Control device and control method

Abstract

To provide a control device and a control method by which readjustment work of a cut material arrangement of a fixing device in a preparation domain is lessened when indicating an origin return of a manual operation mode.SOLUTION: A control device controls a machine tool which has a cover, a partition wall, a work bench, a pair of retainers, a mobile device, a bench detector and a machine main body. The control device acquires (S1) an origin return command to command an origin return against a restoration target which is a retainer selected from the pair of retainers of a machine tool devices. When the control device acquires an origin return command at S1, the controller drives the motor of a restoration target in the pair of retainers and executes an origin return of the restoration target (S9, S10).SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a control device and a control method. [Background technology]

[0002] A conventional machine tool comprises a cover, a machine body, a work table, and a partition wall. The cover houses the machine body, work table, and partition wall. The work table can be rotated around an axis parallel to the vertical direction by the power of a motor. The work table has a pair of fixing devices on its upper surface. The workpiece is fixed to one or both of the pair of fixing devices. The fixing devices can change the position of the workpiece relative to the work table by the power of a motor. The partition wall divides the interior of the cover into a preparation area and a machining area. The machine body is installed in the machining area. When one fixing device is in the preparation area, the other fixing device is in the machining area. The machine tool processes the workpiece fixed by the fixing device on the machine body side that is in the machining area. While the machine body is machining the workpiece, the machine tool can change the workpiece in the fixing device in the preparation area and adjust the position of the workpiece. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-52610 Summary of the Invention [Problem to be solved by the invention]

[0004] The control device that controls the above-mentioned machine tool performs origin return of the pair of clamping devices based on a command to perform origin return in manual operation mode. Even when the control device has already completed adjusting the position of the workpiece in the clamping device in the preparation area, the control device performs origin return of the clamping device in the preparation area in addition to the clamping device in the machining area based on a command to perform origin return in manual operation mode. Therefore, when the control device performs origin return in manual operation mode after completing adjustment of the position of the workpiece in the clamping device in the preparation area, the operator must again readjust the position of the workpiece, which is cumbersome.

[0005] The present invention aims to provide a control device and control method that can reduce the effort required to readjust the position of the workpiece of a fixing device in a preparation area when instructing to return to the origin in manual operation mode. [Means for solving the problem]

[0006] The control device of claim 1 of the present invention includes a cover surrounding the periphery of a machine body, a partition wall dividing the interior of the cover into a machining area and a preparation area, a work table provided below the partition wall, a pair of fixing devices provided on the work table for fixing a workpiece so that its position relative to the work table can be changed, a moving device for changing the position of the work table between a first position where one of the fixing devices is in the machining area and the other of the fixing devices is in the preparation area when the one of the fixing devices is in the preparation area, and a second position where the other of the fixing devices is in the machining area when the one of the fixing devices is in the preparation area, a table detection unit for outputting a detection result of the position of the work table, and a moving device for moving the work table between a first position where one of the fixing devices is in the machining area and the other of the fixing devices is in the machining area when the one of the fixing devices is in the preparation area. a control device for controlling a machine tool provided in a work area and including a machine main body for machining the workpiece fixed by the fixing device in the machining area, wherein the pair of fixing devices each have a motor and fix the workpiece so that its position on the work table can be changed by driving the motor, and the control device comprises: a command acquisition unit that acquires a return-to-origin command that commands a fixing device selected from the pair of fixing devices to return to its origin, and a return-to-origin execution unit that, when the command acquisition unit acquires the return-to-origin command, drives the motor of the fixing device of the pair of fixing devices to return the fixing device to its origin. The control device of claim 1 can execute return-to-origin only for the fixing device of the pair of fixing devices that is in the machining area when the fixing device that is the return target is in the preparation area. The control device is configured to prevent an operator from unintentionally moving the fixing device to the preparation area. In the area This also avoids the need for the existing fixing device to return to its original position, thereby reducing the effort required to readjust the position of the workpiece in the fixing device in the preparation area.

[0007] The machine tool controlled by the control device of claim 2 of the present invention further includes a door provided on at least one of the side surface of the cover and the partition wall, and a door detector that outputs the open / closed state of the door, and the origin return execution unit halts the execution of the origin return of the return target in accordance with the open / closed state of the door output by the door detector. The control device of claim 2 can reliably avoid executing the origin return of the return target in a situation where it is inappropriate to execute the origin return of the return target, based on the open / closed state of the door.

[0008] The table detection unit of the machine tool controlled by the control device of claim 3 of the present invention outputs the detection result when the work table is at the first position or the second position, and the origin return execution unit halts the execution of the return to origin of the return target when the detection result of the table detection unit has not been acquired when the command acquisition unit acquires the origin return command. The control device of claim 3 can prevent the execution of the return to origin of the return target when the detection result of the table detection unit has not been acquired and the work table is in the middle of movement between the first position and the second position.

[0009] The doors of the machine tool controlled by the control device of claim 4 of the present invention include an outer door provided on the preparation area side of the partition wall inside the cover, an inner door provided on the partition wall, and a side door extending in a direction intersecting the partition wall inside the cover, the door detector individually detects the open / closed states of the outer door, the inner door, and the side door, and when the return-to-origin execution unit is the fixed device located in the machining area, if the return-to-origin target is the fixed device located in the machining area, and the inner door, the side door, and the outer door output by the door detector are all in a closed state, and the detection result of the platform detection unit has not been acquired when the command acquisition unit acquires the return-to-origin command, the home position return execution unit executes the home position return of the pair of fixed devices when the conditions are met: the inner door, the side door, and the outer door are all in a closed state; and the detection result of the platform detection unit has not been acquired when the command acquisition unit acquires the return-to-origin command. The control device of claim 4 can regard the processing area and the preparation area as one continuous area and perform the origin return of the pair of fixed devices, even if the target to be returned is a fixed device located in the processing area, if the inner door, side door, and outer door output by the door detector are all in a closed state, and the detection result of the platform detection unit has not been obtained when the origin return command is obtained, is satisfied.

[0010] The control device of claim 5 of the present invention further includes a signal acquisition unit that acquires, for each of the pair of fixing devices, an OFF signal that permits driving of the motor and an ON signal that prohibits driving of the motor from an external device, and the origin return execution unit suspends execution of origin return of the return targets when at least one of the return targets has acquired the ON signal when the command acquisition unit acquires the origin return command. The control device of claim 5 can reliably avoid executing origin return for at least one of the return targets when an ON signal is acquired from an external device for at least one of the return targets.

[0011] The pair of fixing devices of the machine tool controlled by the control device of claim 6 of the present invention each include a turntable that changes the cutting surface of the workpiece by driving the motor, and the origin return execution unit drives the motor of the return target to return the return target to the origin when the command acquisition unit acquires the origin return command. The control device of claim 6 can execute the return of the return target turntable to the origin by driving the motor of the return target in response to acquisition of the origin return command.

[0012] A seventh aspect of the present invention provides a control method comprising: a cover surrounding a machine body; a partition wall separating the interior of the cover into a machining area and a preparation area; a work table provided below the partition wall; a pair of fixing devices provided on the work table for fixing a workpiece so that its position relative to the work table can be changed; a moving device for changing the position of the work table between a first position where one of the fixing devices is in the machining area and the other of the fixing devices is in the preparation area when the one of the fixing devices is in the machining area, and a second position where the other of the fixing devices is in the machining area when the one of the fixing devices is in the preparation area; a table detection unit for outputting a detection result of the position of the work table; A control method performed by a control device that controls a machine tool that includes the machine main body that processes the workpiece fixed by the fixing device located in a machining area, the pair of fixing devices each having a motor, and that fixes the workpiece so that its position relative to the work table can be changed by driving the motor, the control method comprising: a command acquisition step of acquiring an origin return command that commands a fixing device selected from the pair of fixing devices to return to an origin, and an origin return execution step of, when the origin return command is acquired in the command acquisition step, driving the motor of the fixing device selected from the pair of fixing devices to return the fixing device to its origin. A control device that executes the control method of claim 7 has the same effect as the control device of claim 1. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a perspective view of a machine tool 1. [Figure 2] FIG. 2 is a perspective view of the inside of the cover 3 of the machine tool 1. [Figure 3] FIG. 2 is a block diagram of the electrical configuration of the control device 50 and the machine tool 1. [Figure 4] Flow chart of the main process. [Figure 5] FIG. 10 is an explanatory diagram of the conditions and the results of returning to the origin in specific examples 1 to 17. DETAILED DESCRIPTION OF THE INVENTION

[0014] The configuration of machine tool 1 controlled by control device 50 will be described. In the following description, left and right, front and rear, and up and down directions will be used as indicated by arrows in the figure. The left and right directions, front and rear directions, and up and down directions of machine tool 1 correspond to the X-axis direction, Y-axis direction, and Z-axis direction of machine tool 1, respectively.

[0015] As shown in Figures 1 and 2, machine tool 1 comprises a base 2, a cover 3, a workbench 9, a pair of fixing devices 70 and 80, a moving device 90, and a machine body 8. Base 2 is located at the bottom of machine tool 1. Cover 3 is located at the top of base 2 and surrounds machine body 8 to prevent chips and cutting fluid from scattering to the surrounding area. Cover 3 comprises an outer door 56, a side door 57, an operation panel 17, a partition wall 60, and an inner door 64. Outer door 56 is located on the front of cover 3 and is movable left and right, opening and closing an opening 58 in the center of the front surface of cover 3. Figure 1 shows outer door 56 in an open position. Side door 57 is located on the right side of cover 3 and is movable forward and backward, opening and closing an opening 59 in the center of the right side of cover 3. Operation panel 17 is located to the right of outer door 56. Operation panel 17 is a vertically elongated rectangle when viewed from the front. Operation panel 17 has a display unit 19 in the upper half of its front surface and an input unit 18 in the lower half of its front surface. The display unit 19 is a vertically long rectangle when viewed from the front, and is an input device that can display various screens and input various information by pressing the screen display. The input unit 18 is equipped with various switches. The operation panel 17 accepts input of various operation instructions for the machine tool 1 via the display unit 19 and input unit 18. The partition wall 60 is a wall that extends left and right inside the cover 3, and divides the inside of the cover 3 into a machining area R1 and a preparation area R2. The machining area R1 is the area on the side of the partition wall 60 where the machine main body 8 is located. The preparation area R2 is the area on the side of the partition wall 60 where the outer door 56 is located. The inner door 64 is provided on the front of the partition wall 60 so as to be movable left and right, and opens and closes an opening 65 in the center of the partition wall 60.

[0016] The work table 9 is provided inside the cover 3, below the partition wall 60. The work table 9 extends parallel to the horizontal direction at the front of the upper surface of the base 2. The work table 9 is rectangular in plan view. A partition plate 95 extending perpendicular to the work table 9 is fixed to the upper surface of the work table 9. When the partition plate 95 faces left and right, the partition plate 95, together with the partition wall 60, divides the inside of the cover 3 into a processing area R1 and a preparation area R2. The work table 9 rotates around a vertical axis M.

[0017] The fixing devices 70 and 80 are removably mounted on the work table 9. The fixing devices 70 and 80 fix the workpiece so that its position can be changed relative to the work table 9. In FIG. 1, the pair of fixing devices 70 and 80 are removed from the work table 9. In FIG. 2, the fixing device 70 is located in the machining area R1, and the fixing device 80 is located in the preparation area R2. The fixing device 70 comprises a rotating table 71, a fixing device motor 72, an encoder 73 (see FIG. 3), a support unit 74, and a clamping unit 75. The rotating table 71 is a plate-like device that is long in the left-right direction. The fixing device motor 72 is a servo motor. The output shaft of the fixing device motor 72 is connected to one end of the rotating table 71. The support unit 74 is located spaced apart from the fixing device motor 72 on the left and right, and supports the other end of the rotating table 71. The clamping unit 75 is mounted on the top surface of the rotating table 71. The clamping unit 75 manually or automatically fixes or releases the workpiece using compressed air supplied by a compressor. The rotating table 71 is rotated about axis A1 by the drive of the fixing device motor 72, changing the cutting surface of the workpiece fixed to the rotating table 71. The fixing device 80 has a similar configuration to the fixing device 70, and comprises a rotating table 81, a fixing device motor 82, an encoder 83 (see Figure 3), a support unit 84, and a clamping unit 85. The rotating table 81 is rotated about axis A2 extending left and right by the drive of the fixing device motor 82, changing the cutting surface of the workpiece fixed to the rotating table 81.

[0018] The moving device 90 changes the position of the work table 9 between a first position and a second position. The first position shown in FIG. 2 is a position where the fixing device 70 is in the processing region R1 and the fixing device 80 is in the preparation region R2. The second position (not shown) is a position where the fixing device 70 is in the preparation region R2 and the fixing device 80 is in the processing region R1. The moving device 90 of this embodiment is equipped with a work table motor 92 (see FIG. 3), and changes the position of the work table 9 between the first position and the second position by rotating the work table 9 around the vertical axis M of the work table 9 using the power of the work table motor 92. When the work table 9 is in the first position or the second position, the axes A1 and A2 face left and right.

[0019] The machine body 8 is mounted on the upper part of the base 2 behind the workbench 9. It rotates the spindle 7, to which a tool is attached, to perform cutting on a workpiece fixed to a pair of fixing devices 70, 80 on the workbench 9. The machine body 8 comprises a pillar 5, a spindle head 6, the spindle 7, a movement mechanism 10, and an automatic tool changer 4 (hereinafter referred to as ATC 4). The pillar 5 is mounted on the base 2 so as to be movable in the forward / backward and left / right directions. The spindle head 6 is mounted on the pillar 5 so as to be movable up and down, and rotatably supports the spindle 7. The spindle 7 extends in the Z-axis direction and is rotated by the drive of a spindle motor 20 (see Figure 3). A tool holder is detachably attached to the spindle 7, and the tool holder is fixed and released according to the rotation angle of the ATC motor 25 (see Figure 3). The tool holder holds the tool.

[0020] The movement mechanism 10 movably supports the upright pillar 5. The movement mechanism 10 moves the upright pillar 5 in the X-axis direction by rotational driving of an X-axis motor 21 (see FIG. 3). The movement mechanism 10 moves the upright pillar 5 in the Y-axis direction by driving of a Y-axis motor 22 (see FIG. 3). The movement mechanism 10 moves the spindle head 6 in the Z-axis direction by driving of a Z-axis motor 23 (see FIG. 3).

[0021] By driving the X-axis motor 21, the Y-axis motor 22, and the Z-axis motor 23, the movement mechanism 10 can move the spindle head 6 relative to the work table 9 in the X-, Y-, and Z-axis directions, thereby moving the spindle 7. The machine tool 1 drives the spindle motor 20 to rotate the spindle 7, to which a tool is attached, thereby machining the workpiece.

[0022] The electrical configuration of the machine tool 1 will be described with reference to Figure 3. The machine tool 1 is equipped with a control device 50 for controlling the machine tool 1. The control device 50 is equipped with a CPU 51, ROM 52, RAM 53, storage device 54, and input / output interface 55. The CPU 51 performs overall control of the control device 50. The ROM 52 stores various programs. The various programs include a main control program for executing the main processing (see Figure 4) described below. The RAM 53 stores various data during processing. The storage device 54 is a non-volatile memory, and stores NC programs, etc. The NC programs include movement commands, machining commands, and tool change commands. The movement commands include the position coordinates of the spindle 7 and the movement speed of the spindle 7 between the position coordinates. The machining command includes the rotation speed of the spindle 7. The tool change command specifies the tool number of the tool to be attached to the spindle 7.

[0023] The input / output interface 55 is electrically connected to the input unit 18, display unit 19, spindle motor 20, X-axis motor 21, Y-axis motor 22, Z-axis motor 23, magazine motor 24, ATC motor 25, work table motor 92, fixing device motors 72 and 82, outer door detector 61, side door detector 62, inner door detector 63, encoders 30 to 35, 73 and 83, and platform detector 93. In response to an operator's operation, the input unit 18 can output an input signal including a return-to-home command (described later) to the input / output interface 55. The input / output interface 55 is connected to an external device K, and receives from the external device K an OFF signal that permits operation and an ON signal that prohibits operation for each of the pair of fixing devices 70 and 80. Operation refers to driving the fixing device motors 72 and 82.

[0024] The outer door detector 61 outputs the open / closed state of the outer door 56. The side door detector 62 outputs the open / closed state of the side door 57. The inner door detector 63 outputs the open / closed state of the inner door 64. The door detectors 61 to 63 are composed of limit switches or the like, and individually detect the open / closed states of the outer door 56, side door 57, and inner door 64. The encoder 30 is provided on the main shaft motor 20 and detects the rotation angle of the main shaft motor 20. The encoder 31 is provided on the X-axis motor 21 and detects the rotation angle of the X-axis motor 21. The encoder 32 is provided on the Y-axis motor 22 and detects the rotation angle of the Y-axis motor 22. The encoder 33 is provided on the Z-axis motor 23 and detects the rotation angle of the Z-axis motor 23. The encoder 34 is provided on the magazine motor 24 and detects the rotation angle of the magazine motor 24. The encoder 35 is provided on the ATC motor 25 and detects the rotation angle of the ATC motor 25. The platform detector 93 outputs a detection result when the work platform 9 is in the first position or the second position. The platform detector 93 is a proximity switch that detects a detection target (protrusion) provided on the work platform 9. The protrusion and platform detector 93 are arranged in a position where the platform detector 93 can detect when the work platform 9 is in the first position or the second position. The encoder 73 is provided on the fixing device motor 72 and detects the rotation angle of the fixing device motor 72. The encoder 83 is provided on the fixing device motor 82 and detects the rotation angle of the fixing device motor 82. Note that although the platform detector 93 is configured as the platform detection unit, an encoder may also be provided on the work platform motor 92, and whether the work platform 9 is in the first position or the second position may be detected based on the rotation angle of the work platform motor 92 detected by the encoder.

[0025] The main processing will be described using specific examples 1 to 17 with reference to FIGS. 4 and 5. When issuing a command to perform a return to the origin in the manual operation mode, the operator operates the input unit 18 to select one of the pair of fixtures 70 and 80 as the return target and input a return to origin command. The return target in the main processing of this embodiment is either the pair of fixtures 70 and 80 or a fixture located in the machining area R1. The fixture located in the machining area R1 is determined according to the position of the work table 9. As shown in FIG. 2, when the work table 9 is in the first position, the fixture located in the machining area R1 is fixture 70. When the work table 9 is in the second position, the fixture located in the machining area R1 is fixture 80. Upon receiving a return to origin command based on the input signal output by the input unit 18, the CPU 51 reads a program stored in the ROM 52 and starts the main processing. The CPU 51 performs the processing of specific examples 1 to 17 at different times, but for simplicity, the processing of specific examples 1 to 17 will be described in parallel below. When the operator presses the origin return command key provided on the input unit 18, the CPU 51 acquires the origin return command.

[0026] 5, the "outer door" column indicates when the outer door 56 is closed by "closed," and when the outer door 56 is open by "open." The "inner door, side door" column indicates when both the side door 57 and the inner door 64 are closed by "closed," and when at least one of the side door 57 and the inner door 64 is open by "open." The "workbench position" column indicates when the platform detector 93 has not yet output the detection result of the workbench position by "not acquired," and when the detection result has been output by "acquired." The "Operation Signal" column indicates when an OFF signal is being received from the external device K for both of the pair of fixtures 70 and 80 with "Both OFF," when an ON signal is being received from the fixture in the machining region R1 and an OFF signal is being received from the fixture in the preparation region R2 with "Machining Region ON," when an OFF signal is being received from the fixture in the machining region R1 and an ON signal is being received from the fixture in the preparation region R2 with "Preparation Region ON," and when an ON signal is being received from both of the pair of fixtures 70 and 80 with "Both ON." The "Origin Return" column indicates when origin return is being performed for both of the pair of fixtures 70 and 80 with "Both Execute," when origin return is being performed for the fixture in the machining region R1 with "Machining Region Execute," and when origin return of the target to be returned is canceled with "Cancel." The external device K may be, for example, a sequencer, a PLC (Programming Logic Controller), a switch, or the like.

[0027] As shown in FIG. 4, the CPU 51 acquires an origin return command based on an input signal output by the input unit 18, which commands a fixed device selected from the pair of fixed devices 70 and 80 to return to its origin (S1). The CPU 51 determines whether the return target of the origin return command is the pair of fixed devices 70 and 80 (S2). The return target in specific examples 1 to 8 is the pair of fixed devices 70 and 80 (S2: YES), and the CPU 51 determines whether the outer door 56, side door 57, and inner door 64 are all closed based on the detection results of the door detectors 61 to 63 (S3). In specific examples 1 to 5, the outer door 56, side door 57, and inner door 64 are all closed (S3: YES), and the CPU 51 determines whether an OFF signal is being received from the external device K for the return target (S8). The CPU 51 stores the signal received from the external device K in the storage device 54, which is a process executed separately from the main process. The CPU 51 performs S8 by referring to the storage device 54. In specific examples 1 and 2, an OFF signal is being received from the external device K for both of the pair of holding devices 70, 80 that are the return targets (S8: YES), and in response to receiving the origin return command in S1, the CPU 51 drives the holding device motors 72, 82 of the pair of holding devices 70, 80 that are the return targets, among the pair of holding devices 70, 80, to perform origin return of the pair of holding devices 70, 80 (S9). Specifically, the CPU 51 drives the holding device motors 72, 82 that are the return targets, to return the turntables 71, 81 of the pair of holding devices 70, 80 that are the return targets to the origin.

[0028] In specific examples 6 to 8, at least one of the outer door 56, the side door 57, and the inner door 64 is open (S3: NO), and the CPU 51 halts the execution of the return to origin of the pair of fixing devices 70, 80 that are the return targets, in accordance with the open / closed states of the outer door 56, the side door 57, and the inner door 64 output by the door detectors 61 to 63 (S11). The CPU 51 displays a warning that return to origin is not possible on the display unit 19. The CPU 51 may also display the reason why return to origin is not possible on the display unit 19 in S11. In specific examples 3 to 5, when the return to origin command is acquired in S1, at least one of the return targets has acquired an ON signal (S8: NO), and the CPU 51 halts the execution of the return to origin of the pair of fixing devices 70, 80 that are the return targets (S11).

[0029] In specific examples 9 to 17, the target for return is not a pair of fixing devices 70, 80 (S2: NO), so the CPU 51 determines whether the side door 57 and the inner door 64 are all closed based on the detection results of the door detectors 62, 63 (S4). In specific examples 15 and 16, at least one of the side door 57 and the inner door 64 is open (S4: NO), so the CPU 51 halts the execution of the return to origin of the fixing device 70 located in the processing area R1, which is the target for return, in accordance with the door open / close states output by the door detectors 61 to 63 (S11). In specific examples 9 to 14 and 17, the side door 57 and the inner door 64 are all closed (S4: YES), so the CPU 51 determines whether the outer door 56 is closed and the work table position has not yet been acquired from the platform detector 93 based on the detection results of the door detector 61 and the platform detector 93 (S5). The platform detector 93 outputs the platform position when the work platform 9 is in the first position or the second position, and does not output the platform position when the work platform 9 is in the middle of moving from the first position to the second position or from the second position to the first position.

[0030] In specific example 10, the outer door 56 is closed and the work table position has not yet been obtained from the table detector 93 (S5: YES), and the CPU 51 determines whether an OFF signal is being received from the external device K for the object to be returned to (S8). In specific example 10, an OFF signal is being received from the external device K for the object to be returned to (S8: YES), and in response to receiving the origin return command in S1, the CPU 51 drives the fixing device motors 72, 82 of the pair of fixing devices 70, 80 to return the pair of fixing devices 70, 80 to their origins (S9). As described above, when the target to be returned is the fixed device 70 located in the processing area R1 shown in Figure 2, if the conditions are met that the outer door 56, side door 57, and inner door 64 output by the door detectors 61 to 63 are all closed, and the detection result of the platform detector 93 has not been obtained when S1 obtains the return to origin command (S2: NO, S4: YES, S5: YES), the CPU 51 executes the return to origin of the pair of fixed devices 70, 80 (S9).

[0031] In specific examples 9, 11 to 14, and 17, the outer door 56 is closed and the condition that the work table position has not been acquired from the platform detector 93 is not met (S5: NO), so the CPU 51 determines whether the work table position has been acquired (S6).In specific example 17, the detection result of the platform detector 93 has not been acquired when the origin return command is acquired (S6: NO), so the CPU 51 cancels the execution of origin return for the return target (S11).

[0032] In specific examples 9, 11 to 14, the work table position has been acquired (S6: YES), and the CPU 51 determines whether an OFF signal is being acquired from the external device K for the return target (S7). In specific examples 9, 12, and 14, an OFF signal is being acquired from the external device K for the fixture 70 located in the machining area R1 that is the return target (S7: YES). When the CPU 51 acquires a return-to-origin command in S1, it drives the fixture motor 72 of the fixture 70 located in the machining area R1 that is the return target, of the pair of fixtures 70, 80, to execute return-to-origin for the return target (S10). In specific examples 11 and 13, when the return-to-origin command is acquired in S1, the fixture 70 located in the machining area R1 that is the return target has acquired an ON signal (S7: NO), so the CPU 51 cancels the execution of return-to-origin for the return target (S11). After any of S9 to S11, the CPU 51 ends the main processing.

[0033] In the above embodiment, the control device 50, machine tool 1, cover 3, machine body 8, workbench 9, partition wall 60, moving device 90, and platform detector 93 are examples of the control device, machine tool, cover, machine body, workbench, partition wall, moving device, and platform detector of the present invention, respectively. The fixing devices 70 and 80 are examples of a pair of fixing devices of the present invention. The rotating tables 71 and 81 are examples of the rotating tables of the present invention. The fixing device motors 72 and 82 are examples of the motors of the present invention. The machining area R1 and the preparation area R2 are examples of the machining area and the preparation area of ​​the present invention, respectively. The outer door 56, the side door 57, and the inner door 64 are examples of the outer door, the side door, and the inner door of the present invention, respectively. The door detectors 61 to 63 are examples of the door detector of the present invention. The input / output interface 55 is an example of a signal acquisition unit of the present invention. The CPU 51 that performs S1 is an example of a command acquisition unit of the present invention. The CPU 51 that performs S9 and S10 is an example of an origin return execution unit of the present invention.

[0034] The control device 50 of the above embodiment controls a machine tool 1 including a cover 3, a partition wall 60, a work table 9, a pair of fixing devices 70 and 80, a moving device 90, a table detector 93, and a machine body 8. The cover 3 is box-shaped and surrounds the machine body 8. The partition wall 60 divides the interior of the cover 3 into a machining area R1 and a preparation area R2. The pair of fixing devices 70 and 80 are installed on the work table 9, and are located below the partition wall 60, and fix a workpiece so that its position relative to the work table 9 can be changed. The moving device 90 changes the position of the work table 9 between a first position where one fixing device is in the machining area R1 and the preparation area R2 when the other fixing device is in the preparation area R2, and a second position where the other fixing device is in the machining area R1 when the other fixing device is in the preparation area R2. The table detector 93 outputs the detection result of the position of the work table 9. The machine main body 8 is provided in the machining area R1, and machines a workpiece fixed by a fixing device located in the machining area R1. The pair of fixing devices 70, 80 each have fixing device motors 72, 82, and fix the workpiece so that the position relative to the work table 9 can be changed by driving the fixing device motors 72, 82. The CPU 51 of the control device 50 acquires an origin return command that commands a fixing device selected from the pair of fixing devices 70, 80 to return to the origin as a return target (S1). When the origin return command is acquired in S1, the CPU 51 drives the fixing device motors 72, 82 of the fixing device selected from the pair of fixing devices 70, 80 to return the returning target to the origin (S9, S10). When the returning target is a fixing device located in the machining area R1 (S2: NO), the control device 50 can only execute origin return for the fixing device located in the machining area R1 out of the pair of fixing devices 70, 80. The control device 50 controls the preparation area R 2 to This also avoids the need for the existing fixture to return to its origin, reducing the effort required to readjust the position of the workpiece in the fixture in the preparation area R2.

[0035] The control device 50 controls the machine tool 1, which further includes an outer door 56, a side door 57, and an inner door 64 provided on at least one of the side surface of the cover 3 and the partition wall 60, and door detectors 61-63 that output the open / closed states of the outer door 56, the side door 57, and the inner door 64. The CPU 51 halts the execution of the return to origin of the return target (S11) in accordance with the open / closed states of the outer door 56, the side door 57, and the inner door 64 output by the door detectors 61-63 (S3: NO, S4: NO). The control device 50 can reliably avoid executing the return to origin of the return target in a situation where it is inappropriate to execute the return to origin of the return target, based on the open / closed states of the doors.

[0036] The platform detector 93 of the machine tool 1 controlled by the control device 50 outputs a detection result when the work platform 9 is at the first position or the second position. When the CPU 51 receives the origin return command in S1 and the detection result of the platform detector 93 has not yet been obtained (S6: NO), the CPU 51 halts the execution of the origin return of the return target (S11). The control device 50 can prevent the execution of the origin return of the return target when the detection result of the platform detector 93 has not yet been obtained and the work platform 9 is in the middle of movement between the first position and the second position.

[0037] Machine tool 1 controlled by control device 50 has an outer door 56 provided on the preparation area R2 side of partition wall 60 inside cover 3, an inner door 64 provided on partition wall 60, and a side door 57 extending in a direction intersecting partition wall 60 inside cover 3. Door detectors 61-63 of machine tool 1 individually detect the open / closed states of outer door 56, inner door 64, and side door 57. When the target to be returned is a fixed device located in machining area R1 (S2: NO), CPU 51 executes return to origin of a pair of fixing devices 70, 80 (S9) if the conditions are met that the inner door 64, side door 57, and outer door 56 output by door detectors 61-63 are all closed and that the detection result of platform detector 93 has not yet been obtained when the return to origin command was obtained in S1 (S4: YES or S5: YES). Even if the target to be returned is a fixed device located in the processing area R1, if the inner door 64, side door 57, and outer door 56 output by the door detectors 61 to 63 are all in a closed state, and the detection result of the platform detector 93 has not been obtained when the return to origin command is obtained in S1 (S4: YES or S5: YES), the control device 50 can regard the processing area R1 and the preparation area R2 as one continuous area and return the pair of fixed devices 70, 80 to their origins.

[0038] The control device 50 has an input / output interface 55 that receives from the external device K an OFF signal that permits driving of the holding device motors 72, 82 and an ON signal that prohibits driving of the holding device motors 72, 82 for each of the pair of holding devices 70, 80. When the CPU 51 receives the origin return command in S1, if at least one of the return targets has received an ON signal (S8: NO or S7: NO), it halts the execution of origin return of the return targets (S11). The control device 50 can reliably avoid executing origin return for the return targets when it receives an ON signal for at least one of the return targets from the external device K.

[0039] A pair of holding devices 70, 80 of machine tool 1 controlled by control device 50 each include a turntable 71, 81 that changes the cutting surface of a workpiece by driving holding device motors 72, 82. When CPU 51 acquires an origin return command in S1, it drives the holding device motors 72, 82 to be returned to the origin of the turntables 71, 81 to be returned to the origin. In response to acquiring the origin return command, control device 50 can execute origin return for the turntables 71, 81 to be returned to the origin by driving the holding device motors 72, 82 to be returned to the origin.

[0040] The control device and control method of the present invention can be modified in various ways in addition to the above-described embodiments. The present invention may be applied to a category other than the control device, such as the control program for the machine tool 1 and a storage medium storing the control program. The control device 50 may be the same device as the machine tool 1, or a different device. The control device 50 may be the same device as the external device K, or a different device. The configuration of the machine tool 1 may be modified as appropriate. The machine tool 1 may be capable of mounting only one type of tool. The machine tool 1 may not have at least one of the outer door 56, side door 57, and inner door 64, or may have a door other than the outer door 56, side door 57, and inner door 64. The machine tool 1 may not have at least one of the door detectors 61-63, or may have a door detector that detects the open / closed state of a door other than the outer door 56, side door 57, and inner door 64. The opening and closing method of each door may be modified as appropriate. The moving device 90 may move the work platform 9 parallel to a first position and a second position. The platform detector 93 may be capable of detecting the position of the worktable 9 when it is between the first position and the second position. The platform detector 93 may detect the position of the worktable 9 mechanically or optically. The control device 50 may acquire, as the position of the worktable 9, coordinate values ​​indicating the position of the worktable 9 stored in the memory device 54 based on the output value to the worktable motor 92, instead of the detection result of the platform detector 93. The fixing devices 70, 80 may have the same configuration as each other or different configurations. The fixing devices 70, 80 only need to have a motor and fix the workpiece so that its position relative to the worktable 9 can be changed by driving the motor. The fixing devices 70, 80 may be capable of moving the position of the workpiece parallel to the worktable 9 by driving the fixing device motors 72, 82, or may be capable of rotating the workpiece around an axis intersecting the worktable 9. The machine tool 1 is only required to have at least one pair of fixing devices 70, 80, and may also have three or more fixing devices arranged on the worktable 9.

[0041] The program for the control device 50 to perform control processing may be stored in the storage device 54 of the control device 50 before the CPU 51 executes the program. Therefore, the program acquisition method, acquisition path, and device storing the program may each be changed as appropriate. The program executed by the CPU 51 may be received from another device via a cable or wireless communication and stored in a storage device such as a flash memory. The other device may include, for example, a PC and a server connected via a network.

[0042] Some or all of the processing performed by the control device 50 may be performed by an electronic device (e.g., an ASIC) separate from the CPU 51. The processing performed by the control device 50 may be distributed among multiple electronic devices (e.g., multiple CPUs). The order of each step of the processing performed by the control device 50 can be changed, steps can be omitted, or steps can be added as necessary. The scope of the present invention also includes an embodiment in which an operating system (OS) running on the control device 50 performs some or all of each process in response to instructions from the CPU 51. For example, the following modifications may be made to the above embodiment as appropriate.

[0043] The control device 50 does not need to cancel the origin return in response to the acquisition of the origin return command. The control device 50 may execute the origin return without canceling it depending on the open / closed state of the outer door 56, side door 57, and inner door 64. The control device 50 may execute the origin return without canceling it if the detection result of the platform detector 93 has not yet been acquired when the origin return command is acquired. When the return target is a fixed device located in the machining area R1, the control device 50 may cancel the origin return if the detection result of the platform detector 93 has not yet been acquired when the return target is acquired in S1. The input / output interface 55 of the control device 50 does not need to receive an ON / OFF signal from the external device K. In this case, the control device 50 does not need to determine whether to cancel the execution of the origin return of the return target in response to a signal from the external device K. The control device 50 may cancel the return of the return target to the origin when the return target is a pair of fixed devices 70, 80 and the position of the work table 9 has not yet been acquired. The control device 50 may perform the process of S5 by determining whether the work table 9 is at the first position or the second position based on coordinate values ​​indicating the position of the work table 9, instead of the detection result of the table detector 93. The control device 50 may be able to select a fixing device in the preparation area R2 as the return target. [Explanation of symbols]

[0044] 1: Machine tool 3: Cover 8: Machine body 9: Workbench 50: Control device 51: CPU 55: Input / output interface 56:Outer door 57: Side door 60: Partition wall 61~63: Door detector 64: Inner door 70, 80: Fixed device 71, 81: Rotating table 72, 82: Fixed device motor 90: Mobile device 93: Platform detector K: External device R1: Machining area R2: Preparation area

Claims

1. A cover that surrounds the machine body; a partition wall that divides the interior of the cover into a processing area and a preparation area; a workbench provided below the partition wall; a pair of fixing devices provided on the work table for fixing a workpiece so that its position relative to the work table can be changed; a moving device that changes the position of the work table between a first position where one of the fixing devices is in the processing area and the other of the fixing devices is in the preparation area and a second position where the other of the fixing devices is in the processing area when the one of the fixing devices is in the preparation area; a platform detector that outputs a detection result of the position of the work platform; the machine body that is provided in the processing area and processes the workpiece fixed by the fixing device in the processing area; A control device for controlling a machine tool comprising: each of the pair of fixing devices has a motor, and fixes the workpiece so that its position relative to the work table can be changed by driving the motor; a command acquisition unit that acquires a return-to-origin command that commands a return target, which is a fixed device selected from the pair of fixed devices, to return to the origin; a return-to-origin execution unit that, when the command acquisition unit acquires the return-to-origin command, drives the motor of the return target of the pair of fixing devices to execute return of the return target to the origin; Equipped with the platform detection unit outputs the detection result when the work platform is at the first position or the second position; The control device is characterized in that the origin return execution unit cancels the execution of the origin return of the return target when the detection result of the platform detection unit has not been acquired when the command acquisition unit acquires the origin return command specifying the pair of fixing devices or the fixing device located in the processing area as the return target.

2. The machine tool controlled by the control device includes: a door provided on at least one of a side surface of the cover and the partition wall; a door detector that outputs an open / closed state of the door; The control device according to claim 1, characterized in that when the command acquisition unit acquires the origin return command specifying the pair of fixing devices or the fixing device located in the processing area as the return target, the origin return execution unit suspends the execution of the origin return of the return target in accordance with the open / closed state of the door output by the door detector.

3. A cover that surrounds the machine body; a partition wall that divides the interior of the cover into a processing area and a preparation area; a workbench provided below the partition wall; a pair of fixing devices provided on the work table for fixing a workpiece so that its position relative to the work table can be changed; a moving device that changes the position of the work table between a first position where one of the fixing devices is in the processing area and the other of the fixing devices is in the preparation area and a second position where the other of the fixing devices is in the processing area when the one of the fixing devices is in the preparation area; a platform detector that outputs a detection result of the position of the work platform; the machine body that is provided in the processing area and processes the workpiece fixed by the fixing device in the processing area; A control device for controlling a machine tool comprising: each of the pair of fixing devices has a motor, and fixes the workpiece so that its position relative to the work table can be changed by driving the motor; a command acquisition unit that acquires a return-to-origin command that commands a return target, which is a fixed device selected from the pair of fixed devices, to return to the origin; a return-to-origin execution unit that, when the command acquisition unit acquires the return-to-origin command, drives the motor of the return target of the pair of fixing devices to execute return of the return target to the origin; Equipped with The machine tool controlled by the control device includes: a door provided on at least one of a side surface of the cover and the partition wall; a door detector that outputs an open / closed state of the door; the door includes an outer door provided on the preparation area side of the partition wall inside the cover, an inner door provided on the partition wall, and a side door extending in a direction intersecting the partition wall inside the cover, the door detector detects the open / closed states of the outer door, the inner door, and the side door individually; The control device is characterized in that, when the return target is the fixed device located in the processing area, the origin return execution unit executes the origin return of the pair of fixed devices when the conditions that the inner door, the side door, and the outer door output by the door detector are all closed and the detection result of the platform detection unit has not been acquired when the command acquisition unit acquires the origin return command are met.

4. a signal acquisition unit configured to acquire, from an external device, an OFF signal that permits driving of the motor and an ON signal that prohibits driving of the motor, for each of the pair of fixing devices; The control device according to any one of claims 1 to 3, characterized in that when the command acquisition unit acquires the origin return command specifying the pair of fixing devices or the fixing device located in the processing area as the return target, if at least one of the return targets acquires the ON signal, the origin return execution unit cancels the execution of the return of the return target.

5. each of the pair of fixing devices includes a rotating table that changes the cutting surface of the workpiece by driving the motor; The control device according to any one of claims 1 to 4, characterized in that when the command acquisition unit acquires the origin return command, the origin return execution unit drives the motor of the object to be returned to the origin of the rotating table of the object to be returned.

6. A cover that surrounds the machine body; a partition wall that divides the interior of the cover into a processing area and a preparation area; a workbench provided below the partition wall; a pair of fixing devices provided on the work table for fixing a workpiece so that its position relative to the work table can be changed; a moving device that changes the position of the work table between a first position where one of the fixing devices is in the processing area and the other of the fixing devices is in the preparation area and a second position where the other of the fixing devices is in the processing area when the one of the fixing devices is in the preparation area; a platform detector that outputs a detection result of the position of the work platform; the machine body that is provided in the processing area and processes the workpiece fixed by the fixing device in the processing area; Equipped with a control method performed by a control device that controls a machine tool in which the pair of fixing devices each have a motor and fixes the workpiece so that its position relative to the work table can be changed by driving the motor, a command acquisition step of acquiring a return-to-origin command for instructing a return target, which is a fixing device selected from the pair of fixing devices, to return to the origin; an origin return execution step of driving the motor of the object to be returned out of the pair of fixing devices when the origin return command is acquired in the command acquisition step, and executing the origin return of the object to be returned; Equipped with the platform detection unit outputs the detection result when the work platform is at the first position or the second position; In the origin return execution process, when the origin return command for the pair of fixing devices or the fixing device located in the processing area as the return target is acquired in the command acquisition process, if the detection result of the platform detection unit has not been acquired, the execution of the origin return of the return target is stopped.

7. A cover surrounding the machine body; a partition wall that divides the interior of the cover into a processing area and a preparation area; a workbench provided below the partition wall; a pair of fixing devices provided on the work table for fixing a workpiece so that its position relative to the work table can be changed; a moving device that changes the position of the work table between a first position where one of the fixing devices is in the processing area and the other of the fixing devices is in the preparation area and a second position where the other of the fixing devices is in the processing area when the one of the fixing devices is in the preparation area; a platform detector that outputs a detection result of the position of the work platform; the machine body that is provided in the processing area and processes the workpiece fixed by the fixing device in the processing area; Equipped with a control method performed by a control device that controls a machine tool in which the pair of fixing devices each have a motor and fixes the workpiece so that its position relative to the work table can be changed by driving the motor, a command acquisition step of acquiring a return-to-origin command for instructing a return target, which is a fixing device selected from the pair of fixing devices, to return to the origin; an origin return execution step of driving the motor of the object to be returned out of the pair of fixing devices when the origin return command is acquired in the command acquisition step, and executing the origin return of the object to be returned; Equipped with The machine tool controlled by the control device includes: a door provided on at least one of a side surface of the cover and the partition wall; a door detector that outputs an open / closed state of the door; the door includes an outer door provided on the preparation area side of the partition wall inside the cover, an inner door provided on the partition wall, and a side door extending in a direction intersecting the partition wall inside the cover, the door detector detects the open / closed states of the outer door, the inner door, and the side door individually; In the origin return execution step, when the return target is the fixed device located in the processing area, if the inner door, the side door, and the outer door output by the door detector are all in a closed state, and the detection result of the platform detection unit has not been acquired when the origin return command is acquired in the command acquisition step, the origin return of the pair of fixed devices is executed.

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