A tool changer includes a holding member having a tool change arm disposed thereon, a rotation mechanism rotating the holding member at a first rotation speed in normal and reverse directions, a forward/backward movement mechanism moving the holding member forward and backward at a first forward/backward movement speed, and a controller comparing a first difference as a difference between a command value for the rotation and an output value of an encoder with a first threshold. When the first difference is equal to or greater than the first threshold, a rotational speed of the holding member is chained to a second rotation speed slower than the first rotation speed. Alternatively, when the first difference is less than the first threshold, the rotational speed of the holding member is maintained at the first rotation speed.

The present invention relates to an automatic fault diagnosable integrated sheet body punching and grinding assembly, including a frame and a conveying slot seat, a processing frame is provided on the conveying slot seat, the processing frame is sequentially provided with a punching device and a grinding device; the frame is provided with a feeding motor and a feeding screw cooperating with each other, the feeding screw is sleeved with a movable feeding block, and the movable feeding block is fixedly connected with a movable feeding seat, the movable feeding seat is provided with a feeding lift cylinder, the feeding lift cylinder is provided with a feeding lift block; the feeding lift block is evenly disposed with feeding blocks that can pass through the feeding slot, and the distance between the processing portion of the punching device and the grinding device is the same as that between the adjacent two feeding blocks. In the present invention, the conveying slot seat cooperates with the fixed distance feeding part to realize the fixed distance feeding of the sheet bodies, the punching device and the grinding device are provided sequentially on the conveying slot seat, which enables continuous automatic punching and grinding of sheet bodies, thereby greatly improves the efficiency of punching and grinding of the sheet bodies.

A control device of a machine including: an operating condition analyzing unit that analyzes an operating condition of the program, and performs a notification when the tool to be exchanged is not adjusted; an operating condition storage unit that stores the operating condition of the program at a time of exchanging the tool; a state restoration confirming unit that confirms whether an internal state of the machine and/or the control device is restorable so that an operation of a predetermined block of the program is performed again after the operation and a stop of the predetermined block after exchanging the tool; and a state restoration executing unit that, in a case in which the internal state is confirmed to be restorable, restores the internal state to a state at the time of exchanging the tool based on the stored operating condition of the program at the time of exchanging the tool.

A control device of a machine including: an operating condition analyzing unit that analyzes an operating condition of the program, and performs a notification when the tool to be exchanged is not adjusted; an operating condition storage unit that stores the operating condition of the program at a time of exchanging the tool; a state restoration confirming unit that confirms whether an internal state of the machine and/or the control device is restorable so that an operation of a predetermined block of the program is performed again after the operation and a stop of the predetermined block after exchanging the tool; and a state restoration executing unit that, in a case in which the internal state is confirmed to be restorable, restores the internal state to a state at the time of exchanging the tool based on the stored operating condition of the program at the time of exchanging the tool.

A machine control device includes: an imaging control unit that controls the imaging device to capture two images at two different imaging positions; an imaging position information acquiring unit that acquires positional information of the two imaging positions; a measurement distance restoring unit that restores a measurement distance of the object based on two images, distance information between two imaging positions, and a parameter of the imaging device by using a stereo camera method; and a predetermined precision position calculating unit that calculates distance information between the two imaging positions at which the measurement precision of the object satisfies a predetermined precision based on the two images, the measurement distance of the object, and the parameter of the imaging device, in which the machine control device controls the position and orientation of the imaging device based on the distance information between the two imaging positions, and changes two imaging positions.

A machine control device includes: an imaging control unit that controls the imaging device to capture two images at two different imaging positions; an imaging position information acquiring unit that acquires positional information of the two imaging positions; a measurement distance restoring unit that restores a measurement distance of the object based on two images, distance information between two imaging positions, and a parameter of the imaging device by using a stereo camera method; and a predetermined precision position calculating unit that calculates distance information between the two imaging positions at which the measurement precision of the object satisfies a predetermined precision based on the two images, the measurement distance of the object, and the parameter of the imaging device, in which the machine control device controls the position and orientation of the imaging device based on the distance information between the two imaging positions, and changes two imaging positions.

A machine tool includes a lower tool post for holding a cutting tool, a tool main spindle for holding a cutting tool, a storage unit capable of storing the cutting tool, an exchange mechanism for exchanging the cutting tools between the tool main spindle and the storage unit, an inside robot for exchanging the cutting tools between the lower tool post and the tool main spindle, and a controller. The controller performs control such that the cutting tools are exchanged between the lower tool post and the storage unit via the inside robot, the tool main spindle, and the exchange mechanism.

When measuring the position of a workpiece fixed to a table of a machine tool: rotary feed axes of the machine tool are pivoted such that an upper surface of the table faces in the direction of a line of sight of a camera, and an image of the workpiece is captured; the rotary feed axes are pivoted such that a side surface of the table faces in the direction of the line of sight of an image capturing device, and an image of the workpiece is captured; and the position of the workpiece is measured on the machine tool on the basis of the captured images.

A control device for a machine tool to efficiently and successively produce a plurality of different-shaped products is provided. In the control device, each driving shaft of modules is assigned to different control systems. The device includes a multi-system program storage part for storing a plurality of multi-system programs to machine a workpiece in different shapes, a multi-system program dividing part for dividing the multi-system programs into machining programs, a divided program storage part for storing the divided machining programs individually, a system-based program storage part for storing the machining programs each corresponding to each of the control systems, and a machining program selection part for selecting a predetermined machining program from the divided program storage part in accordance with the machining step to be performed and for alternately storing the selected machining programs in two program storage parts of the system-based program storage part for the respective control systems.

A control device for a machine tool to efficiently and successively produce a plurality of different-shaped products is provided. In the control device, each driving shaft of modules is assigned to different control systems. The device includes a multi-system program storage part for storing a plurality of multi-system programs to machine a workpiece in different shapes, a multi-system program dividing part for dividing the multi-system programs into machining programs, a divided program storage part for storing the divided machining programs individually, a system-based program storage part for storing the machining programs each corresponding to each of the control systems, and a machining program selection part for selecting a predetermined machining program from the divided program storage part in accordance with the machining step to be performed and for alternately storing the selected machining programs in two program storage parts of the system-based program storage part for the respective control systems.