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

Abstract

The present invention provides a machine tool comprising: a tool spindle capable of holding a diagnostic tool with a sensor; a tool transfer device which is provided separately from the tool spindle and which is 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 as the diagnostic tool is transferred by the tool transfer device. The diagnostic device analyzes the data to thereby diagnose whether an abnormality is present or absent in the machine tool.

Description

Technical Field

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

Background Art

[0002] Techniques for diagnosing machine tools are known.

[0003] As a related technique, Patent Document 1 discloses a spindle test tool. The spindle test tool described in Patent Document 1 includes a dummy tool that is detachably attached to the spindle of a machine tool. The dummy tool also incorporates a hammer for striking the dummy tool, a mechanism for driving the hammer, and a detector for detecting the vibration of the dummy tool.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

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

Means for Solving the Problems

[0006] In some embodiments, a machine tool includes a tool spindle capable of holding a diagnostic tool having a sensor, a tool transfer device provided separately from the tool spindle and capable of transferring the diagnostic tool, and a diagnostic device that receives data indicating a physical quantity acting on the diagnostic tool from the sensor when the diagnostic tool is transferred by the tool transfer device and diagnoses the presence or absence of an abnormality of the machine tool by analyzing the data.

[0007] In some embodiments, the diagnostic tool is a diagnostic tool transferred by a tool transfer device of the machine tool to detect the presence or absence of an abnormality in the machine tool. The diagnostic tool includes a first portion that can be held by a tool spindle of the machine tool, a second portion 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 indicating the physical quantity to a diagnostic device of the machine tool and a memory that stores data indicating the physical quantity.

[0008] A method for diagnosing a machine tool in some embodiments includes preparing a diagnostic tool having a sensor, attachable to a tool spindle of the machine tool, and transferable by a tool transfer device other than the tool spindle; transferring the diagnostic tool by the tool transfer device; detecting, by the sensor, a physical quantity acting on the diagnostic tool when the diagnostic tool is transferred by the tool transfer device; and diagnosing the presence or absence of 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.

Advantages of the Invention

[0009] According to the present invention, it is possible to provide a machine tool, a diagnostic tool, and a method for diagnosing a machine tool that can early detect an abnormality in the machine tool.

Brief Description of the Drawings

[0010]

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Mode for Carrying Out the Invention

[0011] Hereinafter, with reference to the drawings, the machine tool 100, the diagnostic tool 9, and the diagnostic method for the machine tool in the embodiment will be described. In the following description of the embodiment, parts and members having the same function are denoted by the same reference numerals, and repeated descriptions of the parts and members denoted by the same reference numerals are omitted.

[0012] (First Embodiment) With reference to FIGS. 1 to 10, the machine tool 100A, the diagnostic tool 9A, and the diagnostic method for the machine tool in the first embodiment will be described. FIG. 1 is a diagram schematically showing a part of the machine tool 100A in the first embodiment. FIG. 2 is a diagram schematically showing a state in which the tool B is attached to the tool spindle 2. FIG. 3 is a diagram schematically showing a state in which the diagnostic tool 9A is attached to the tool spindle 2. FIGS. 4 and 5 are diagrams schematically showing a part of the machine tool 100A in the first embodiment. FIG. 6 is a diagram schematically showing a state in which the diagnostic device 8 diagnoses the presence or absence of an abnormality of the machine tool based on the data DT. FIG. 7 is a diagram schematically showing the diagnostic tool 9A in the first embodiment. FIG. 8 is a flowchart showing an example of the diagnostic method for the machine tool in the first embodiment. FIGS. 9 and 10 are diagrams schematically showing a part of the machine tool 100A in the first embodiment.

[0013] (Machine Tool 100A) As illustrated in FIG. 1, the machine tool 100A in the first embodiment includes a tool spindle 2, a tool transfer device 3, and a diagnostic device 8. The machine tool 100A may include a tool B. Further, the machine tool 100A may include a diagnostic tool 9A.

[0014] As illustrated in FIG. 2, the tool spindle 2 is capable of holding the tool B. In the example shown in FIG. 2, the tool spindle 2 has a rotator 21 capable of holding the tool B and a support 23 that rotatably supports the rotator 21 about the first axis AX1.

[0015] As illustrated in FIG. 3, the tool spindle 2 is capable of holding the diagnostic tool 9A. In the example shown in FIG. 3, the rotator 21 of the tool spindle 2 holds the diagnostic tool 9A. Further, the support 23 rotatably supports the rotator 21 holding the diagnostic tool 9A about the first axis AX1.

[0016] As illustrated in FIGS. 4 and 5, the tool transfer device 3 is capable of transferring each of the tool B and the diagnostic tool 9A. The tool transfer device 3 is provided separately from the tool spindle 2. In the example shown in FIG. 4, the tool transfer device 3 has a holder 31 that holds the tool B and a moving device 36 that moves the holder 31. In the example shown in FIG. 5, the holder 31 holds the diagnostic tool 9A. Further, the moving device 36 moves the holder 31 holding the diagnostic tool 9A.

[0017] As illustrated in FIG. 5, the diagnostic tool 9A has a sensor 91. The sensor 91 detects a 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, or the like.

[0018] In the example shown in FIG. 5, 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, or the like) acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred by the tool transfer device 3.

[0019] In addition, in this specification, the fact that the diagnostic tool 9 is transferred by the tool transfer device 3 includes all processes in which the tool transfer device 3 transfers the diagnostic tool 9. More specifically, the fact that the diagnostic tool 9 is transferred by the tool transfer device 3 includes: (1) the tool transfer device 3 receiving the diagnostic tool 9 from one component of the machine tool (for example, one of the tool magazine and the tool spindle). The fact that the diagnostic tool 9 is transferred by the tool transfer device 3 includes: (2) the tool transfer device 3 moving the diagnostic tool 9 from one component of the machine tool (for example, one of the tool magazine and the tool spindle) toward another component of the machine tool (for example, the other of the tool magazine and the tool spindle). Also, the fact that the diagnostic tool 9 is transferred by the tool transfer device 3 includes: (3) the tool transfer device 3 delivering 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 illustrated in FIG. 5, the diagnostic device 8 receives 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 from the sensor 91. Note that the data DT may be analog data indicating the physical quantity PV (for example, the sensor signal itself), or may be digital data obtained by processing the analog data indicating the physical quantity PV.

[0021] As illustrated in FIG. 6, the diagnostic device 8 diagnoses the presence or absence of an abnormality in the machine tool 100A by analyzing 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.

[0022] For example, when the deviation of data DT from the reference data exceeds the allowable range, the diagnostic device 8 determines that there is an abnormality in the machine tool 100A. Further, when the deviation of data DT from the reference data is within the allowable range, the diagnostic device 8 determines that there is no abnormality in the machine tool 100A. Note that the reference data may be set based on the initial state of the machine tool 100A (for example, the state of a brand-new machine tool 100A), or may be set based on the state immediately after the machine tool 100A has been maintained.

[0023] In the machine tool 100A according to the first embodiment, by analyzing data DT indicating the physical quantity PV acting on the diagnostic tool 9A when being transferred by the tool transfer device 3, the presence or absence of an abnormality in the machine tool 100A is diagnosed. By this diagnosis, an abnormality in the machine tool 100A can be detected at an early stage.

[0024] Further, in the machine tool 100A according to the first embodiment, the diagnostic tool 9A is transferred using the tool transfer device 3 for transferring the tool B. Therefore, it is not necessary to provide a dedicated device for transferring the diagnostic tool 9A. Further, 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 device 8 can detect the state of the machine tool as seen from the tool transferred by the tool transfer device 3 using the diagnostic tool 9A.

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

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

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

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

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

[0030] The transmission circuit 95 transmits data DT indicating the physical quantity PV that acts 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 transmit, in real time, the data DT indicating the physical quantity PV that acts 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.

[0031] Alternatively, or additionally, as illustrated in FIG. 7, the diagnostic tool 9A may include a memory 97 that stores the data DT. The memory 97 stores the data DT indicating the physical quantity PV that acts 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 from the memory 97, either directly or indirectly, and analyzes the received data DT.

[0032] The diagnostic tool 9A in the first embodiment detects data DT indicating the physical quantity PV that acts on the diagnostic tool 9A when the diagnostic tool 9A is transferred by the tool transfer device 3. The diagnostic device 8 diagnoses the presence or absence of an abnormality in the machine tool 100A based on the data DT. In this way, an abnormality in the machine tool 100A is detected early.

[0033] Also, the diagnostic tool 9A in the first embodiment is transferred using the tool transfer device 3 for transferring the tool B. Therefore, there is no need to provide a dedicated device for transferring the diagnostic tool 9A. Further, 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 as seen from the tool transferred by the tool transfer device 3 by detecting the physical quantity acting on itself.

[0034] (Diagnosis method for machine tool 100A) With reference to FIGS. 1 to 10, the diagnosis method for the machine tool 100A in the first embodiment will be described.

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

[0036] As illustrated in FIG. 5, 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, transferring the diagnostic tool 9 by the tool transfer device 3) includes all processes in which the tool transfer device 3 transfers the diagnostic tool 9. More specifically, the transfer process includes: (1) the tool transfer device 3 receiving 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 moving 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). Also, the transfer process includes: (3) the tool transfer device 3 delivering 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 illustrated in FIG. 5, 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 step. In the detection step, 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, the data DT indicating the above physical quantity PV (for example, analog data or digital data) is transmitted to the diagnostic device 8. The fourth step ST4 is a data transmission step. In the data transmission step, the data DT indicating the above physical quantity PV detected by the sensor 91 is transmitted from the diagnostic tool 9A to the diagnostic device 8. The diagnostic device 8 stores the received data DT in the memory.

[0040] Note that when the diagnostic tool 9A does not have a data transmission 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 illustrated in FIGS. 5 and 6, in the fifth step ST5, the presence or absence of an abnormality in the machine tool 100A is diagnosed. The fifth step ST5 is a diagnostic step. In the diagnostic step, based on the physical quantity PV (for example, acceleration acting on the diagnostic tool 9A, 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, the presence or absence of an abnormality in the machine tool 100A is diagnosed. More specifically, the diagnostic step includes: (1) the diagnostic device 8 directly or indirectly receiving from the diagnostic tool 9A 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; and (2) the diagnostic device 8 diagnosing the presence or absence of an abnormality in the machine tool 100A by analyzing the data DT.

[0042] For example, when the deviation of the data DT received from the sensor 91 from the reference data exceeds the allowable range, the diagnostic device 8 determines that there is an abnormality in the machine tool 100A. Also, for example, when the deviation of the data DT received from the sensor 91 from the reference data is within the allowable range, the diagnostic device 8 determines that there is no abnormality in the machine tool 100A.

[0043] In the diagnostic method of the machine tool in the first embodiment, based on the physical quantity PV detected by the sensor 91 when the diagnostic tool 9A is transferred by the tool transfer device 3, the presence or absence of an abnormality in the machine tool 100A is diagnosed. By this diagnosis, an abnormality in the machine tool 100A can be detected early.

[0044] Also, in the diagnostic method of the machine tool in the first embodiment, the diagnostic tool 9A is transferred using the tool transfer device 3 for transferring the tool B. Therefore, it is not necessary to provide a dedicated device for transferring the diagnostic tool 9A. Also, 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 state of the machine tool as seen from the tool transferred by the tool transfer device 3 can be detected using the diagnostic tool 9A.

[0045] (Optional additional configuration) Referring to FIGS. 1 to 10, the machine tool 100A, the diagnostic tool 9A, and any additional configurations that can be adopted in the diagnostic method of the machine tool in the first embodiment will be described.

[0046] In the example described in FIG. 9 or FIG. 10, the sensor 91 includes a first sensor 91a (for example, an acceleration sensor) that 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 the example described in FIG. 9 or FIG. 10, the above-described detection step (the third step ST3) includes the sensor 91 detecting a physical quantity PV (for example, at least one of the acceleration and vibration acting on the diagnostic tool 9A) acting on the diagnostic tool 9A when the diagnostic tool 9A is transferred between the tool transfer device 3 and the tool spindle 2.

[0048] Note that FIG. 9 shows the state in which the diagnostic tool 9A is transferred from the tool transfer device 3 to the tool spindle 2. FIG. 10 shows the state in which the diagnostic tool 9A is transferred from the tool spindle 2 to the tool transfer device 3 (more specifically, the state in which the tool transfer device 3 receives the diagnostic tool 9A from the tool spindle 2).

[0049] In the example described in FIG. 9 or FIG. 10, the above-described data transmission step (the fourth step ST4) includes transmitting data DT indicating 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] The data DT includes first data DT1 indicating a physical quantity PV (for example, at least one of 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. In the example described in FIG. 9, the data DT includes first data DT1-1 indicating 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. Further, in the example described in FIG. 10, the data DT includes first data DT1-2 indicating 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 the example described in FIG. 9 or FIG. 10, the above-described diagnostic process (fifth step ST5) includes the diagnostic device 8 diagnosing the presence or absence of an abnormality in the machine tool 100A based on the physical quantity PV (for example, at least one of 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 (fifth step ST5) includes: (1) the diagnostic device 8 receiving first data DT1 indicating the physical quantity PV (for example, at least one of 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; and (2) the diagnostic device 8 diagnosing the presence or absence of an abnormality in the machine tool 100A by analyzing the first data DT1.

[0053] In the example described in FIG. 9, the diagnostic process (fifth step ST5) includes: (1) the diagnostic device 8 receiving first data DT1-1 indicating the physical quantity PV (for example, at least one of 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; and (2) the diagnostic device 8 diagnosing the presence or absence of an abnormality in the machine tool 100A by analyzing the first data DT1-1.

[0054] In the example described in FIG. 10, the diagnosis process (fifth step ST5) includes: (1) the diagnostic device 8 receiving first data DT1-2 indicating a physical quantity PV (for example, at least one of acceleration and vibration acting on the diagnostic tool 9A) detected by the sensor 91 when the diagnostic tool 9A is transferred from the tool spindle 2 to the tool transfer device 3; and (2) the diagnostic device 8 diagnosing the presence or absence of an abnormality in the machine tool 100A by analyzing the first data DT1-2.

[0055] The diagnostic device 8 may determine that there is an abnormality in the machine tool 100A when the first data (DT1; DT1-1; DT1-2) indicates that abnormal acceleration or abnormal vibration has acted on the diagnostic tool 9A. More specifically, the diagnostic device 8 may determine that there is an abnormality in the machine tool 100A when the first data (DT1; DT1-1; DT1-2) indicates that the acceleration or vibration acting on the diagnostic tool 9A deviates from a preset allowable range. Further, the diagnostic device 8 may determine that there is no abnormality in the machine tool 100A when the first data (DT1; DT1-1; DT1-2) indicates that the acceleration or vibration acting on the diagnostic tool 9A is within a preset allowable range.

[0056] (Second Embodiment) With reference to FIGS. 11 to 37, a machine tool 100B, a diagnostic tool 9B, and a diagnostic method for a machine tool in the second embodiment will be described. FIG. 11 is a schematic perspective view schematically showing the machine tool 100B in the second embodiment. FIG. 12 is a view schematically showing the machine tool 100B in the second embodiment. FIG. 13 is a view schematically showing the diagnostic tool 9B in the second embodiment. FIG. 14 is a block diagram showing an example of the hardware configuration of the diagnostic device 8. FIGS. 15 and 16 are views schematically showing a part of the machine tool 100B in the second embodiment. FIG. 17 is a view schematically showing a state in which the diagnostic device 8 diagnoses the presence or absence of an abnormality in the machine tool based on the first data DT1. FIGS. 18 and 19 are views schematically showing a part of the machine tool 100B in the second embodiment. FIG. 20 is a view schematically showing a state in which the diagnostic device 8 diagnoses the presence or absence of an abnormality in the machine tool based on the first data DT1. FIG. 21 is a view schematically showing an example of the data DT acquired by the sensor 91. FIGS. 22 and 23 are views schematically showing an example of a graph obtained by frequency analysis of vibrations acting on the diagnostic tool 9B. FIGS. 24 to 31 are views schematically showing a part of the machine tool 100B in the second embodiment. FIG. 32 is a view schematically showing a state in which the diagnostic device 8 diagnoses the presence or absence of an abnormality in the machine tool based on the second data DT2. FIGS. 33 to 35 are views schematically showing an example of an image displayed on the display device 84. FIG. 36 is a view schematically showing a state in which the diagnostic device 8 and the control device 5 are communicably connected. FIG. 37 is a flowchart showing an example of a diagnostic method for a machine tool in the second embodiment.

[0057] As illustrated in FIGS. 11 and 12, the machine tool 100B in 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 separately from the tool spindle 2 and capable of transferring the diagnostic tool 9B; and (3) a diagnostic device 8 that receives data DT indicating 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 the presence or absence of an abnormality in the machine tool 100B by analyzing the data DT. Therefore, the machine tool 100B in the second embodiment has the same effects as the machine tool 100A in the first embodiment.

[0058] The diagnostic tool 9B in the second embodiment is a diagnostic tool transferred by the tool transfer device 3 of the machine tool 100B to detect the presence or absence of an abnormality in the machine tool 100B. As illustrated in FIG. 13, the diagnostic tool 9B in the second embodiment includes: (1) a first portion 93 that can be held by the tool spindle 2 of the machine tool 100B; (2) a second portion 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; and (4) at least one of a transmission circuit 95 that transmits data DT indicating the physical quantity PV to the diagnostic device 8 of the machine tool 100B and a memory 97 that stores the data DT indicating the physical quantity PV. Therefore, the diagnostic tool 9B in the second embodiment has the same effects as the diagnostic tool 9A in the first embodiment.

[0059] As illustrated in FIG. 12, the machining tool diagnostic method in the second embodiment includes: (1) a step of preparing a diagnostic tool 9B having a sensor 91, attachable to the tool spindle 2 of the machine tool 100B, and transferable 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; and (4) a step of diagnosing the presence or absence of 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 machining tool diagnostic method in the second embodiment has the same effect as the machining tool diagnostic method in the first embodiment.

[0060] (Optional additional configuration) With reference to FIGS. 11 to 37, the machine tool 100B, the diagnostic tool 9B, and optional additional configurations that can be adopted in the machining tool diagnostic method in the second embodiment will be described.

[0061] (Tool spindle 2) In the example shown in FIG. 15, the tool spindle 2 has a rotating body 21, a support body 23, a bearing 24, and a rotational drive device 25.

[0062] The rotating body 21 can hold the tool B (refer to FIG. 12 if necessary). Further, 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 the example shown in FIG. 15, the support body 23 rotatably supports the rotating body 21 around the 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 rotatably supports the rotating body 21 via the bearing 24.

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

[0065] (Tool magazine 4) In the example described in FIG. 12, the machine tool 100B includes a tool magazine 4 (in other words, a tool stocker). The tool magazine 4 can store a plurality of tools (B1, B2,...). Further, the tool magazine 4 can store the diagnostic tool 9B.

[0066] In the example described in FIG. 11, the tool magazine 4 has a plurality of holding parts 41 that hold a plurality of tools, and a holding part moving device 45 that moves the plurality of holding parts 41 along the circumferential orbit OB. At least one of the plurality of holding parts 41 can hold the diagnostic tool 9B. Each of all the holding parts 41 may be able to hold the diagnostic tool 9B.

[0067] (Tool changer 30) In the example described in FIG. 12, 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 the example described in FIG. 12, 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, when the tool changer 30 replaces the tool B held by the tool spindle 2 with the diagnostic tool 9B, the tool spindle 2 holds the diagnostic tool 9B.

[0069] Further, 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, when the tool changer 30 replaces the diagnostic tool 9B held by the tool spindle 2 with the tool B, the tool spindle 2 holds the tool B.

[0070] In the example shown in FIG. 11, the tool changer 30 has a tool changing arm 32. The tool changing arm 32 functions as a holding body 31 that holds the tool B (or the diagnostic tool 9B). The tool changing arm 32 has a first arm 32a and a second arm 32b. Further, the first arm 32a has a first gripping portion 33a that can grip the tool B (or the diagnostic tool 9B), and the second arm 32b has a second gripping portion 33b that can grip the diagnostic tool 9B (or the tool B). In the example shown in FIG. 11, the angle formed between the first arm 32a and the second arm 32b is 180 degrees. Alternatively, the angle formed between the first arm 32a and the second arm 32b may be an angle other than 180 degrees.

[0071] In the example shown in FIG. 11, the tool changer 30 has 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 the example shown in FIG. 11, the second axis AX2 is parallel to the first axis AX1. The tool changer 30 may have 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 rotatably supports the rotating shaft 37 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 further 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 be capable of moving the tool changing arm 32 three-dimensionally.

[0073] In the example described in FIG. 11, the tool changer 30 transfers the diagnostic tool 9B (or tool B) between the tool spindle 2 and the tool magazine 4. Alternatively, the tool changer 30 may transfer the diagnostic tool 9B (or tool B) between the tool spindle 2 and another transfer device (in other words, a relay transfer device). In other words, the tool transfer device 3 may include the tool changer 30 and another transfer device (in other words, a relay transfer device).

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

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

[0076] The diagnostic tool 9B may have a receiving circuit 96. The receiving circuit 96 receives a sensing start command from the diagnostic device 8 at the timing when the diagnostic tool 9B is transferred by the tool transfer device 3. The receiving circuit 96 preferably receives the sensing start command from the diagnostic device 8 in a wireless manner. The sensor 91 starts detecting the above-described physical quantity PV in response to receiving the sensing start command via the receiving circuit 96. Data DT indicating the above-described physical quantity PV detected by the sensor 91 is transmitted to the diagnostic device 8 via the transmission circuit 95. Note that the transmission circuit 95 and the receiving circuit 96 may be included in one circuit.

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

[0078] The diagnostic tool 9B may have a battery 98. The battery 98 supplies power to the sensor 91. Further, the battery 98 supplies power to the transmission circuit 95 and / or the receiving circuit 96. In the example shown in FIG. 13, the battery 98 and the sensor 91 are electrically connected via a conductive wire 99.

[0079] In this specification, in the direction along the longitudinal direction of the diagnostic tool 9B, the direction from the proximal end portion of the diagnostic tool 9B toward the distal end portion of the diagnostic tool 9B is defined as the first direction DR1. Also, in this specification, the direction opposite to the first direction DR1 is defined as the second direction DR2.

[0080] In the example described in FIG. 13, in the direction along the central axis AT of the diagnostic tool 9B, the transmission circuit 95 (or the reception circuit 96) is disposed on the first direction DR1 side of the first portion 93 that can be held by the tool spindle 2. The transmission circuit 95 (or the reception circuit 96) may be disposed on the first direction DR1 side of 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 reception circuit 96) may be disposed at the tip of the diagnostic tool 9B.

[0081] In the example described in FIG. 13, in the direction along the central axis AT of the diagnostic tool 9B, the sensor 91 is disposed on the first direction DR1 side of the first portion 93 that can be held by the tool spindle 2. The sensor 91 may be disposed on the first direction DR1 side of 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 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 the example described in FIG. 13, the first portion 93 that can be held by the tool spindle 2 has a tapered shape in which the outer diameter decreases as it goes in the second direction DR2. In the example described in FIG. 13, 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 of the first portion 93. The second portion 94 may have an annular groove 94v that is gripped by the tool exchange arm 32.

[0083] The sensor 91 may 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 include a second sensor 91b that detects the angular velocity acting on the diagnostic tool 9B (in other words, the change in the posture 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 the example shown in FIG. 13, the diagnostic tool 9B is a dummy tool without a machining part from which the machining part for machining the workpiece is omitted. Alternatively, the diagnostic tool 9B may be an actual tool with a machining part for machining the workpiece.

[0086] (Diagnostic device 8) In the example shown in FIG. 14, the diagnostic device 8 includes a memory 82 and an arithmetic unit 83. The diagnostic device 8 may include a display device 84 and / or an input device 85. The input device 85 may be incorporated in the display device 84 (more specifically, the display device 84 may be a touch panel display 841 incorporating an input device 85a). Alternatively, or additionally, the diagnostic device 8 may include an input device 85b (for example, buttons, switches, levers, pointing devices, keyboards, etc.) provided separately from the display device 84.

[0087] Additionally, 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 transmit the above-described sensing start command and the above-described sensing end command to the reception circuit 96 of the diagnostic tool 9B.

[0088] In the example shown in FIG. 14, 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 (for example, 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, or a magnetic disk, or other forms of memory. The memory 82 stores programs 829 (e.g., diagnostic program 829a, display program 829b) and data (e.g., the above-mentioned 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 illustrated in FIGS. 15 and 16, the diagnostic device 8 receives data DT indicating the physical quantity PV acting on the diagnostic tool 9B from the sensor 91 when the diagnostic tool 9B is transferred by the tool transfer device 3 (more specifically, the tool changer 30). In the example described in FIG. 16, the above-mentioned data DT includes first data DT1 indicating the 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 the example described in FIG. 16, the above-mentioned data DT (more specifically, the first data DT1) includes first acceleration data DA1 indicating 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-mentioned data DT (more specifically, the first data DT1) may include first vibration data DB1 indicating 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. Note that acceleration can be calculated by the time derivative of velocity, and velocity can be calculated by the time derivative of displacement. Therefore, the first acceleration data DA1 is preferably data acquired by an acceleration sensor, but the first acceleration data DA1 may be data acquired by a velocity sensor or a displacement sensor.

[0092] In the example described in FIG. 16, the diagnostic device 8 diagnoses the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 by analyzing the above-described first acceleration data DA1. More specifically, the diagnostic device 8 diagnoses whether or not the amount of misalignment between the tool changer 30 and the tool spindle 2 exceeds an allowable range by analyzing the above-described first acceleration data DA1.

[0093] Alternatively, or additionally, the diagnostic device 8 may diagnose the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 by analyzing the above-described first vibration data DB1. More specifically, the diagnostic device 8 may diagnose whether or not the amount of misalignment between the tool changer 30 and the tool spindle 2 exceeds an allowable range by analyzing the above-described first vibration data DB1.

[0094] In the example described in FIG. 15, 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 the example described in FIG. 16, the first acceleration data DA1 is data indicating that an abnormal acceleration has acted on the diagnostic tool 9B. Also, the first vibration data DB1 is data indicating that an abnormal vibration has acted on the diagnostic tool 9B.

[0095] In the example described in FIG. 16, the above-described first acceleration data DA1 includes data on the acceleration acting on the diagnostic tool 9B when the diagnostic tool 9B is attached to the tool spindle 2. Also, the above-described first vibration data DB1 includes data on the vibration acting on the diagnostic tool 9B when the diagnostic tool 9B is attached to the tool spindle 2.

[0096] In the example described in FIG. 16, the diagnostic device 8 diagnoses at least the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 in a direction perpendicular to the longitudinal 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 or not the amount of misalignment (in other words, the amount of misalignment in the X-axis direction or the Y-axis direction) between the tool changer 30 and the tool spindle 2 in a direction perpendicular to the longitudinal direction of the diagnostic tool 9B exceeds an allowable range by analyzing the above-described first data DT1.

[0097] As illustrated in FIG. 17, the diagnostic device 8 may diagnose the presence or absence of 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 an allowable range, the diagnostic device 8 determines that there is an alignment abnormality between the tool changer 30 and the tool spindle 2. Also, 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 may be used to determine the presence or absence of the above-mentioned alignment abnormality by the diagnostic device 8. For example, (1) at least one of the acceleration data and the vibration data when the tool changer 30 attaches the diagnostic tool 9B to the tool spindle 2 is used as input data, and machine learning is executed using teacher data with the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 as output data. (2) The learned model obtained by 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 first acceleration data DA1 and the above-mentioned first vibration data DB1 into the learned model stored in the memory 82, and acquires the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 as output data.

[0099] In the example shown in FIG. 18, in the direction parallel to the longitudinal direction of the diagnostic tool 9B, there is a significant alignment abnormality (see the amount of core deviation L1) between the tool changer 30 and the tool spindle 2. In this case, in the example shown in FIG. 19, the first acceleration data DA1 is data indicating that abnormal acceleration has acted on the diagnostic tool 9B. Further, the first vibration data DB1 is data indicating that abnormal vibration has acted on the diagnostic tool 9B.

[0100] In the example shown in FIG. 19, the above-mentioned first acceleration data DA1 includes data of the acceleration acting on the diagnostic tool 9B when the tool changer 30 (more specifically, the tool change arm 32) contacts the diagnostic tool 9B held by the tool spindle 2. Further, the above-mentioned first vibration data DB1 includes data of the vibration acting on the diagnostic tool 9B when the tool changer 30 (more specifically, the tool change arm 32) contacts the diagnostic tool 9B held by the tool spindle 2.

[0101] In the example described in FIG. 19, the diagnostic device 8 diagnoses the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 in a direction parallel to the longitudinal 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 or not the amount of misalignment between the tool changer 30 and the tool spindle 2 in a direction parallel to the longitudinal direction of the diagnostic tool 9B (in other words, the amount of misalignment in the Z-axis direction) exceeds an allowable range by analyzing the above-described first data DT1.

[0102] As illustrated in FIG. 20, the diagnostic device 8 may diagnose the presence or absence of 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 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 changer 30 and the tool spindle 2 in a direction parallel to the longitudinal direction of the diagnostic tool 9B. Also, 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 changer 30 and the tool spindle 2 in a direction parallel to the longitudinal direction of the diagnostic tool 9B.

[0103] Alternatively, AI technology may be used to determine the presence or absence of the above-mentioned alignment abnormality by the diagnostic device 8. For example, (1) at least one of the acceleration data and vibration data when the tool changer 30 receives the diagnostic tool 9B from the tool spindle 2 is used as input data, and learning data is used with the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 as output data to perform machine learning. (2) The learned model obtained by 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 first acceleration data DA1 and the above-mentioned first vibration data DB1 into the learned model stored in the memory 82, and acquires the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 as output data.

[0104] FIG. 21 shows an example of data DT including the first acceleration data DA1 (in other words, an example of data DT including the first acceleration data DA1 indicating 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).

[0105] In the example shown in FIG. 21, 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), which is the acceleration data of the diagnostic tool 9B in a direction perpendicular to the longitudinal 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 longitudinal direction of the diagnostic tool 9B. The second lateral acceleration data DAy is the acceleration data of the diagnostic tool 9B in the direction along the Y-axis perpendicular to both the longitudinal direction of the diagnostic tool 9B and the X-axis.

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

[0107] The diagnostic device 8 may diagnose the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 based on at least 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 when the diagnostic tool 9B is transferred between the tool changer 30 and the tool spindle 2 exceeds the first threshold value TH1, the diagnostic device 8 may determine that there is an alignment abnormality between the tool changer 30 and the tool spindle 2. Further, when both the peak value of the first lateral acceleration data DAx and the peak value of the second lateral acceleration data DAy when the diagnostic tool 9B is transferred between the tool changer 30 and the tool spindle 2 are equal to or less than the first threshold value TH1, the diagnostic device 8 may determine that there is no alignment abnormality between the tool changer 30 and the tool spindle 2.

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

[0109] Alternatively, or additionally, the diagnostic device 8 may analyze the vibration frequency of the diagnostic tool 9B in a direction parallel to the longitudinal 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. FIG. 22 shows the analysis result of the vibration frequency of the diagnostic tool 9B in a direction parallel to the longitudinal direction of the diagnostic tool 9B.

[0110] The diagnostic device 8 may diagnose the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 based on the analysis result of the vibration frequency.

[0111] In the example described in FIG. 22, due to the alignment abnormality between the tool changer 30 and the tool spindle 2, there are vibrations that are continuous in time series in a band with a frequency of about 40 Hz. FIG. 23 shows the state of vibration of the diagnostic tool 9B after the alignment between the tool changer 30 and the tool spindle 2 has been adjusted. In the example described in FIG. 23, the vibrations that are continuous in time series in the band with a frequency of about 40 Hz have substantially disappeared. In the examples described in FIGS. 22 and 23, the diagnostic device 8 can diagnose the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 by analyzing the vibration frequency of the diagnostic tool 9B at least in a direction parallel to the longitudinal direction of the diagnostic tool 9B.

[0112] In the examples described in FIGS. 15 to 20, the diagnostic device 8 can detect an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool spindle 2 at an early stage. For example, assume a case where the amount of misalignment between the tool transfer device 3 (more specifically, the tool changer 30) and the tool spindle 2 gradually increases due to changes over time or environmental changes. In this case, the diagnostic device 8 can detect a slight alignment abnormality at an early stage before the amount of misalignment reaches a level that causes machine downtime. Also, the user of the machine tool can avoid machine downtime by making a maintenance plan based on the diagnostic results obtained by the diagnostic device 8.

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

[0114] FIG. 21 shows an example of data DT including angular velocity data DC (in other words, an example of data DT including angular velocity data DC indicating 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 include first angular velocity data DCx which is the angular velocity data of the diagnostic tool 9B around the X axis. The angular velocity data DC may include second angular velocity data DCy which is the angular velocity data of the diagnostic tool 9B around the Y axis. Further, the angular velocity data DC may include third angular velocity data DCz which is the angular velocity data of the diagnostic tool 9B around the central axis AT of the diagnostic tool 9B.

[0116] The diagnostic device 8 may diagnose the presence or absence of an abnormality in the tool transfer device 3 (for example, the tool changer 30) based on at least the above-described angular velocity data DC. For example, the diagnostic device 8 may diagnose the degree of play between a plurality of components constituting the tool transfer device 3 based on at least 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 illustrated in FIG. 26, the above-described data DT may include angular velocity data DC indicating the angular velocity acting on the diagnostic tool 9B when the diagnostic tool 9B is swung around the second axis AX2 by the tool changer 30.

[0118] The diagnostic device 8 may diagnose the presence or absence of an abnormality in the tool changer 30 based on at least the above-described angular velocity data DC. For example, the diagnostic device 8 may diagnose the degree of play between the rotating shaft 37 that rotates together with the tool exchange arm 32 and the shaft support member 38 that supports the rotating shaft based on at least 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 the example described in FIG. 30, the diagnostic device 8 receives data DT indicating a physical quantity PV acting on the diagnostic tool 9B from the sensor 91 when the diagnostic tool 9B is transferred by the tool transfer device 3 (more specifically, the tool changer 30). The data DT includes second data DT2 indicating a physical quantity PV (for example, at least one of acceleration and vibration acting on the diagnostic tool 9B) 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. Further, the diagnostic device 8 diagnoses the presence or absence of an abnormality in the machine tool 100B by analyzing the second data DT2. The diagnostic device 8 may diagnose the presence or absence of an alignment abnormality (more specifically, whether the amount of misalignment between the tool changer 30 and the tool magazine 4 exceeds the allowable range) between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 by analyzing the second data DT2.

[0120] In the example described in FIG. 30, the above-described data DT (more specifically, the second data DT2) includes second acceleration data DA2 indicating 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-described data DT (more specifically, the second data DT2) may include second vibration data DB2 indicating 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 the example described in FIG. 30, the diagnostic device 8 diagnoses the presence or absence of an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 by analyzing the above-described second acceleration data DA2. Alternatively, or additionally, the diagnostic device 8 may diagnose the presence or absence of an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 by analyzing the above-described second vibration data DB2.

[0122] In the example described in FIG. 30, the above-described second acceleration data DA2 includes data of 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-described second acceleration data DA2 may include data of the acceleration acting on the diagnostic tool 9B when the diagnostic tool 9B is taken out from the tool magazine 4 to the tool transfer device 3. In the example described in FIG. 30, the above-described second vibration data DB2 includes data of 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-described second vibration data DB2 may include data of the vibration acting on the diagnostic tool 9B when the diagnostic tool 9B is taken out from the tool magazine 4 to the tool transfer device 3.

[0123] As illustrated in FIG. 32, the diagnostic device 8 may diagnose the presence or absence of 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. Also, 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 may be used to determine the presence or absence of the above alignment abnormality by the diagnostic device 8. For example, (1) at least one of the acceleration data and vibration data when the diagnostic tool 9B is transferred between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 is used as input data, and learning data with the presence or absence of an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 as output data is used to perform machine learning. (2) The learned model obtained by 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 second acceleration data DA2 and the above second vibration data DB2 into the learned model stored in the memory 82, and acquires the presence or absence of an alignment abnormality between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 as output data.

[0125] FIG. 21 shows an example of the data DT including the second acceleration data DA2 (more specifically, an example of the data DT including the second acceleration data DA2 indicating the acceleration acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred between the tool changer 30 and the tool magazine 4).

[0126] In the example described in FIG. 21, 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), which is the acceleration data of the diagnostic tool 9B in a direction perpendicular to the longitudinal direction of the diagnostic tool 9B.

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

[0128] The diagnostic device 8 may diagnose the presence or absence of an alignment abnormality between the tool changer 30 and the tool magazine 4 based on at least 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 when the diagnostic tool 9B is transferred between the tool changer 30 and the tool magazine 4 exceeds the third threshold value TH3, the diagnostic device 8 may determine that there is an alignment abnormality between the tool changer 30 and the tool magazine 4. Also, when both the peak value of the first lateral acceleration data DAx and the peak value of the second lateral acceleration data DAy when the diagnostic tool 9B is transferred between the tool changer 30 and the tool magazine 4 are equal to or less than the third threshold value TH3, the diagnostic device 8 may 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 diagnose the presence or absence of an alignment abnormality between the tool changer 30 and the tool magazine 4 based on at least the above-described axial acceleration data DAz. For example, when the peak value of the axial acceleration data DAz when the diagnostic tool 9B is transferred between the tool changer 30 and the tool magazine 4 exceeds the fourth threshold value, the diagnostic device 8 may 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 analyze the vibration frequency of the diagnostic tool 9B based on at least one of the above-described second acceleration data DA2 and the above-described second vibration data DB2. Also, the diagnostic device 8 may diagnose the presence or absence of an alignment abnormality between the tool changer 30 and the tool magazine 4 based on the analysis result of the vibration frequency.

[0131] In the examples described in FIGS. 30 and 32, 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, assume that the amount of misalignment between the tool transfer device 3 (more specifically, the tool changer 30) and the tool magazine 4 gradually increases due to changes over time or environmental changes. In this case, the diagnostic device 8 can detect a slight alignment abnormality at an early stage before reaching the amount of misalignment that causes a machine down. Also, the user of the machine tool can avoid a machine down by making a maintenance plan based on the diagnostic result by the diagnostic device 8.

[0132] (Execution of diagnostic program 829a) The diagnostic device 8 analyzes the data DT indicating 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-described first acceleration data DA1 and the above-described first vibration data DB1) indicating 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 analyze the second data DT2 (for example, at least one of the above-described second acceleration data DA2 and the above-described second vibration data DB2) indicating 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] Further, the diagnostic device 8 diagnoses the presence or absence of an abnormality in the machine tool 100B based on the analysis result of the above-described data DT by executing a diagnostic program 829a stored in the memory 82. For example, the diagnostic device 8 diagnoses the presence or absence of 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-described first data DT1 by executing the diagnostic program 829a stored in the memory 82. Alternatively, or additionally, the diagnostic device 8 may diagnose the presence or absence of 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-described second data DT2 by executing the diagnostic program 829a stored in the memory 82.

[0134] The diagnostic device 8 may calculate a maintenance recommended time for the machine tool 100B based on the change over time of the above-described data DT by executing a diagnostic program 829a stored in the memory 82. For example, the diagnostic device 8 may calculate a maintenance recommended time for the machine tool 100B based on the change over time of the first data DT1 indicating a physical quantity detected by the sensor 91 when the diagnostic tool 9B is transferred between the tool changer 30 and the tool spindle 2. Further, the diagnostic device 8 may calculate a maintenance recommended time for the machine tool 100B based on the change over time of the second data DT2 indicating a 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 the display program 829b) The diagnostic device 8 may cause the display device 84 to display the diagnostic result of the machine tool 100B by the diagnostic device 8 by executing a display program 829b stored in the memory 82.

[0136] In the example described in FIG. 33, the diagnostic device 8 causes the display device 84 to display the presence or absence of an abnormality in the machine tool 100B by executing the display program 829b stored in the memory 82. The diagnostic device 8 may cause the display device 84 to display a message MG1 indicating the presence or absence of an alignment abnormality between the tool spindle 2 and the tool changer 30. Alternatively, or additionally, the diagnostic device 8 may cause the display device 84 to display a message MG2 indicating the presence or absence of an alignment abnormality between the tool magazine 4 and the tool changer 30.

[0137] In the example described in FIG. 33, the diagnostic device 8 causes the display device 84 to display the maintenance recommended time (more specifically, the predicted time when the first alert is issued) of the machine tool 100B by executing the display program 829b stored in the memory 82. The diagnostic device 8 may calculate the maintenance recommended time of the machine tool 100B based on the change over time of the above-described first data DT1, and cause the display device 84 to display information IN1 indicating the calculated maintenance recommended time. Further, the diagnostic device 8 may calculate the maintenance recommended time of the machine tool 100B based on the change over time of the above-described second data DT2, and cause the display device 84 to display information IN2 indicating the calculated maintenance recommended time.

[0138] When the deviation of the data DT from the reference data stored in the memory 82 (more specifically, the data DT indicating the physical quantity PV acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3) exceeds the first allowable range and the deviation is within the second allowable range, the display device 84 may display a first alert WA1 (see FIG. 34). The first alert WA1 is, for example, an alert that prompts the operator to pay attention (in other words, a mild alert). When the deviation of the data DT from the reference data stored in the memory 82 (more specifically, the data DT indicating the physical quantity PV acting on the diagnostic tool 9B when the diagnostic tool 9B is transferred by the tool transfer device 3) exceeds the second allowable range, the display device 84 may display a second alert WA2 (see FIG. 35). The second alert WA2 is, for example, an alert that prompts contact with the machine tool manufacturer or the maintenance contractor (in other words, a more severe alert).

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

[0140] In the example shown in FIG. 11, 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 further 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 been described, repetitive descriptions thereof are omitted.

[0142] The control device 5 generates a control command by executing a machining program stored in a memory. Further, the control device 5 transmits the control command to a plurality of controlled devices (for example, the rotation drive device 25, the arm rotation device 35, the moving device 36, the holding unit moving device 45). As illustrated in FIG. 14, the control device 5 may include the above-described diagnostic device 8. For example, the control device 5 may include the above-described memory 82, the above-described arithmetic device 83 (for example, the processor 83a), the above-described display device 84, the above-described input device 85, and the above-described communication circuit 86.

[0143] In the example described in FIG. 14, the memory 82 may store a machining program 828. Further, the arithmetic device 83 may generate a control command by executing the machining program 828 stored in the memory 82. Alternatively, the control device 5 may have a second arithmetic device separate from the arithmetic device 83, and the second arithmetic device may execute the machining program. The control command generated by the arithmetic device 83 (or the second arithmetic device) is transmitted to a plurality of controlled devices (for example, the rotation drive device 25, the arm rotation device 35, the moving device 36, the holding unit moving device 45).

[0144] Alternatively, the diagnostic device 8 may be configured by a computer separate from the control device 5. In the example described in FIG. 36, the diagnostic device 8 is communicably connected to the control device 5. The control device 5 may include a second memory 52 that stores a machining program and the like, a second arithmetic device 53 (for example, the second processor 53a) that generates a control command by executing the machining program, and a second communication circuit 56 that transmits a control command CR to a plurality of controlled devices (for example, the rotation drive device 25, the arm rotation device 35, the moving device 36, the holding unit moving device 45). Further, the control device 5 may include a second input device 55 that receives an input from an operator and / or a second display 54 that displays various data.

[0145] (Diagnostic method for machine tool) With reference to FIGS. 1 to 37, a diagnostic method for a machine tool in the second embodiment will be described.

[0146] In the first step ST1, a diagnostic tool 9 having a sensor 91 is prepared (see FIGS. 7 or 13). The first step ST1 is a preparation step. The diagnostic tool 9 prepared in the preparation step is attachable to the tool spindle 2 (more specifically, the rotating body 21 of the tool spindle 2). Further, the diagnostic tool 9 prepared in the preparation step is transferable 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 step may be the diagnostic tool 9A in the first embodiment, the diagnostic tool 9B in the second embodiment, or other diagnostic tools. Since the diagnostic tool 9A in the first embodiment and the diagnostic tool 9B in the second embodiment have been described, repetitive descriptions of the diagnostic tools (9A, 9B) are omitted.

[0148] The diagnostic tool 9 prepared in the preparation step may 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 step. The transfer step may include transferring the diagnostic tool 9 by the tool changer 30.

[0150] As illustrated in FIGS. 12, 15, and 16, the transfer step may include a first transfer step of transferring the diagnostic tool 9 from the tool magazine 4 to the tool spindle 2. At least a part of the first transfer step is executed using the tool changer 30.

[0151] Alternatively, or additionally, as illustrated in FIGS. 24 to 31, the transfer step may include a second transfer step of transferring the diagnostic tool 9 from the tool spindle 2 to the tool magazine 4. At least a part of the second transfer step is executed using the tool changer 30.

[0152] In the third step ST3, a physical quantity PV acting on the diagnostic tool 9 is detected by the sensor 91. The third step ST3 is a detection step. In the detection step, when the diagnostic tool 9 is transferred by the tool transfer device 3, a physical quantity PV acting on the diagnostic tool 9 (for example, acceleration acting on the diagnostic tool 9, angular velocity acting on the diagnostic tool 9, vibration acting on the diagnostic tool 9, etc.) 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] The detection of the physical quantity PV by the sensor 91 may be started in response to the diagnostic tool 9 receiving a sensing start command from the diagnostic device 8. Also, the detection of the physical quantity PV by the sensor 91 may be ended in response to the diagnostic tool 9 receiving a sensing end command from the diagnostic device 8. The diagnostic device 8 may send a sensing start command to the diagnostic tool 9 before the transfer of the diagnostic tool 9 by the tool transfer device 3 is started. Also, the diagnostic device 8 may send a sensing end command 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 indicating the above-described physical quantity PV (for example, analog data or digital data) is transmitted to the diagnostic device 8. The fourth step ST4 is a data transmission step. In the data transmission step, data DT indicating the above-described physical quantity PV detected by the sensor 91 is transmitted from the sensor 91 to the diagnostic device 8 via the transmission circuit 95. The diagnostic device 8 stores the received data DT in the memory 82.

[0155] The transmission circuit 95 may transmit, in real time, data DT indicating the physical quantity PV detected by the sensor 91 to the diagnostic device 8.

[0156] Alternatively, after a series of detections of the physical quantity PV by the sensor 91 are completed, the transmission circuit 95 may transmit the data DT indicating the physical quantity PV to the diagnostic device 8. For example, the sensor 91 continuously executes the detection of the physical quantity PV acting on the diagnostic tool 9 from the reception of the sensing start command to the reception of the sensing end command. The detected physical quantity PV (in other words, the data DT indicating the physical quantity PV) is stored in the memory 97 of the diagnostic tool 9. Further, in response to the diagnostic tool 9 receiving the sensing end command, the transmission circuit 95 transmits the data DT indicating the physical quantity PV stored in the memory 97 to the diagnostic device 8.

[0157] Note that 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. Also, 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, the presence or absence of an abnormality in the machine tool 100 is diagnosed. The fifth step ST5 is a diagnostic process. In the diagnostic process, based on 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.) detected by the sensor 91 when the diagnostic tool 9 is transferred by the tool transfer device 3, the presence or absence of an abnormality in the machine tool 100A is diagnosed. More specifically, the diagnostic process includes: (1) the diagnostic device 8 receives, via the transmission circuit 95 or the memory 97, the data DT indicating 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; and (2) the diagnostic device 8 diagnoses the presence or absence of an abnormality in the machine tool 100 by analyzing the data DT. The diagnostic process may further include (3) the diagnostic device 8 causing the display device 84 to display the presence or absence of an abnormality in the machine tool 100.

[0159] The detection step (the third step ST3) may include detecting, by the sensor 91 of the diagnostic tool 9, a physical quantity PV (for example, acceleration acting on the diagnostic tool 9, angular velocity acting on the diagnostic tool 9, vibration acting on the diagnostic tool 9, etc.) acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred between the tool changer 30 and the tool spindle 2. Further, the diagnostic step (the fifth step ST5) may include: (1) the diagnostic device 8 receiving, via the transmission circuit 95 or the memory 97, from the sensor 91, first data DT1 indicating 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 (see, for example, FIGS. 16 and 19); and (2) the diagnostic device 8 diagnosing the presence or absence of an abnormality in the machine tool 100 by analyzing the first data DT1.

[0160] In the examples described in FIGS. 15 and 16, the detection step (the third step ST3) includes detecting, by the sensor 91 of the diagnostic tool 9, a physical quantity PV (for example, acceleration acting on the diagnostic tool 9, angular velocity acting on the diagnostic tool 9, vibration acting on the diagnostic tool 9, etc.) acting on the diagnostic tool 9 when the diagnostic tool 9 is attached to the tool spindle 2.

[0161] Also, in the example described in FIG. 16, the diagnostic step (the fifth step ST5) includes: (1) the diagnostic device 8 receiving, via the transmission circuit 95 or the memory 97, from the sensor 91, first data DT1 indicating the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is attached to the tool spindle 2; and (2) the diagnostic device 8 diagnosing the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 (more specifically, diagnosing whether or not the amount of misalignment between the tool changer 30 and the tool spindle 2 exceeds the allowable range) by analyzing the first data DT1.

[0162] The diagnosis process (fifth step ST5) may include: (1) the diagnostic device 8 receiving, from the sensor 91, first acceleration data DA1 indicating the acceleration acting on the diagnostic tool 9 when the diagnostic tool 9 is attached to the tool spindle 2; and (2) the diagnostic device 8 diagnosing the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 by analyzing the first acceleration data DA1. Alternatively, or additionally, the diagnosis process (fifth step ST5) may include: (1) the diagnostic device 8 receiving, from the sensor 91, first vibration data DB1 indicating the vibration acting on the diagnostic tool 9 when the diagnostic tool 9 is attached to the tool spindle 2; and (2) the diagnostic device 8 diagnosing the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 by analyzing the first vibration data DB1.

[0163] In the examples described in FIGS. 18 and 19, the detection process (third step ST3) includes the sensor 91 of the diagnostic tool 9 detecting a 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 from the tool spindle 2 to the tool changer 30.

[0164] Also, in the example described in FIG. 19, the diagnosis process (fifth step ST5) includes: (1) the diagnostic device 8 receiving, from the sensor 91 via the transmission circuit 95 or the memory 97, first data DT1 indicating 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 changer 30; and (2) the diagnostic device 8 diagnosing the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 (more specifically, diagnosing whether the amount of misalignment between the tool changer 30 and the tool spindle 2 exceeds the allowable range) by analyzing the first data DT1.

[0165] The diagnosis process (fifth step ST5) may include: (1) the diagnostic device 8 receiving, from the sensor 91, first acceleration data DA1 indicating the acceleration acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred from the tool spindle 2 to the tool changer 30; and (2) the diagnostic device 8 diagnosing the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 by analyzing the first acceleration data DA1 (see FIG. 21). Alternatively, or additionally, the diagnosis process (fifth step ST5) may include: (1) the diagnostic device 8 receiving, from the sensor 91, first vibration data DB1 indicating the vibration acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred from the tool spindle 2 to the tool changer 30; and (2) the diagnostic device 8 diagnosing the presence or absence of an alignment abnormality between the tool changer 30 and the tool spindle 2 by analyzing the first vibration data DB1.

[0166] As illustrated in FIGS. 26 and 27, the detection process (third step ST3) may include the sensor 91 of the diagnostic tool 9 detecting a 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 pivoted about the second axis AX2 by the tool changer 30.

[0167] Further, the diagnosis process (fifth step ST5) may include: (1) the diagnostic device 8 receiving, via the transmission circuit 95 or the memory 97, from the sensor 91, third data DT3 indicating a 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 pivoted about the second axis AX2; and (2) the diagnostic device 8 diagnosing the presence or absence of an abnormality in the machine tool 100 (for example, the diagnostic device 8 diagnosing the degree of play between the rotating shaft 37 that rotates with the tool changing arm 32 and the shaft support member 38 that supports the rotating shaft 37) by analyzing the third data DT3 (see FIG. 21).

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

[0169] Further, the diagnosis step (fifth step ST5) may include: (1) the diagnostic device 8 receiving, via the transmission circuit 95 or the memory 97, from the sensor 91, fourth data DT4 indicating a physical quantity PV (for example, acceleration acting on the diagnostic tool 9, angular velocity acting on the diagnostic tool 9, vibration acting on the diagnostic tool 9, etc.) acting on the diagnostic tool 9 when the diagnostic tool 9 is moved in a direction perpendicular to the second axis AX2; and (2) the diagnostic device 8 diagnosing the presence or absence of an abnormality in the machine tool by analyzing the fourth data DT4 (see FIG. 21) (for example, the diagnostic device 8 diagnosing the degree of play between components in a mechanism that linearly moves the tool change arm 32).

[0170] As illustrated in FIG. 30, the detection step (third step ST3) may include detecting, by the sensor 91 of the diagnostic tool 9, a physical quantity PV (for example, acceleration acting on the diagnostic tool 9, angular velocity acting on the diagnostic tool 9, vibration acting on the diagnostic tool 9, etc.) acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred between the tool changer 30 and the tool magazine 4.

[0171] Further, the diagnosis step (fifth step ST5) may include: (1) the diagnostic device 8 receiving, via the transmission circuit 95 or the memory 97, from the sensor 91, second data DT2 indicating a physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is transferred between the tool changer 30 and the tool magazine 4; and (2) the diagnostic device 8 diagnosing the presence or absence of an abnormality in the machine tool by analyzing the second data DT2 (more specifically, the diagnostic device 8 diagnosing the presence or absence of an alignment abnormality between the tool changer 30 and the tool magazine 4).

[0172] The diagnosis process (fifth step ST5) may include: (1) the diagnostic device 8 receiving, from the sensor 91, second acceleration data DA2 that acts on the diagnostic tool 9 when the diagnostic tool 9 is transferred between the tool changer 30 and the tool magazine 4; and (2) the diagnostic device 8 diagnosing the presence or absence of an alignment abnormality between the tool changer 30 and the tool magazine 4 by analyzing the second acceleration data DA2 (see FIG. 21). Alternatively, or additionally, the diagnosis process (fifth step ST5) may include: (1) the diagnostic device 8 receiving, from the sensor 91, second vibration data DB2 indicating the vibration that acts on the diagnostic tool 9 when the diagnostic tool 9 is transferred between the tool changer 30 and the tool magazine 4; and (2) the diagnostic device 8 diagnosing the presence or absence of an alignment abnormality between the tool changer 30 and the tool magazine 4 by analyzing the second vibration data DB2.

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

[0174] In the example described in FIG. 33, the diagnosis process (fifth step ST5) includes the diagnostic device 8 causing the display device 84 to display the presence or absence of an abnormality in the machine tool 100. The diagnostic device 8 may cause the display device 84 to display a message MG1 indicating the presence or absence of an alignment abnormality between the tool spindle 2 and the tool changer 30. Alternatively, or additionally, the diagnostic device 8 may cause the display device 84 to display a message MG2 indicating the presence or absence of an alignment abnormality between the tool magazine 4 and the tool changer 30.

[0175] The diagnostic device 8 may cause the display device 84 to display the maintenance recommended time of the machine tool 100 (more specifically, the expected time when the first alert is issued). The maintenance recommended time is calculated by the diagnostic device 8 based on the change over time of the above-mentioned data DT.

[0176] When the deviation of the data DT from the reference data stored in the memory 82 (more specifically, the data DT indicating the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is transported by the tool transfer device 3) exceeds the first allowable range and the deviation is within the second allowable range, the display device 84 may display a first alert WA1 (see FIG. 34). The first alert WA1 is, for example, an alert that prompts the operator to pay attention. When the deviation of the data DT from the reference data stored in the memory 82 (more specifically, the data DT indicating the physical quantity PV acting on the diagnostic tool 9 when the diagnostic tool 9 is transported by the tool transfer device 3) exceeds the second allowable range, the display device 84 may display a second alert WA2 (see FIG. 35). The second alert WA2 is, for example, an alert that prompts contact with the machine tool manufacturer or maintenance provider.

[0177] When an alert (for example, the first alert WA1 or the second alert WA2) notifying an abnormality of the machine tool 100 is displayed on the display device 84, the occurrence of the alert may be automatically notified to the machine tool manufacturer or maintenance provider. In this case, the machine tool manufacturer or maintenance provider receiving the notification can guide the user of the machine tool 100 on future countermeasures.

[0178] The diagnostic method of the machine tool in the second embodiment (more specifically, the above-described second step ST2 to fifth step ST5) is preferably executed when the workpiece is not being machined by the machine tool 100. The diagnostic method of the machine tool in the second embodiment (more specifically, the above-described second step ST2 to fifth step ST5) may be executed when the machine tool 100 is started up. The diagnostic method of the machine tool in the second embodiment (more specifically, the above-described second step ST2 to fifth step ST5) may be executed after the first workpiece is machined by the machine tool 100 and before the next workpiece is machined by the machine tool 100. The diagnostic method of the machine tool in 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 several tens of days.

[0179] The present invention is not limited to the above-described embodiments or each modification, and it is obvious that each embodiment or each modification can be appropriately deformed or changed within the scope of the technical idea of the present invention. Also, various techniques used in each embodiment or each modification are applicable to other embodiments or other modifications as long as no technical contradiction occurs. Furthermore, any additional configuration in each embodiment or each modification can be appropriately omitted.

Description of Reference Numerals

[0180] 2…Tool spindle, 3…Tool transfer device, 4…Tool magazine, 5…Control device, 6…Work support device, 8…Diagnostic device, 9, 9A, 9B…Diagnostic tool, 21…Rotating body, 23…Support body, 24…Bearing, 25…Rotary drive device, 25r…Rotor, 25s…Stator, 30…Tool changer, 31…Holder, 32…Tool change arm, 32a…First arm, 32b…Second arm, 33a…First gripping part, 33b…Second gripping part, 35…Arm rotating device, 36…Moving device, 36a…First moving device, 36b…Second moving device, 37…Rotating shaft, 38…Shaft support member, 41…Holding part, 45…Holding part moving device, 52…Second memory, 53…Second arithmetic unit, 53a…Second processor, 54…Second display, 55…Second input device, 56…Second communication circuit, 82…Memory, 83…Arithmetic unit, 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…Transmission circuit, 96…Receiving circuit, 97…Memory, 98…Battery, 99…Conductive wire, 100, 100A, 100B…Machine tool, 828…Processing program, 829…Program, 829a…Diagnostic program, 829b…Display program, 841…Touch panel display, B…Tool, CR…Control command, 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 time of the machine tool, MG1, MG2…Message, ND1, ND2, ND3…Reference data, W…Work, WA1…First alert, WA2…Second alert

Claims

1. A tool spindle capable of holding a diagnostic tool having a sensor, A tool transfer device provided separately from the tool spindle and capable of transferring the diagnostic tool, A diagnostic device that receives data indicating a physical quantity acting on the diagnostic tool when the diagnostic tool is transferred by the tool transfer device from the sensor and diagnoses the presence or absence of an abnormality in the machine tool by analyzing the data comprising A machine tool.

2. The data includes first data indicating 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 the presence or absence of an abnormality in the machine tool by analyzing the first data The machine tool according to claim 1.

3. The tool transfer device includes a tool changer, The data is First acceleration data indicating the acceleration acting on the diagnostic tool when the diagnostic tool is transferred between the tool changer and the tool spindle, and First vibration data indicating the vibration acting on the diagnostic tool when the diagnostic tool is transferred between the tool changer and the tool spindle including at least one of The diagnostic device diagnoses the presence or absence of 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 The machine tool according to claim 1.

4. The tool transfer device includes a tool changer, The data is First acceleration data indicating the acceleration acting on the diagnostic tool when the diagnostic tool is transferred between the tool changer and the tool spindle, and, First vibration data indicating vibration acting on the diagnostic tool when the diagnostic tool is transferred between the tool changer and the tool spindle including at least one of them; The diagnostic device diagnoses the presence or absence of 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. The machine tool according to claim 2.

5. The first acceleration data includes lateral acceleration data which is acceleration data of the diagnostic tool in a direction perpendicular to the longitudinal direction of the diagnostic tool, The diagnostic device diagnoses the presence or absence of the alignment abnormality based on at least the lateral acceleration data. The machine tool according to claim 3.

6. The first acceleration data includes axial acceleration data which is acceleration data of the diagnostic tool in a direction parallel to the longitudinal direction of the diagnostic tool, The diagnostic device diagnoses the presence or absence of the alignment abnormality based on at least the axial acceleration data. The machine tool according to any one of claims 3 to 5.

7. The diagnostic device analyzes the vibration frequency of the diagnostic tool in a direction parallel to the longitudinal direction of the diagnostic tool based on at least one of the first acceleration data and the first vibration data, The diagnostic device diagnoses the presence or absence of the alignment abnormality based on the analysis result of the vibration frequency. The machine tool according to any one of claims 3 to 5.

8. The data includes angular velocity data indicating the angular velocity 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 of the tool transfer device by analyzing the angular velocity data. The machine tool according to any one of claims 1 to 5.

9. Further comprising a tool magazine, The data is Second acceleration data indicating the acceleration acting on the diagnostic tool when the diagnostic tool is transferred between the tool transfer device and the tool magazine, and Second vibration data indicating the vibration acting on the diagnostic tool when the diagnostic tool is transferred between the tool transfer device and the tool magazine includes at least one of The diagnostic device diagnoses the presence or absence of 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 The machine tool according to any one of claims 1 to 5.

10. Further comprising a tool magazine, The data is Second acceleration data indicating the acceleration acting on the diagnostic tool when the diagnostic tool is transferred between the tool transfer device and the tool magazine, and Second vibration data indicating the vibration acting on the diagnostic tool when the diagnostic tool is transferred between the tool transfer device and the tool magazine includes at least one of The diagnostic device diagnoses the presence or absence of 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 The machine tool according to claim 8.

11. Further comprising a display device, The diagnostic device calculates a maintenance recommended time of the machine tool based on a change over time of the data, The diagnostic device causes the display device to display the maintenance recommended time The machine tool according to any one of claims 1 to 5.

12. further comprising a display device, when the deviation of the data from the reference data exceeds the first allowable range and is within the second allowable range, the diagnostic device causes the display device to display a first alert, when the deviation of the data from the reference data exceeds the second allowable range, the diagnostic device causes the display device to display a second alert The machine tool according to any one of claims 1 to 5.

13. A diagnostic tool transported by a tool transfer device of a machine tool to detect the presence or absence of an abnormality in the machine tool, 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 transported by the tool transfer device, at least one of a transmission circuit that transmits data indicating the physical quantity to a diagnostic device of the machine tool and a memory that stores data indicating the physical quantity and comprising Diagnostic tool.

14. comprising a receiving circuit that receives a sensing start command from the diagnostic device at a timing when the diagnostic tool is transported by the tool transfer device, The sensor starts detecting the physical quantity in response to receiving the sensing start command via the receiving circuit The diagnostic tool according to claim 13.

15. 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 The diagnostic tool according to claim 13 or 14.

16. 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. The diagnostic tool according to claim 13 or 14.

17. A step of preparing a diagnostic tool having a sensor, attachable to a tool spindle of a machine tool, and transferable 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. A step of diagnosing the presence or absence of 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. Comprising A diagnostic method for a machine tool.

Images