machine tool

Abstract

Machine tool (1) comprising: a spindle (4a); a motor (5a) configured to rotate the spindle (4a); a tool magazine (7) holding a plurality of tools (T); and a controller, wherein the controller has a memory unit that stores motor information indicating that the motor (5a) is a synchronous motor (5a), and when the machine tool (1) stops while a tool change process is being performed, the controller is configured to use a command for the synchronous motor (5a) as part of a series of commands to recover the machine tool (1), wherein the controller is configured to decide to use the command based on the motor information, wherein the tool change process is a process in which a tool (T) attached to the spindle (4a) is replaced by one of the multiple tools (T) in the tool magazine (7).

Description

Technical area

[0001] The present invention relates to a machine tool. State of the art

[0002] A machine tool is known from the prior art which is equipped with a tool magazine that holds a plurality of tools, wherein a selected tool from the plurality of tools in the tool magazine is attached to a spindle. The devices disclosed in documents PTL 1 and 2 are known, for example. Patent literature PTL 1: JP H11-282518 PTL 2: JP H06-170671 Summary of the invention: Technical problem

[0003] The machine tool is designed so that if it stops during a tool change process between the tool magazine and the spindle, a control unit of the machine tool, during a subsequent recovery process, energizes a stator of a spindle motor, thus locking the spindle. However, if the spindle motor is a synchronous motor, there is a possibility that the rotor of the spindle motor may inadvertently rotate due to the excitation. This rotation could potentially damage the machine tool, the tools, or similar components.

[0004] In view of the above circumstances, there is a need for a machine tool that is capable of preventing damage to the machine tool, tools, or the like during recovery. Solution to the problem

[0005] A machine tool according to a first aspect of the present disclosure comprises: a spindle; a motor configured to rotate the spindle; a tool magazine holding a plurality of tools; and a controller, wherein the controller has a memory unit that stores motor information indicating that the motor is a synchronous motor, and when the machine tool stops while a tool change process is being performed, the controller is configured to use a command for the synchronous motor as part of a series of commands to recover the machine tool, wherein the controller is configured to decide to use the command based on the motor information, wherein the tool change process is a process in which a tool attached to the spindle is replaced by one of the multiple tools in the tool magazine.

[0006] A machine tool according to a second aspect of the present disclosure comprises: a spindle; a motor configured to rotate the spindle; a tool magazine holding a plurality of tools;and a controller, wherein the controller has a memory unit that stores motor information indicating that the motor is a synchronous motor, and when the machine tool stops while a tool change process is being performed, the controller is configured to use a command for the synchronous motor as part of a series of commands to recover the machine tool, wherein the controller is configured to decide to use the command based on the motor information and on the basis of a situation in which a rotational position of a rotor of the motor is undetected, wherein the tool change process is a process in which a tool attached to the spindle is replaced by one of the multiple tools of the tool magazine. List of characters Fig. Figure 1 is a schematic side view of a machine tool according to an embodiment of the present invention. Fig. Figure 2 is a schematic perspective view of the machine tool according to an embodiment of the present invention. Fig. Figure 3 is a top view of a tool holding unit of the machine tool according to an embodiment of the present invention. Fig. Figure 4 is a side view of a tool holding unit and a spindle of the machine tool according to an embodiment of the present invention. Fig. Figure 5 is a top view of the tool holding unit of the machine tool according to one embodiment of the present invention. Fig. Figure 6 is a side view of a tool holding unit and a spindle of the machine tool according to an embodiment of the present invention. Fig. Figure 7 is a perspective view illustrating the internal structure of a tool magazine of the machine tool according to an embodiment of the present invention. Fig. Figure 8 is a block diagram of a control system for the machine tool according to an embodiment of the present invention. Fig. Figure 9 is a flowchart of an example of a process by controlling the machine tool according to an embodiment of the present invention. Fig. Figure 10 is a flowchart of an example of a process by controlling the machine tool according to an embodiment of the present invention. Detailed description

[0007] The following is a machine tool 1 One embodiment is described using the drawings.

[0008] As in Fig. As shown in 2, the machine tool includes 1 according to one embodiment of the present invention: a main body of a machine tool 1a with a base 2 and one that moves from the base 2 upward extending column section 3; a spindle unit 4 , which are on the column section 3 is mounted so that it can move vertically; and a table unit 5 , which carries a workpiece W. As in Fig. As shown in 1, the machine tool includes 1 According to one embodiment of the present invention, also a tool magazine 7 for automatically changing a tool T , which is attached to a spindle 4a the spindle unit 4 is attached. One of several in the tool magazine 7 included tools T is selectively removed from the spindle 4a held. The spindle unit 4 includes a spindle head 4b to accommodate the spindle 4a The machine tool 1 It has the function of automatically changing tools. T between the tool magazine 7 and the spindle 4a .

[0009] The base 2is arranged, for example, at a location where the machine tool is located, using a leveling bolt, an anchor bolt, or similar device. 1 is used. The table unit 5 is above the base 2 The workpiece W is positioned on a top surface of the table unit via a clamping device J, an additional axis unit AU or similar. 5 is fixed. The table unit 5 and the workpiece W are moved in a horizontal direction with respect to the spindle 4a by a feed motor (not shown), which is based on 2 The tool magazine is intended to move. 7 and the spindle head 4b are at one upper end of the column section 3 stored, and the tool magazine 7 , the spindle 4a and the spindle head 4b are above the table unit 5 arranged.

[0010] As in Fig. As shown in 1, the tool includes T: a tool main body 31 and a tool holder 32 , which is the main tool body 31 holds.

[0011] The main tool body 31 is a section that is brought into contact with the workpiece W and performs the machining on the workpiece W, being a tool of any type, such as a drill, a tap or a milling cutter.

[0012] The tool holder 32 includes: a pull bolt 33 , which is from the spindle 4a is held; the conical section 34 ; a flange section 35 , which is from a tool holding unit 9 of the tool magazine 7 is held; and a collet section 36 , which is the main tool body 31 in a sequence from a base end to a tip end. Within the collet section 36is a collet chuck for holding the main body of the tool 31 provided for, wherein the main tool body 31 through the collet section 36 is held by reducing the diameter of the collet.

[0013] The flange section 35 of the tool T It has an approximately columnar shape with an outer diameter that is larger than the outer diameter of the conical section. 34 . In an outer circumferential surface of the flange section 35 is a groove 35a trained, which are vertically integrated into the tool holding unit 9 intervenes.

[0014] Fig. Figure 6 shows an external appearance of the tool magazine. 7 , where Fig. 7 an internal structure of the tool magazine 7 shows. The tool magazine 7 It has an essentially circular, box-like shape. The tool magazine 7includes: a plurality of tool holding units 9 , which are arranged circumferentially at intervals from each other; and a front cover 10 and a rear cover 11 to cover the majority of tool holding units 9 In this version, one side corresponds to the tool magazine. 7 is arranged on the front of the machine tool 1 , and a side where the column section 3 is arranged on the back side of the machine tool 1 .

[0015] As in Fig. As shown in 6, the front cover includes 10 : a front panel 10a with an essentially circular plate-shaped form, located on one front side of the tool magazine 7 is arranged; and a side panel 10b with an essentially ring-shaped form located on one side of the tool magazine 7 is arranged. The back wall11 is a back panel with an essentially circular plate shape, which is attached to the back of the tool magazine. 7 is arranged. Opening sections 10c are provided at positions that each of the tool holding units 9 the side wall 10b correspond. One of the covers 10 , 11 The formed space S is defined by the openings 10c in a radial direction with an outer side of the covers 10 , 11 in connection, whereby the tools T , which are from each of the tool holding units 9 are held in place by the opening sections. 10c go through it.

[0016] The majority of tool holding units 9 is supported by a holding base 9a worn, with the holding base 9a from a support unit 7a is worn on the back of the tool magazine 7is planned. For example, in the support unit 7a of the tool magazine 7 a hole 7b provided, which passes through in a horizontal direction, with a support spindle that is for the column section 3 intended but not shown, through the hole 7b has been introduced. This includes the tool magazine. 7 and the holding base 9a from the column section 3 supported pivotably around an axis running in a horizontal direction.

[0017] Furthermore, the holding base 9a and the front cover 10 around a central axis line of the front cover 10 rotatable, with the holding base 9a and the front cover 10 through a magazine motor 9b ( Fig. 8), e.g. a servo motor, be rotated. Furthermore, as in Fig. 1 shown, at one lower end of the rear cover 11a recess 11a to attach the tool T at one tip end of the spindle 4a planned.

[0018] Furthermore, one of the several tool holding units 9 by rotating the holding base 9a on the lowest section of the tool magazine 7 positioned. The lowest section corresponds to a tool change position, where the tool change position and the recess 11a are located in the same place. The machine tool 1 This changes from the spindle 4a held tool T by using the tools T between the tool holding unit 9 at the tool change position and the spindle 4a exchanges. According to one embodiment of the present invention, the lower end of the tool magazine pivots. 7 when switching to a back side of the machine tool 1This is from the tool holding unit. 9 held tool T immediately below the spindle 4a positioned, or the tool holding unit 9 is inserted into the groove 35a of the spindle 4a attached flange section 35 of the tool T intervention was initiated.

[0019] Fig. Figure 7 shows an example of the construction of the tool holding unit. 9 The tool holding unit 9 holds the flange section 35 of the tool T in a state in which a tip of the tool main body 31 radially outwards from the tool magazine 7 is directed. At the tool holding unit 9 is the tool T in a predetermined fastening direction Y1 attached, running from the back to the front of the tool magazine 7 is directed ( Fig. 7).

[0020] In particular, as in Fig. 3, Fig. As shown in 7 etc., each of the tool holding units comprises 9 : a substantially semicircular recessed section 12 , which includes the flange section 35 in the fastening direction Y1 absorbs and the front of the flange section 35 supports; and a pair of rollers 13a and 13b , which is the back side of the flange section 35 supported by the recessed section 12 is worn. Furthermore, each of the tool holding units includes 9 : a pair of swiveling arms 15 , each of which is the pair of roles 13a and 13b wear; and pressure elements 14 , such as springs, each of which holds the pair of arms 15 push in a closing direction in which the two roles 13a and 13b move closer together. The omitted section 12is connected to a preceding section 12a provided, which fits into a keyway 35b fits, which is in the flange section 35 is defined.

[0021] The roles 13a and 13b are each through the arms 15 rotatably mounted about a central axis line that is essentially parallel to a central axis line of the tool T runs through the recessed section 12 is supported. The two roles 13a and 13b are in the groove 35a of the flange section 35 fitted to fit the flange section 35 to be supported at two positions in the circumferential direction. Furthermore, the roller pair 13a and 13b movable in an opening direction in which the pair of rollers 13a and 13b against a pressure force of the pressure element 14 moved away from each other.

[0022] The pair of roles 13a and 13bis caused by the rotation of the flange section 35 , which is in the direction of attachment Y1 moved, opened, and thus the flange section 35 in the omitted section 12 arranged. When arranging the flange section 35 in the omitted section 12 is the preceding section 12a in the keyway 35b positioned, with the two roles 13a and 13b through the pressure force of the pressure element 14 moving towards each other.

[0023] If the flange section 35 in the omitted section 12 in a direction opposite to the fastening direction Y1 The pair of rollers is moved 13a and 13b opened during rotation, thus opening the flange section 35 from the tool holding unit 9 removed.

[0024] The spindle head 4bis a tubular element that extends in a vertical direction and is attached to the column section 3 It is mounted in such a way that it is movable in the vertical direction. The spindle 4a extends in a vertical direction within the spindle head 4b and is from the spindle head 4b so that they are positioned around a central axis line of the spindle 4a It is rotatable.

[0025] The column section 3 is equipped with multiple guide rails 3a provided which extend in a vertical direction (direction of the Z-axis), wherein the spindle head 4b from the guide rails 3a It is supported so that it can move vertically. Furthermore, at the upper end of the column section... 3 a Z-axis motor 3b , such as a servo motor, attached, with an output from an output shaft of the Z-axis motor 3b via a reduction gearbox 3con a ball screw 3d is transferred. The ball screw 3d is along the guide rails 3a arranged and equipped with a ball screw nut located on the back 4c of the spindle head 4b is attached. In the above configuration, the spindle unit moves 4 in the vertical direction by the rotation of the motor's output shaft 3b the Z-axis.

[0026] The spindle continues to rotate 4a and the tool T around the central axis line of the spindle 4a by a spindle motor (motor) 5a , which has an upper end of the spindle 4a is connected.

[0027] The machine tool 1 moves the workpiece W and the tool T by horizontal movement of the table unit 5 , vertical movement of the spindle 4aand the like relative to each other, thus carrying out the machining of the workpiece W by the rotating main tool body 31 of the tool T through.

[0028] As in Fig. As shown in 1, the drawbolt 33 and the conical section 34 from a lower end of the spindle 4a out into the spindle 4a introduced, whereby the pull bolt 33 through a fixing mechanism FM in the spindle 4a is held. The FM fixing mechanism includes: a handle section 4d , which is vertical in relation to the spindle 4a is movable; and has an actuator 4e ( Fig. 8), such as a hydraulic cylinder or an air cylinder that moves the handle section 4d moved vertically. In addition to the actuator. 4e A spring can be used. For example, it moves when the actuator is activated. 4e the handle section 4dthrough the spring upwards, and thus the drawbolt 33 in relation to the spindle 4a pulled upwards. In other words, the tool T is on the spindle 4a attached.

[0029] The machine tool 1 is equipped with a control system 40 equipped, which the machine tool 1 controls. As in Fig. As shown in 8, the control system includes 40 : a processor 41 , such as a CPU; a display unit 42 ; a storage unit 43 with non-volatile memory, a ROM, and the like; an input unit 44 , such as a control panel; a transmitter / receiver unit 45 with an antenna, a connector, and the like; a stop button 46 , such as an emergency stop button; and a sensor 47 to detect an irregularity in the operation of the machine tool 1 Examples of the sensor47 are an ammeter for detecting an irregularity in the value of a drive current of each of the motors 5a , 3b and 9b and a sensor to detect an irregularity in a load on the table unit 5 The storage unit 43 a system program saves 43a , which is a basic function of the control system 40 executes.

[0030] Furthermore, the storage unit stores 43 an editing program 43b and a tool change program 43c Based on the editing program 43b and the tool change program 43c The control unit sends 40 Control commands to the motor, the actuator, and the like, thereby enabling machining by the machine tool 1 , the replacement of the tool T the spindle 4a using the tool magazine 7and similar procedures are carried out. The storage unit 43 A recovery program also stores data. 43d .

[0031] A tool change process will now be described, in which a tool is in a state where it is in a state where a tool is in use. T on the spindle 4a is attached and the tool T by selecting one from the majority of tools T of the tool magazine 7 is changed.

[0032] Here, at the bottom of the spindle 4a , a pair of projecting sections 4f provided for, into which a pair of keyways each 35b are fitted into the flange section 35 of the tool T are planned.

[0033] First, the control system is fixed. 40 the spindle 4a in a state in which the keyways 35b of the tool TPoint in a predetermined direction (Step A). ​​Fixing the spindle 4a This is done by connecting each pole of the spindle motor 5a Direct current is supplied to the multi-pole motor.

[0034] The control then moves 40 the spindle 4a upwards and arranges them in a first position (step B). At this point, the lower end of the tool magazine pivots. 7 to the back of the machine tool 1 , and, as in Fig. 1 and Fig. As shown in section 3, this swiveling action initiates the tool holding unit. 9 at a position in the tool magazine 7 , the recess 11a corresponds to engaging with the groove 35a of the flange section 35 of the tool T the spindle 4a to come.

[0035] In this embodiment, part of the back of the tool magazine 7in contact with a front contact section of the spindle unit 4 , whereby the contact position changes according to the upward movement of the spindle unit 4 This changes the position. Therefore, the lower end of the tool magazine swings. 7 corresponding to the vertical movement of the spindle unit 4 , due to the weight of the tool magazine 7 or by a spring not shown here. The tool magazine can be found here. 7 to be set into vibration by a motor, a cylinder, a joint mechanism or similar.

[0036] Next, the control system will operate. 40 the spindle 4a into a second position that is higher than the first position (step C). While the spindle is moving 4a When moved into the second position, the lower end of the tool magazine moves. 7 continue to the back of the machine tool 1 , and thus the tool Tfrom the tool holding unit 9 The tool is held completely in place. Furthermore, the tool is secured. T The FM fixing mechanism releases the screw in the second position. This releases the screw from the spindle. 4a removed tool T from the tool holding unit 9 held ( Fig. 5) Furthermore, the preceding section 12a the tool holding unit 9 into the keyway 35b of the tool T fitted.

[0037] Then the control system moves 40 , as in Fig. 4 shown, the spindle 4a into a third position that is higher than the second position. At this point, the preceding section 4f the spindle 4a and the keyway 35b decoupled at a fourth position between the second and third positions.

[0038] Next, the controller 40 the magazine motor 9b, to use the selected tool T of the tool magazine 7 to arrange in a position that corresponds to the recess 11 a corresponds to (step D).

[0039] Then the control system moves 40 the spindle 4a down to the second position (step E). At this point, the controller 40 the actuator 4e of the FM fixing mechanism to secure the selected tool T on the spindle 4a to fix.

[0040] The control system then moves 40 the spindle 4a into a position lower than the first position (step F). In this step, the lower end of the tool magazine moves. 7 gradually towards the front of the machine tool 1 , and the selected tool T is then taken from the tool holding unit 9 solved. Then the control system executes 40the machining with the spindle 4a attached tool T through.

[0041] It should be noted that in steps C and E the tool holding unit 9 in relation to the holding base 9a to the back of the machine tool 1 can drive to a holding state in which the tool holding unit 9 the tool T to hold, or to create a non-holding state.

[0042] During steps A to F described above, there is a case in which the machine tool 1 due to the activation of the stop button 46 etc. stops. There is also a case where, if the value of the drive current of each of the motors 5a , 3b and 9b greater than a threshold value, the control 40 the machine tool 1 stops. Furthermore, there is a case where, if a sensor 47The recorded value is greater than the threshold, the control 40 the machine tool 1 stops. There is a case in which the machine tool 1 due to a power outage, it stops. This also stops the power supply to the spindle motor. 5a .

[0043] If a user stops the machine tool 1 During steps A to F, the control system commands a recovery process in this way. 40 a recovery process based on the recovery program 43d through. The recovery process is described in a flowchart in Fig. 9 described.

[0044] First, the control determines 40 , whether the spindle 4a is located in a position that is higher than a specified height or not (step S1-1An example of a predetermined height is a position slightly lower than the initial height, indicating that the tool change has begun. The predetermined height can be the initial position or a position close to it.

[0045] If in step S1-1 If "yes" is determined, the control refers to 40 to the engine information 43e of the spindle motor 5a , which are in the storage unit 43 (Step S1-2 ) is stored. The engine information 43e This includes at least the information about whether the spindle motor 5a It is or is not a synchronous motor.

[0046] If the spindle motor 5a a synchronous motor, the control uses 40 a command for the synchronous motor as part of the recovery process. As an example of the command, the controller holds 40 a state in which not every pole of the spindle motor is engaged5a is supplied with direct current (step S1-3 In other words, similar to steps A to F described above, the exchange of tools will be carried out. T normally performed in a state in which each pole of the spindle motor 5a Direct current is supplied and the spindle 4a is fixed. However, not every pole of the spindle motor is used in the recovery process of the synchronous motor. 5a powered by direct current.

[0047] The controller also sends 40 a control command to the Z-axis motor 3b as a command for the synchronous motor, causing the spindle 4a is arranged at an origin position (step S1-4 ). The starting position is, for example, one position lower than the specified height.

[0048] For example, if the machine tool 1 During steps C to E, the spindle moves 4avia the second position to the starting position. During the movement, the controller sends 40 a control command to the actuator 4e , and secures the tool T at a position that corresponds to the recess 11a of the tool magazine 7 corresponds to the spindle 4a .

[0049] If the machine tool 1 The control system stops in steps A, B and F. 40 the spindle 4a simply return to the original position.

[0050] However, in step S1-1 Determined "no", the control system moves 40 the spindle 4a to the original position ( S1-4 ).

[0051] If the spindle motor 5a if it is a synchronous motor, the control 40 the recovery process according to the height of the spindle 4a Change while stationary. A process through control. 40, who at that time was on the recovery program 43d based, is with reference to a flowchart in Fig. 10 described.

[0052] First, the control determines 40 , whether the spindle 4a is in a position higher than the specified height (step) S2-1 ), and refers as in step S1-2 (Step S2-2 ) on the engine information 43e Furthermore, the control system determines 40 , whether the spindle 4a is positioned within a specified height range or not (step S2-3 The determination is based on a value provided by a position detection sensor. 3e e.g., one in the engine 3b The position is detected by the integrated angle encoder of the Z-axis. 3e It could be a distance sensor that directly determines the vertical position of the spindle. 4adetects. The position detection sensor 3e is connected to the control 40 connected.

[0053] In one example, the keyway is located within the specified height range. 35b of the tool T with the preceding section 12a the tool holding unit 9 in engagement, whereby the tool T on the spindle 4a is attached.

[0054] It is safer to use the tool holding unit within the predetermined height range. 9 with the tool T is in contact and the tool T on the spindle 4a is attached.

[0055] A more specific example of the specified height range is a range between the first position and the fourth position.

[0056] The next step will be... S2-1 "Yes" determined if in step S2-2 It is recognized that the spindle motor is 5ait is a synchronous motor, and is described in step S2-3 Determined "No", the control system 40 the spindle motor 5a Power to (step S2-4 This turns the steering wheel. 40 the spindle motor 5a slight and thus detects a rotational position of a rotor 5c of the spindle motor 5a .

[0057] Then the control system locks 40 the spindle 4a in the state in which the keyways 35b of the tool T point in the specified direction, as in step A (step S2-5 ).

[0058] Next, arrange, similar to step S1-4 , the control 40 the spindle 4a at the starting position (step S2-7 ).

[0059] However, in step S2-1 "Yes" determined if in step S2-2 It is recognized that the spindle motor 5aa synchronous motor, and if in step S2-3 "Yes" is determined while the control 40 maintains the state in which not every pole of the spindle motor 5a is supplied with direct current, as in step S1-3 (Step S2-6 ), then the control system orders 40 the spindle 4a at the original position, as in step S1-4 (Step S2-7 ).

[0060] However, in step S2-1 "No" determined, so the control system brings 40 the spindle 4a to the original position ( S2-7 ).

[0061] Here, before step S1-3 and step S2-6 , a determination must be made as to whether the control 40 the rotational position of the rotor 5c of the spindle motor 5a Whether or not it knows. For example, in a case where the spindle motor 5a with a rotation position detection sensor 5bsuch as an angle encoder, the control system 40 able to control the rotational position of the rotor 5c of the spindle motor 5a to recognize after stopping. If the control 40 the rotational position of the rotor 5c of the spindle motor 5a detects, fixes the control 40 the spindle 4a in the state in which the keyways 35b of the tool T point in the predetermined direction instead of stepping S1-3 and step S2-6 On the other hand, if the control 40 the rotational position of the rotor 5c of the spindle motor 5a If it does not recognize, the control system will execute a command. 40 the step S1-3 and the step S2-6 out of.

[0062] Here, there is a possibility that an induction motor such as the spindle motor could be used. 5a to the machine tool 1is attached. There is also a case where a buyer or user of the machine tool 1 the spindle motor 5a The user can select from several types of induction motors and several types of synchronous motors. The information relevant to the selected motor is stored in the memory unit. 43 stored engine information 43e used.

[0063] When an induction motor is connected to the machine tool 1 is connected in step S1-2 and step S2-2 recognized that the spindle motor 5a It is not a synchronous motor, and therefore a command for a synchronous motor is not used. In other words, the operations after step S1-3 and after step S2-3 will not be executed, and the spindle 4a is moved back to its original position after the excitation of a stator 5d for fixing the rotor 5c of the spindle motor 5awas carried out.

[0064] An induction motor is capable of rotating the rotor 5c by excitation of the stator 5d to fix it in a position at that time, even if the rotational position of the rotor 5c unknown. In the case of a synchronous motor, however, the rotor can 5c accidentally rotates when the stator 5d is excited in the state in which the rotational position of the rotor 5c is unknown.

[0065] In the above embodiment, if the machine tool 1 stops and the engine information 43e indicates that the spindle motor 5a a synchronous motor, the control uses 40 A command for a synchronous motor as part of a series of recovery commands. If the spindle motor 5a A synchronous motor is one in which the stator 5d of the spindle motor 5a is excited in the state in which the rotational position of the rotor5c of the spindle motor 5a If unknown, the rotor can 5c accidentally rotated. For example, in a state where the tool T from the tool holding unit 9 is held and the keyways 35b of the tool T with the preceding sections 4f the spindle 4a being involved, the above situation leads to damage to the structures of the machine tool 1 , the tool T and the like. The configuration of the above embodiment helps to prevent such damage caused by the unintentional rotation of the rotor. 5c to prevent.

[0066] Furthermore, if the machine tool 1 stops when the engine information 43e indicates that the spindle motor 5a it is a synchronous motor, and if the control 40 the rotational position of the rotor 5c of the spindle motor 5adoes not recognize, uses the control 40 A command for the synchronous motor as part of a series of recovery commands. This configuration also makes it possible to prevent damage to the machine tool's structures. 1 , of the tool T and the like, due to the accidental rotation of the rotor 5c This will occur. Furthermore, according to the above configuration, even if the spindle motor is... 5a it is a synchronous motor, the spindle 4a In the recovery process, it is fixed similarly to an induction motor, as long as the control 40 the rotational position of the rotor 5c of the spindle motor 5a recognizes.

[0067] It should be noted that there is a case in which the selected tool is chosen from the majority of tools. T , which are held by the tool magazine, with other known mechanisms on the spindle 4ais attached and detached from it. In this case too, as described above, the tool is attached using a command for the synchronous motor. T to the spindle 4a and the movement of the spindle 4a to the original position using the actuator 4e carried out, specifically in the state in which the stator is excited 5d for attaching the rotor 5c of the spindle motor 5a will not be carried out. Reference symbol list 1 machine tool 3b Z-axis motor 3e Position detection sensor 4 spindle unit 4a Spindle 4b Spindle head 4f Foreground section 5a Spindle motor (motor) 5c Rotor 7 Tool magazine 9 Tool holding unit 9a Mounting base 10 Front cover 11 Back 11a Recess 12. Recessed section 12a Foreground section 13a, 13b role 14 Push element 15 Arm 31 Tool main body 32 tool holders 35 Flange section 35a Nut 35b Keyway T tool QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP H11282518

[0002] JP H06170671

[0002]

Claims

[1] Machine tool, comprising: a spindle; a motor designed to turn the spindle; a tool magazine that holds a plurality of tools; and a control system, whereby The controller has a storage unit that stores motor information indicating that the motor is a synchronous motor, and when the machine tool stops while a tool change process is being performed, the control is trained to use a command for the synchronous motor as part of a series of commands to recover the machine tool, wherein the control is trained to decide to use the command based on the motor information, wherein the tool change process is a process in which a tool attached to the spindle is replaced by one of the multiple tools in the tool magazine. [2] Machine tool, comprising: a spindle; a motor designed to turn the spindle; a tool magazine that holds a plurality of tools; and a control system, whereby The controller has a storage unit that stores motor information indicating that the motor is a synchronous motor, and If the machine tool stops while a tool change process is being performed, the control is configured to use a command for the synchronous motor as part of a series of commands to recover the machine tool, wherein the control is configured to decide to use the command based on the motor information and on the basis of a situation in which a rotational position of a rotor of the motor is undetected, wherein the tool change process is a process in which a tool attached to the spindle is replaced by one of the multiple tools of the tool magazine. [3] Machine tool according to claim 1 or 2, wherein the command for the synchronous motor is a command not to execute an excitation of a stator for fixing the rotor of the motor when one of the multiple tools is attached to the spindle.

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