Machine having at least one machine axis and a multi-instrument carrier

Abstract

In a machine (2) or a method for operating a machine (2) having at least one adjustable machine axis (X, Y, Z, B, C) and having a multi-instrument carrier (R) carrying at least a first instrument (T1) and a second instrument (T2), the first instrument (T1) is intended to be used to carry out a first process relating to an object (16) and then the second instrument (T2) is intended to be used to carry out a second process relating to the object (16). Between the two processes, a position of the multi-instrument carrier (R) relative to the object (16) at least in a time range is changed by means of the adjustable machine axis (X, Y, Z, B, C) and at the same time the first instrument (T1) is moved from an active pose into a passive pose and the second instrument (T2) is moved from a passive pose into an active pose, instrument changing movements of the instruments (T1, T2) and the displacement movement of the machine axis (X, Y, Z, B, C) being determined in such a way that they are carried out at least substantially simultaneously and require the same period of time. This shortens the time required for the processes and saves energy.

Description

[0001] Description

[0002] Machine with at least one machine axis and a multiple instrument carrier

[0003] The invention relates to a machine and a method for operating a machine having at least one adjustable machine axis and having a multiple instrument carrier carrying at least a first and a second instrument, wherein a first process relating to an object is carried out successively by means of the first instrument and a second process relating to the object is carried out successively by means of the second instrument.

[0004] On machine tools with tool spindles, e.g., milling machines or lathes, machining and usually also the flow of movement must be interrupted to change the tool. Usually, one tool in the tool spindle, e.g., a milling cutter on a milling machine, is used to machine as much as possible and in a cost-effective manner, depending on the tool type used. However, the use of a tool for different machining operations also has its limitations. A drill with a certain drill diameter can only be used to machine a very specific hole diameter, and a milling cutter with a certain diameter can produce holes of different diameters, as long as this makes economic sense, particularly in accordance with the ratio of milling cutter diameter to hole diameter.

[0005] If the tool currently used in the machine tool is no longer suitable for the desired machining operation or is already worn out, it is usually replaced, or more specifically, swapped, fully automatically with another one. The following concepts exist for replacing one tool with another in machine tools and robots, among others:

[0006] A) The tool spindle of the machine tool moves, for example, through appropriately controlled movements of three linear axes of the machine into the magazine, e.g. plate magazine, magazine wheel, chain magazine or area magazine, places the tool currently in the spindle, moves to the next tool and picks up the next tool in the spindle. The tool previously intended for machining the workpiece is therefore exchanged or replaced with another one. B) The spindle moves, for example, through appropriately controlled movements of three linear axes of the machine to a predefined, usually always the same position (tool change position or point) and the tool can be exchanged using a gripper (e.g. single or double gripper) or a robot. Here, too, a tool is removed from the spindle and replaced with another.

[0007] C) The "spindle" is a so-called multiple spindle, e.g., a tool turret, in which several individual spindles are combined into a single unit. At least two of these spindles each contain a tool. These can be used sequentially, with unused or inactive tools, and preferably also the workpiece, being included in the collision analysis. Therefore, there is no tool swap in the sense that a tool is removed from one spindle and replaced by another.

[0008] Sometimes there are also combinations of the above-mentioned concepts for replacing tools.

[0009] These different concepts also exist to a greater or lesser extent in machine tools where the tool is "stationary," i.e., maintains its position during machining, while the workpiece moves instead, e.g., in special lathes. Furthermore, the aforementioned different concepts can also be implemented in certain robots, which can also perform machining operations and are thus also considered machine tools within the meaning of the invention.

[0010] If one tool is replaced by another on a machine tool with a multiple tool holder, e.g. a tool turret, this involves two processes: firstly, the active tool is "redefined". If, for example, the tool T1 used previously is to be replaced by a different tool T2 for the subsequent machining operation, this is indicated by a corresponding command in the machining program (e.g. "T = T2" or "T = MILLING CUTTER D1") and a tool reference point used when programming the tool path movement, in particular the so-called "TCP" (Tool Center Point), "jumps" from the tip of the tool T1 used previously to the tip of the tool T2 used subsequently. The "jump of the TCP" is triggered, for example, by the new tool or tool center.

[0011] Cutting edge selection is achieved, for example, by the corresponding program instruction. Once the TCP has been "redefined" for the new tool, work can continue with the new active tool. All subsequent movement or path instructions then refer to the new tool, especially the TCP of the new tool.

[0012] On the other hand, when one tool is replaced by another in conjunction with a multiple tool carrier, the tools are realigned. In conjunction with a tool turret, this means a rotational movement of the tool turret through a specific angle around a tool turret axis. This movement (tool change movement) usually occurs in such a way that, at the end of the movement, the new tool assumes the same position and / or orientation (pose) previously held by the old (previous) tool. The previously active (old) tool is thus pivoted into a rest position or passive position or passive pose, and another, subsequently used (new) tool is pivoted from a rest position to an active position or active pose.

[0013] Robots designed as machine tools typically operate in a similar way to milling machines. For example, various tools are stored in a surface magazine from which the robot can remove them and insert them into the robot's tool holder.

[0014] In machine tools, e.g. milling or turning machines or robots, the machining of the workpiece and the flow of movement must be interrupted to replace the tool.

[0015] If a previously active (“old”) tool on a machine tool is to be replaced by a different (“new”) tool, machining is first stopped. Relevant axes then move the tool to a defined position, the tool exchange or tool change position, and at this position the current tool is replaced by another tool, which is to be used for subsequent machining of the workpiece. The axes involved usually move the tool to positions that are far enough away from the workpiece to avoid collisions when replacing the tool, but also to create free space around the tool so that it can be grasped with grippers and, for example, pulled out of the spindle or to rotate the rotational axis (round axis) around which the tools are arranged (turret, planetary tool head, etc.) without causing collisions.

[0016] Removing the tool from the workpiece, replacing the tool, and moving the new tool to the workpiece all cost time and energy. This time is considered "non-productive time," during which the machine in question is not active, i.e., is not directly machining the workpiece. Machining is more cost-effective the shorter the non-productive time. In the current situation, however, not only is reducing non-productive time becoming an increasingly important factor, but the associated energy consumption is also becoming increasingly important. Shorter non-productive time generally results in a shorter machining time for the entire operation, and thus in lower overall energy consumption by the machine.

[0017] The processes mentioned occur not only in connection with machine tools, but also in many other fully automated processes, procedures, systems, etc., in which different instruments (tools, grippers, actuators, effectors, etc.) are used within a "workspace". This could be, for example, a robot that has a planetary tool head with drill bits of different diameters on its robot arm, so that it can create through holes of different thicknesses for rivets on an aircraft skin. This could be, for example, a system that uses paint spray nozzles of different sizes to paint a child's birthday cake with a previously ordered, personalized favorite motif. This could also be, for example, a medical device, in particular a surgical robot, which uses different medical instruments to treat a patient.All of these fully automatic machines have one thing in common: they perform a “TCP path movement” with the active instrument, in which a TCP (Tool Center Point) of an instrument is moved along a predetermined path curve (trajectory).

[0018] Ideally, the machine operator would like to be able to define the path movement in the same way every time, regardless of the dimensions of the active instrument. This means that the dimensions of the active instrument must be automatically taken into account by the control system. As a rule, the trajectories to be executed by the instrument are therefore programmed for a specific reference point, such as the TCP. This is state of the art today. Changing or transitioning from one instrument to another (instrument change, instrument swap, instrument replacement) interrupts machining and generates additional, unwanted movements (secondary movements) in addition to the actually desired path, during which the instrument is "active" and executes the process intended for the instrument (machining, handling, etc.).

[0019] If, due to the use of a multiple instrument carrier, instruments do not have to be exchanged for an instrument replacement, in particular they do not have to be removed from the machine, the replacement of one instrument by another is carried out by determining the new active instrument and, with it, setting the previously active instrument as inactive (passive), as well as an instrument changing movement, through which the new instrument usually assumes the same position or pose that the previous (“old”) instrument had previously occupied.

[0020] For safety reasons, the selection ("redefinition") of the tool, as described above, is performed at a "safe" position—at a specific distance from the workpiece. This is understandable, because the redefinition of the active tool and the associated movement of the multiple tool carrier could, for example, lead to unintentional collisions between a tool and the workpiece or parts of the machine.

[0021] DE102004038820A1 discloses a method for operating a machine tool comprising a machine frame, a workpiece carrier, a multiple tool carrier provided with a plurality of tool holders, and a machine control system. The multiple tool carrier has a tool carrier head movable relative to a tool carrier housing for performing tool positioning movements. Tool units insertable into the tool holders are provided with an identification unit that stores at least tool identification data and can be read by a read head.

[0022] EP2628574B1 discloses a method for simulating a processing machine, wherein a computer in a computer cloud is suitable for executing web-enabled simulation services. A digital twin is created in the cloud for the simulated processing machine, including its control system, and a configuration and state of the simulated processing machine are memorized in the digital twin. US2021039212A1 discloses a robot that is compact and allows the easy use of different end effectors for different purposes. The robot comprises a plurality of joints and a plurality of connections between the joints. The distal end is divided into two or more branches, each with a tool changer. An end effector can be removably attached to each tool changer.By rotating the base joint, a change is effected between a first tool sequence position and a second tool sequence position, so that different end effectors are used for respective purposes by using an end effector attached to one tool changer in the first tool sequence position and an end effector attached to another tool changer in the second tool sequence position.

[0023] US2022219917A1 discloses an emblem installation system for installing emblems on a workpiece, which includes an end effector for a robot arm. The end effector has a base and several vacuum gripper modules that can be repositioned along the base in various configurations. The vacuum gripper modules are configured to grip multiple emblems simultaneously and release them individually.A method for installing emblems includes applying a force within a first force range to the plurality of emblems individually and sequentially via vacuum gripper modules of an end effector on a robot arm, the emblems being arranged at a first position, applying a vacuum to the vacuum gripper modules to grip the emblems with the vacuum gripper modules, and moving the robot arm from the first position to a second position adjacent a workpiece, the emblems being gripped by the vacuum gripper modules.

[0024] Jonathan An: "Dual End Effector Robotics," June 27, 2019 (2019-06-27), XP093193465, available online at: URL: https: / / www.youtube.com / watch?v=J9uEfQrOYTQ, shows a robot with a robot arm with a multi-instrument carrier attached to its end. The video shows how the robot arm is moved and the multi-instrument carrier is swiveled simultaneously.

[0025] The disadvantages of changing instruments, e.g., tools, on known machines, e.g., machine tools, are the time required (non-productive time) and the associated energy consumption. The object of the invention is to improve the instrument change process in a machine with at least one adjustable machine axis and a multiple instrument carrier connected to the machine.

[0026] This object is achieved by a method for operating a machine with the method steps specified in claim 1, i.e. a method for operating a machine with at least one adjustable machine axis and with a multiple instrument carrier carrying at least a first and a second instrument, wherein a first process relating to an object is carried out successively by means of the first instrument and a second process relating to the object is carried out by means of the second instrument, wherein between the two processes, at least in one time period, a position of the multiple instrument carrier relative to the object is changed by means of the adjustable machine axis and, at the same time, the first instrument is moved from an active to a passive pose and the second instrument is moved from a passive to an active pose, and wherein instrument changing movements of the instruments and the travel movement of the machine axis are determined in such a way thatthat they are carried out at least substantially simultaneously and require the same amount of time.

[0027] Furthermore, the object is achieved by a machine with the features according to patent claim 11, i.e. a machine with at least one adjustable machine axis and with a multiple instrument carrier carrying at least a first and a second instrument, wherein a first process relating to an object can be carried out one after the other by means of the first instrument and a second process relating to the object can be carried out by means of the second instrument, wherein between the two processes, at least in a time period, a position of the multiple instrument carrier can be changed by means of the adjustable machine axis and, at the same time, the first instrument can be moved from an active into a passive pose and the second instrument from a passive into an active pose, and wherein instrument changing movements of the instruments and the travel movement of the machine axis can be determined such that they are carried out at least substantially simultaneously and require the same amount of time.

[0028] Furthermore, the object is achieved by a control device according to claim 17 and a digital twin of the machine according to claim 19.

[0029] The invention offers the advantage that at least two processes that previously took place consecutively—namely, transferring the multiple instrument carrier to an environment where collision-free instrument changing is possible (positioning movement) and the actual instrument changing movement—now take place, at least in part, in parallel (simultaneous). This saves time and energy.

[0030] The invention is applicable to a wide variety of machines. Examples include machine tools, production machines, 3D printers, robots, medical machines or devices, etc.

[0031] The machine according to the invention comprises at least one adjustable, in particular position-controlled machine axis (hereinafter also referred to as "axis" for short, e.g., linear axis or rotary axis), by means of which an instrument, in particular a tool, can be moved (adjusted) relative to an object, in particular a workpiece. Preferably, the machine according to the invention comprises several position-controlled linear and / or rotary axes, which can be moved in a combined (interpolating) manner by means of a suitable control device, in particular a numerical or CNC control.

[0032] Preferably, in the interaction of the movable axes, not only can a specific point of the instrument (e.g. the TCP of a tool) be moved along the trajectory, but also a specific orientation, which is preferably also predeterminable and changeable along the trajectory, i.e. the respective pose, can be specified.

[0033] By means of the adjustable machine axis(es), a multiple instrument carrier connected to the machine can be adjusted (moved) relative to an object, so that an instrument connected to the multiple instrument carrier is also moved relative to the object.

[0034] The multiple instrument carrier used in connection with the invention is a structural unit which can be connected - in particular detachably - to the machine and to which several (at least two) instruments can be fastened - preferably also detachably.

[0035] In a preferred embodiment, the multiple instrument carrier comprises at least one - preferably position-controlled - axis (multiple instrument carrier axis), by means of which a first instrument connected to the multiple instrument carrier can be moved from an active to a passive position or pose and, at the same time, a second instrument connected to the multiple instrument carrier can be moved from a passive to an active position or pose (instrument or tool changing movement).

[0036] This design offers the advantage of simple handling and programming of the machine, as no machine axis is required for the instrument change movement. The machine axes can still be freely programmed (independent of specific instrument poses).

[0037] The active pose of an instrument is characterized by the fact that the instrument can only perform the process related to the object in this pose, but not in a passive pose. The active pose is usually characterized by a specific position and / or orientation of the instrument relative to a reference object, e.g., an orientation in the z-direction of a machine coordinate system.

[0038] The invention therefore distinguishes, on the one hand, between a positioning movement, which generally occurs when a position in a working space of the machine is specified for a reference point of the multiple instrument carrier, in particular a reference point of an instrument attached to the multiple instrument carrier, in particular a TCP of an instrument attached to the multiple instrument carrier, or a reference point of the object (positioning instruction), and then the reference point is moved to the specified position. Since the process relating to the object depends on the relative movement between the instrument and the object, it is also possible for the positioning instruction and the resulting positioning movement to cause a movement of the object in the working space of the machine, while the instrument remains stationary in the working space.It is also possible for both the instrument and the object to move within the machine's working space as a result of the positioning instruction.

[0039] On the other hand, the invention provides an instrument changing movement in which the instruments attached to the multiple instrument carrier are moved relative to a multiple instrument carrier axis as a result of an instrument changing instruction, in particular are pivoted by a specific angle about a multiple instrument carrier axis.

[0040] In connection with the invention, it is also possible that the multiple instrument carrier itself does not comprise a movable axis and the transfer of a first instrument from an active pose (working position) to a passive pose (resting position) and simultaneously of a second instrument from a passive pose (resting position) to an active pose (working position) takes place by means of axes of the machine (machine axes).

[0041] The instruments moved by these machines are as diverse as the machines covered by the invention, particularly depending on the application for which the machine is intended. Examples of such instruments include: instruments for the manufacture or processing of workpieces (tools, nozzles, electrodes, etc.), medical or surgical instruments, actuators, end effectors for robots, etc.

[0042] Depending on the application, there are also many possibilities for the object on which the machine in question acts. The object can be a workpiece, a product, or a living being (human, animal, patient).

[0043] Depending on the specific object, there are many possibilities for the process involved. The process can involve manufacturing, processing, relocation, or a medical or surgical procedure.

[0044] In connection with a tool change in a machine tool, the invention provides in particular that, on the one hand, a positioning movement of a multiple tool carrier connected to the machine tool, for example a tool turret, and, at least in one time range, a tool change movement take place simultaneously.

[0045] Preferably, the new or subsequent instrument, in particular the tool, has the same orientation at the end of the instrument or tool change movement as the old or previous instrument or tool had at the beginning of the instrument or tool change movement. This simplifies the programming of the movement or path planning for the new instrument or tool.

[0046] Preferably, the new or subsequent instrument, in particular the tool, has the same position at the end of the instrument or tool change movement as the old or previous instrument or tool had at the beginning of the instrument or tool change movement. This also simplifies the programming of the movement or path planning for the new instrument or tool.

[0047] Preferably, the new or subsequent instrument, in particular tool, has the same pose at the end of the instrument or tool change movement as the old or previous instrument or tool had at the beginning of the instrument or tool change movement. The pose (or "spatial position") refers to the combination of position and orientation—here, relative to the instruments or tools. This approach also simplifies the programming of the movement or path planning for the new instrument or tool.

[0048] Preferably, the new instrument or tool, in particular a TCP of the new instrument or tool, is located at the end of the instrument or tool change in the same machining or retraction plane in which the old instrument or tool was previously located.

[0049] The invention is particularly intended for machines in which the movement paths or movement trajectories are specified for a reference point of the instrument (TCP).

[0050] The invention provides that an instrument change and a transfer movement take place simultaneously at least in one time range. A transfer movement is normally understood as a movement of an instrument or tool between two positions of the object, at each of which a process relating to the object is to be carried out. For example, if holes are to be drilled on a workpiece at positions P1 and P2 using a drill T, the transfer movement concerns the movement of the drill between the two positions P1 and P2, in which the drill is located outside the workpiece. If a tool change is also to take place using a tool turret, for exampleIf the drill holes at positions P1 and P2 are to have different diameters and for this purpose different drills T1 and T2 are required on the tool turret, the process has previously been as follows: in a first partial transfer movement, the first drill T1 is moved from position P1 to a tool change position PW. Subsequently, drill T2 is defined as the new or active tool, whereby drill T1 becomes the passive tool. The tool change movement then takes place on the tool turret, through which drill T2 assumes the orientation that drill T1 previously had. In a second partial transfer movement, drill T2 is now moved from its position at the end of the tool change movement to position P2.

[0051] The transfer movement is therefore a special positioning movement.

[0052] In connection with the invention, the process described above is now designed in such a way that at least in one time range a transfer movement between the drill holes, i.e. a movement of a reference point related to the tool turret from a position P1 to a position P2, and at the same time a tool change movement takes place, which results in a reorientation of the drills.

[0053] In general, a first instrument T1 is moved from an active position or pose to a rest position or pose, and a second instrument T2 is moved from a rest position to an active position or pose – at least in a time range concurrent with the transfer movement. The transfer of an instrument from the rest position to the working pose (tool change movement) thus occurs – at least in sections – concurrently with the positioning or transfer movement. This saves time and energy.

[0054] According to the invention, the movements are coordinated in such a way that both processes—i.e., the instrument change movement of the relevant instruments (with the transition of the TCP in the case of tools) and the positioning movement, for example, to move the new instrument for further use to a new position relative to the last position of the previous instrument with respect to the object—are coordinated in such a way that both processes start and end at least approximately simultaneously. The duration of the longer process then also determines the duration or speed for the essentially shorter process, so that the machine axes are not subjected to unnecessarily high accelerations, thus protecting the machine and further reducing energy consumption.

[0055] As a rule, the movement of at least one machine axis is carried out in such a way that the new instrument, after the instrument change movement, assumes a new position compared to the last position of the previous instrument with respect to the object. This is the case, for example, when machining a workpiece with a new tool is to be continued at a new location (position). However, it is also possible that the new instrument is initially to return to the "old" position that the previous instrument held before the start of the instrument change movement. The movement (transfer movement) carried out by the machine axis then means: bring the multiple instrument carrier to a specific position (e.g.“Instrument change position”) and back again, whereby according to the invention the instrument change movement takes place at least in sections simultaneously with the corresponding travel movements of the machine axes involved.

[0056] An embodiment of the invention provides that the multiple instrument carrier has an adjustable multiple instrument carrier axis and the instruments can be moved from the active to the passive pose and vice versa by adjusting the axis.

[0057] This simplifies the handling and programming of instrument changes (the instrument change movement). Furthermore, no additional machine axis is required for instrument changes. The machine axes can thus continue to be freely programmed and used (independent of specific instrument poses).

[0058] Alternatively, the multiple instrument carrier can also be rigidly connected to the machine, and the machine can have at least one (further) adjustable axis by means of which the instruments can be moved from the active to the passive position and vice versa. In particular, in this embodiment, a rotary axis typically found in a multiple instrument carrier is replaced by a rotary axis of the machine.

[0059] One embodiment of the invention provides that the machine is assigned a control device which automatically determines the movements of the at least one adjustable machine axis (positioning movement) and the instruments during instrument change (instrument change movement) and controls the relevant axes (machine axis(es), multiple instrument carrier axis) accordingly.

[0060] A further embodiment of the invention provides that the machine system comprises a computing device (external from the machine's perspective), in particular a CAM system, which automatically determines the movements of the at least one adjustable machine axis (positioning movement) and the instruments during instrument changes (instrument change movement). The determined movements (trajectories) are then fed to the control device, which controls the relevant axes (machine axis(es), multiple instrument carrier axis) accordingly. Optionally, a postprocessor can be connected downstream of the CAM system, or a postprocessor can be included in the CAM system, which adapts the output data of the CAM system to the respective control device.

[0061] Advantageously, both the machine axis (or axes) and the multiple instrument carrier axis are position-controlled axes that can be controlled (or "controlled" in the strict control-engineering sense) by the control unit. Advantageously, the control unit recognizes, based on a control program it executes, that a new tool should be selected and that treatment of the object should be continued at a different position. The control unit then advantageously independently determines the corresponding coordinated movements in accordance with the invention. This relieves the user of the corresponding programming effort.

[0062] The control device is, for example, a numerical control (CNC control - Computerized Numerical Control), which in particular controls a machine tool or a robot.

[0063] However, the corresponding movements can also be determined outside the control system, e.g., by programming using an (external) programming system or by using a CAM (Computer Aided Manufacturing) or PP (Post Processor) system. The latter is usually connected downstream of a CAM system. According to the invention, the required movements are automatically determined by all of the aforementioned systems in such a way that they occur simultaneously, at least in one time range.

[0064] One embodiment of the invention provides that the movements are determined in such a way that collisions are avoided. In particular, the control device comprises a collision avoidance device, and the movements, in particular also the movements associated with the instrument change, are determined by the control device in such a way that no collisions occur.

[0065] Advantageous in connection with the invention is the targeted superposition of movements, the instrument changing movement on the one hand and the travel movement(s) on the other hand, so that these are coordinated with each other - in particular, in sections, simultaneously - and the movements are automatically determined and coordinated in such a way that no collision occurs.

[0066] Advantageously, a minimum distance between the instruments and the object (and other objects, such as parts of the machine) can be specified, depending on which the movements are determined. This allows a compromise to be found between safety and speed, depending on the specific user or application.

[0067] The instrument change movement for transferring the existing instrument from the working position to the rest position and the new instrument from the rest position to the working position can be performed in a variety of ways. Examples include:

[0068] 1) The multiple instrument carrier comprises at least one position-controlled axis by means of which the instrument changing movements take place. For example, the multiple instrument carrier has an axis of symmetry (multiple instrument carrier axis) around which the multiple instrument carrier or the instruments attached to it can rotate. The new instrument is moved into the working position by rotating the multiple instrument carrier through a specific angle around this same rotation axis, while simultaneously moving the previously active instrument from the working position to the rest position. Preferably, instruments are evenly distributed over a circumference of a multiple tool carrier—and thus offset from one another by a specific angle—which determines the angle by which the respective new tool must be pivoted.

[0069] 2) A new, previously inactive instrument on the multi-instrument carrier with a new reference point (e.g., TCP) is designated as the active instrument. In the next step, the new active instrument or reference point is assigned a new pose or position, which it assumes in conjunction with at least one position-controlled axis of the multi-instrument carrier and / or at least one position-controlled axis of the machine.

[0070] 3) Due to the known geometries (dimensions) of the multiple instrument carrier and the instruments attached to it, the arrangement (pose) of the instruments on the multiple instrument carrier relative to one another is also known. This means: if the current pose of one of the instruments is known, e.g. the active instrument, the poses of the other instruments can also be determined from this. Due to the fixed arrangement of the instruments on the multiple instrument carrier relative to one another, the "old", previously active instrument can also be assigned a new pose (resting position or pose) in such a way that the new (subsequently active) instrument automatically assumes the desired new pose (working position or pose). If the transition (switching) from the old to the new instrument then occurs, i.e. the new instrument is activated, it is already in the correct, new pose.

[0071] One embodiment of the invention provides that the first instrument assumes an end position at the end of the first process, and the second instrument assumes a start position different from the end position at the beginning of the second process. This embodiment corresponds to the case frequently encountered in practice in connection with machine tools, in which the machining of a workpiece with the previous ("old") tool is completed at a certain point in time at a certain position (position A) of the workpiece, and the machining is to be continued at a different location (position B) on the workpiece and with a different ("new") tool.

[0072] In connection with the invention, this results in the advantage that the time required to get from position A to position B is simultaneously used to change the tool.

[0073] One embodiment of the invention provides that the machine is a machine tool, a work machine, a production machine, a 3D printer, a robot or a medical device.

[0074] This shows the diverse possible applications of the invention.

[0075] One embodiment of the invention provides that the instrument is a tool, a nozzle, a medical, in particular surgical instrument, an actuator or an effector, in particular an end effector.

[0076] One embodiment of the invention provides that the object is a workpiece, a component, a product, or a living being. One embodiment of the invention provides that the process is a manufacturing, processing, or a medical or surgical procedure.

[0077] The examples mentioned above also demonstrate the wide range of possible applications of the invention.

[0078] A machine according to the invention for carrying out a method according to the invention advantageously has at least one of the following features:

[0079] - The machine comprises a multiple instrument carrier to which at least a first and a second instrument are attached.

[0080] - A first process concerning an object is carried out by means of the first instrument and a second process concerning the object is carried out by means of the second instrument.

[0081] - The multiple instrument carrier has an adjustable multiple instrument carrier axis and the instruments can be moved from the active to the passive pose and vice versa by adjusting this axis.

[0082] - The machine is assigned a control device by means of which the movements of the adjustable machine axes and the instruments for transferring between the poses can be determined and / or controlled.

[0083] - The control device includes a collision avoidance device and the movements of the machine axes and, if applicable, the multiple instrument carrier axis are determined in such a way that no collisions occur.

[0084] - The first instrument assumes an end position at the end of the first process, and the second instrument assumes a start position—particularly one different from the end position—at the beginning of the second process. The movements of the instruments and the machine axes can be determined in a coordinated manner such that the associated instrument change movement for the instrument change and the travel movements of the machine axes between the end position and the start position occur at least partially simultaneously. The machine is a machine tool, a processing machine, a production machine, a 3D printer, a robot, or a medical device, particularly a surgical device.

[0085] - The instrument is a tool, a nozzle, a surgical instrument, an actuator or an end effector.

[0086] - The object is a workpiece, a component, a product or a living being.

[0087] - The operation involves manufacturing, processing and / or working or a medical, particularly surgical, intervention.

[0088] - The multiple instrument carrier can be detachably connected to the machine.

[0089] A control device suitable for carrying out a method according to the invention is characterized in particular in that transfer movements of instruments and travel movements of machine axes can be determined in such a way that, at least in one time range, a position of the multiple instrument carrier can be changed by means of at least one adjustable machine axis, and simultaneously a first instrument can be moved from an active to a passive pose and a second instrument from a passive to an active pose. In particular, the respective movements are determined in such a way that they are executed at least substantially simultaneously and require the same time duration.

[0090] The invention is explained in more detail below using an exemplary embodiment. In the following:

[0091] FIG 1 a machine tool with a tool turret attached to it,

[0092] FIG 2 to FIG 7 show the machining of a workpiece using a workpiece turret according to the prior art,

[0093] FIG 8 shows machining of a workpiece using a workpiece turret according to the invention, FIG 9 shows method steps in carrying out a method according to the invention.

[0094] FIG. 1 schematically shows a machine system in the form of a machine tool system 1. The machine tool system 1 comprises a machine in the form of a machine tool 2. The machine tool system 1 further comprises a numerical control device in the form of a CNC controller 3 connected to the machine tool 2 for controlling the machine tool 2. In addition, the machine tool system 1 comprises an external computing device in the form of a CAD / CAM / PP system 5 connected via a network 4, for example, the Internet.

[0095] The illustrated machine tool 2 has three position-controlled linear axes X, Y and Z, wherein a first support element 7 is adjustable in the x-direction, a second support element 8 in the y-direction and a third support element 9 in the z-direction with respect to a machine coordinate system MKS that is stationary with respect to the machine tool 2.

[0096] The first support element 7 is connected to a stationary machine frame 6 via a linear drive (not shown) adjustable in the x-direction, the second support element 8 is connected to the first support element 7 via a linear drive (not shown) adjustable in the y-direction and the third support element 9 is connected to the second support element 8 via a linear drive (not shown) adjustable in the z-direction.

[0097] The third support element 9 carries a spindle drive 10, which in turn can be pivoted about a position-controlled rotary axis B parallel to the Y-axis. The spindle drive 10 has a holder 11 for a multiple instrument carrier in the form of a tool turret R. The tool turret R comprises three tool spindles S1, S2 and S3, in each of which an instrument in the form of a tool, in particular a drill T1, T2 or T3, is clamped. Furthermore, the tool turret R comprises a rotation axis RA, about which the tool spindles S1 to S3 with the drills T1 to T3 clamped therein can be pivoted.

[0098] Furthermore, the machine tool 2 comprises a workpiece table 14 to which an object in the form of a workpiece 16 is fastened by means of the tool holder 15.

[0099] In the context of the exemplary embodiment, the machine tool 2 therefore has five position-controlled machine axes, through which a relative movement can be performed between the tool turret R and the workpiece 16. This is thus a so-called 5-axis machine tool (5-axis machine), although it should be noted at this point that a machine tool can, of course, have more or fewer than five machine axes. The drives of the position-controlled machine axes have been omitted from the exemplary embodiment for the sake of clarity.

[0100] The machine tool 2 is connected to the CNC control 3, which uses a part program and / or a manual control input to generate movement setpoints for the machine axes to control a movement between the tools T1 to T3 and the workpiece

[0101] 16. The CNC control 3 determines the movement target values, in particular based on the part program, in which the movements to be performed by the respective tool T1, T2, or T3 relative to the workpiece 16 are defined in the form of commands or program instructions, usually in the form of G-code. The processes to be performed using the tools (drills T1 to T3) therefore involve drilling holes at specific positions on the workpiece 16.

[0102] Alternatively or additionally, the movement of the tools T 1 to T3 and / or the workpiece 16 can also be controlled by means of a manual control input via an operating device with operating elements 18 in conjunction with a display device in the form of a display

[0103] 17 of the CNC control 3 can be specified by an operator on-site at the machine tool 2. The control elements 18 for this purpose include, in particular, buttons or rotary controls. Advantageously, the display 17 can also be designed as a touchscreen and thus also serve as a control element.

[0104] The part program is usually generated in a computing device that is external to the CNC control system, in the exemplary embodiment the CAD / CAM / PP system 5 outside the CNC control system 3, and from there transferred to the CNC control system 3, in particular via the network 4.

[0105] During the execution of the part program, the CNC control 3 generates, in a specific cycle, the interpolation cycle, position setpoints x, y, and z for the linear axes as well as angular position setpoints ß (not shown) for the rotary axis B. These movement setpoints move the respective tool T1, T2, or T3 with a specified orientation relative to the workpiece 16 along a movement path (path). In addition to the pure position setpoints, the dynamics of the relative movement or variables relating to the individual axes, in particular the speed, acceleration, or jerk, can also be determined or adjusted using the numerical control device.

[0106] The invention relates specifically to processes in which at least two movements are required for technical or safety reasons: on the one hand, a relative movement (positioning movement) between the tool turret (multiple instrument carrier) and the workpiece (object), and on the other hand, a tool change movement (instrument change movement) in which at least two tools change their position with respect to a tool turret axis (instrument carrier axis).

[0107] Figures FIG 2 to FIG 7 illustrate by way of example the movement processes according to the prior art. The visible boreholes, which differ in terms of diameter and drilling depth, are to be drilled into the workpiece 16 at positions P1 and P2. As can be seen from FIG 2, for this purpose the TCP of the tool T 1 is first brought into a retraction position RP1 of a retraction plane RP with the intended orientation - perpendicular to the workpiece surface of the workpiece 16. There the spindle in which the tool T1 is located is brought to the target speed and moved at a constant feed rate in the direction of the workpiece 16 (negative z-direction) until the TCP of the tool T 1 has reached the intended drilling depth. The tool T1 is then moved back in the positive z-direction to the starting position RP1. These movement processes are indicated in FIG 2 by the double arrow B1.

[0108] FIG 3 illustrates the first section of a tool change planned between the two machining operations. The tool turret R is first brought into a tool change position by means of a positioning movement in the form of a transfer movement U1 and, in particular, is moved far enough away from the workpiece 16 that the tool turret R can be safely rotated (swiveled) about a tool turret axis RA - i.e., without any fear of collision. This swivel movement SRA is illustrated in FIG 4. FIG 5 shows the situation at the end of the swivel movement, in which the tool turret R is aligned such that the tool T2 now assumes an active pose, i.e., an orientation in the z-direction, and the previously active tool T1 is in a rest position (or pose), swiveled by 120° relative to the active position (or pose).In a subsequent transfer movement U2, the TCP of the tool T2 is now brought into a retraction position RP2 above the borehole position P2, as illustrated in FIG 6.

[0109] As illustrated in FIG. 7, analogous to FIG. 2, the spindle containing tool T2 is brought to the target speed and moved at a constant feed rate toward workpiece 16 (negative z-direction) until the TCP of tool T2 has reached the drilling depth specified for the hole at position P2. Tool T2 is then moved back in the positive z-direction to the starting position RP2. These movements are indicated in FIG. 7 by the double arrow B2.

[0110] As can be seen from FIGS. 2 to 7, the positioning movement (transfer movement) U1, the swivel movement (tool change movement) SRA, and the positioning movement (transfer movement) U2 occur sequentially. This consumes time and energy.

[0111] This is different, however, in the case of the solution according to the invention according to FIG 8, in which the transfer movement U between the retraction position RP1 and the retraction position RP2 and the pivoting movement (tool change movement) S take place simultaneously at least in one time period.

[0112] It is advantageous to coordinate the movements S and U so that they take at least approximately the same amount of time. In particular, the movement that requires more time sets the speed for the otherwise faster movement, so that it then runs more slowly than possible. Both movements thus start and end at least approximately simultaneously. As a result, at least one machine axis does not have to be moved as quickly or accelerated as much as would be the case without this adjustment. This also reduces energy consumption.

[0113] There are various possibilities for implementing the invention. A first possibility provides for a temporal progression of poses to be determined for the previously active tool T1, which transitions the tool T1 from the initial pose shown in FIG. 8 (alignment in the z-direction) to its rest pose, also shown in FIG. 8 (alignment pivoted by 120° relative to the z-direction). Due to the mechanically rigid connection of the tools by the tool turret, the rest pose of the tool T1 can be determined such that at the end of the movement the tool T2 assumes the desired active pose (TCP at position RP2, orientation in the z-direction). Only then is the tool T2 defined as the active tool, to which subsequent movement commands refer.

[0114] A second possibility provides for tool T2 to be defined as the active tool at the beginning of the tool change. Furthermore, a temporal progression of poses is determined for tool T2 such that tool T2 is transferred from the rest pose shown in FIG. 8 (orientation pivoted by 120° relative to the z-direction) to its active pose (TCP at position RP2, orientation in the z-direction), also shown in FIG. 8.

[0115] What the two above-mentioned options have in common is that the path generation - as is usual with machine tools - always takes place for an active tool or its TCP.

[0116] Another possibility provides for the two superimposed movements to be determined and executed independently of an active tool or its TCP, rather than for an active tool or its TCP. Thus, in the embodiment shown in FIG. 8, the movement of the rotary axis RA in space (transfer movement U) and the swivel movement S of the tool turret R about this rotary axis RA can be determined and executed simultaneously. For this purpose, the rotary axis RA of the tool turret R is advantageously designed as a position-controlled rotary axis. This allows the time required for the swivel movement to be specified by the controller.

[0117] Advantageously, at least one of the above-mentioned axis movements is executed as a so-called “rapid traverse” (“GO command”).

[0118] One embodiment of the invention provides that the above-mentioned movements (trajectories) of the relevant axes (machine axes X, Y, Z, B, C; rotary axis RA) are automatically determined by means of the controller 3 and implemented accordingly. An alternative embodiment provides that the relevant movements are automatically determined by means of the CAD / CAM system 5, which is external from the perspective of the machine tool 2, and - if necessary after adaptation of the generated data by a postprocessor (not shown) to the specific CNC controller 3 - are transferred to the controller 3, and the controller 3 controls the specified movements accordingly.

[0119] Advantageously, the components of the machine (machine tool), in particular the adjustable machine axes and the multiple instrument carrier (tool turret) and the associated instruments (tools), the movement processes that can be performed with these components, as well as the object (workpiece), and in particular the processes related to the object (drilling holes), can be illustrated in a simulation using their respective digital representatives (digital twins) using a suitable simulation device. For this purpose, appropriate resources and data are available, for example, on the control device (CNC controller 3) and / or the external CAD / CAM / PP system 5 (see FIG. 2).

[0120] FIG 9 illustrates essential process steps in the implementation of a process according to the invention:

[0121] In a first method step VS1, a machine with a multiple instrument carrier on which several instruments are arranged is provided.

[0122] In a second process step VS2, an object is prepared which is to be acted upon successively by means of several instruments of the multiple instrument carrier.

[0123] In a third method step VS3, a first process relating to the object is carried out using a first instrument.

[0124] In a fourth method step VS4, a position of the multiple instrument carrier relative to the object is changed by means of at least one adjustable axis comprised by the machine and, at the same time, the first instrument is transferred from an active to a passive pose and a second instrument is transferred from a passive to an active pose.

[0125] In a fifth process step VS5, a second process concerning the object is carried out with the second instrument.

Claims

Patent claims 1. A method for operating a machine (2) with at least one adjustable machine axis (X, Y, Z, B, C) and with a multiple instrument carrier (R) carrying at least a first (T1) and a second instrument (T2), wherein a first process relating to an object (16) is carried out successively by means of the first instrument (T1) and a second process relating to the object is carried out by means of the second instrument (T2), wherein between the two processes, at least in a time range, a position of the multiple instrument carrier (R) relative to the object (16) is changed by means of the adjustable machine axis (X, Y, Z, B, C) and simultaneously the first instrument (T1) is moved from an active to a passive pose and the second instrument (T2) is moved from a passive to an active pose, characterized in that instrument changing movements of the instruments (T1, T2) and the travel movement of the machine axis (X, Y, Z, B, C) are determined in such a way thatthat they are carried out at least substantially simultaneously and require the same amount of time.

2. Method according to claim 1, wherein the multiple instrument carrier (R) has an adjustable multiple instrument carrier axis (RA) and the instruments (T1, T2) can be moved from the active to the passive pose and vice versa by adjusting the multiple instrument carrier axis (RA).

3. Method according to claim 1 or 2, wherein the machine (2) is assigned a control device (3) which determines the movements of the adjustable machine axis (X, Y, Z, B, C) and the instruments (T1, T2) during transfer between the poses and controls them accordingly.

4. The method according to claim 3, wherein the control device comprises a collision avoidance device and the movements are determined such that no collisions occur.

5. Method according to claim 1 or 2, wherein the machine tool system comprises a CAM system, in particular a CAD / CAM system (5), which controls the movements of the machine axis (X, Y, Z, B, C) and the instruments (T1, T2) during instrument change automatically determined, the determined movements being fed to the control device (3), which controls the relevant axes accordingly.

6. Method according to one of the preceding claims, wherein the first instrument (T1) assumes an end position at the end of the first process and the second instrument (T2) assumes a start position different from the end position at the beginning of the second process.

7. Method according to one of the preceding claims, wherein the machine is a machine tool (2), a work machine, a production machine, a 3D printer, a robot or a medical device.

8. Method according to one of the preceding claims, wherein the instrument (T 1 , T2) is a tool (T1 , T2), a nozzle, a surgical instrument, an actuator or an end effector.

9. Method according to one of the preceding claims, wherein the object (16) is a workpiece (16), a product or a living being.

10. Method according to one of the preceding claims, wherein the process is a manufacturing, a treatment and / or processing or a surgical procedure.

11. Machine (2) with at least one adjustable machine axis (X, Y, Z, B, C) and with a multiple instrument carrier (R) carrying at least a first (T1) and a second instrument (T2), wherein a first process relating to an object (16) can be carried out successively by means of the first instrument (T1) and a second process relating to the object (16) can be carried out by means of the second instrument (T2), wherein between the two processes, at least in a time period, a position of the multiple instrument carrier (R) can be changed by means of the adjustable machine axis (X, Y, Z, B, C) and simultaneously the first instrument (T1) can be moved from an active to a passive pose and the second instrument (T2) from a passive to an active pose, characterized in that Instrument changing movements of the instruments (T1, T2) and the travel movement of the machine axis (X, Y, Z, B, C) can be determined in such a way that they are carried out at least essentially simultaneously and require the same amount of time.

12. Machine (2) according to claim 11, wherein the multiple instrument carrier (R) has an adjustable multiple instrument carrier axis (RA) and the instruments (T1, T2) can be moved from the active to the passive pose and vice versa by adjusting the machine axis (X, Y, Z, B, C).

13. Machine (2) according to claim 11 or 12, wherein the machine is assigned a control device (3) by means of which the movement of the adjustable machine axis (X, Y, Z, B, C) and the instruments (T1, T2) can be controlled during transfer between the poses.

14. Machine (2) according to one of claims 11 to 13, wherein the machine is a machine tool (2), a work machine, a production machine, a 3D printer, a robot or a medical device.

15. Machine (2) according to one of claims 11 to 14, wherein the instrument (T1, T2) is a tool (T1, T2), a nozzle, a surgical instrument, an actuator or an end effector.

16. Machine (2) according to one of claims 11 to 15, wherein the multiple instrument carrier (R) is detachably connectable to the machine.

17. A control device (3) for carrying out a method according to one of claims 1 to 10 for controlling a machine (2) according to one of claims 11 to 16, having at least one adjustable machine axis (X, Y, Z, B, C) and having a multiple instrument carrier (R) carrying at least a first (T1) and a second instrument (T2), wherein a first process relating to an object (16) can be carried out successively by means of the first instrument (T1) and a second process relating to the object (16) can be carried out by means of the second instrument (T2), wherein between the two processes, at least in a time range, a position of the multiple instrument carrier (R) relative to the object (16) can be changed by means of the adjustable machine axis (X, Y, Z, B, C), and simultaneously the first instrument (T1) can be moved from an active to a passive pose and the second instrument (T2) can be moved from a passive to an active pose, characterized in that Instrument changing movements of the instruments (T1, T2) and the travel movement of the machine axis (X, Y, Z, B, C) can be determined in such a way that they are carried out at least essentially simultaneously and require the same amount of time.

18. A control device (3) according to claim 17, comprising a collision avoidance device by means of which the movements can be determined such that no collisions occur.

19. A digital twin of a machine (2) according to one of claims 11 to 16 and / or of a control device (3) according to one of claims 17 or 18 for simulating the implementation of a method according to one of claims 1 to 10,

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