the diagnostic tool is transferred by the tool transfer device; and at least one of a transmission circuit that transmits data representing the physical quantity to a diagnostic device of the machine tool and a memory that stores data representing the physical quantity.

12. The diagnostic tool according to claim 11, wherein, it includes a receiving circuit that receives an induction start command from the diagnostic device when the diagnostic tool is transferred by the tool transfer device, and the sensor starts detecting the physical quantity in response to receiving the induction start command via the receiving circuit.

13. The diagnostic tool according to claim 11 or 12, wherein, the sensor includes a first sensor that detects at least one of acceleration and vibration acting on the diagnostic tool when the diagnostic tool is transferred between the tool transfer device and the tool spindle.

14. The diagnostic tool according to any one of claims 11 to 13, wherein, the sensor includes an angular velocity sensor that detects the angular velocity acting on the diagnostic tool when the diagnostic tool is transferred by the tool transfer device.

15. A diagnostic method for a machine tool includes: a step of preparing a diagnostic tool having a sensor that can be installed on a tool spindle of the machine tool and can be transferred by a tool transfer device other than the tool spindle; a step of transferring the diagnostic tool by the tool transfer device; a step of detecting, by the sensor, a physical quantity acting on the diagnostic tool when the diagnostic tool is transferred by the tool transfer device; and and A process of diagnosing whether there is an abnormality in the machine tool based on the physical quantity detected by the sensor when the diagnostic tool is transferred by the tool transfer device.

Images