Tool exchange system

Abstract

To provide a technique for arranging a tool corresponding to processing of an individual workpiece in a tool exchange system.SOLUTION: A tool exchange system includes a magazine, a machine tool, an extraction part, a tool exchange part, an acquisition part, and a control device. In the tool exchange system, the control device acquires one or more processing programs by the acquisition part, the extraction part moves a tool in the magazine so as to be close by the tool exchange part or executes tool organization control for making the magazine move a plurality of storage parts about the tool to be organized whose an extraction period by the extraction part exceeds a use period of the tool currently used in the machine tool on the basis of an information set including position information showing a relative position between the storage parts and the extraction part, storage information showing the storage parts, empty information showing empty storage parts and the one or more processing programs.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a tool changing system. [Background technology]

[0002] Tool changing systems used in machine tools store tools in magazines such as chain magazines and matrix magazines. The more tools stored in a magazine, the more tools are stored away from the tool changing position. This increases the time it takes for the tools in the magazine to move to the tool changing position. Therefore, the more tools stored in a magazine, the longer the tool changing system takes to change tools. While the tool changing system is changing tools, the machine tool cannot perform machining. In other words, the longer it takes to change tools, the longer it takes for the machine tool to perform machining.

[0003] 2. Description of the Related Art Conventionally, in order to operate a machine tool efficiently, a machine tool operator may, for example, take into consideration the order in which the tools are used and perform an operation of moving tools in a magazine closer to a tool replacement position.

[0004] Some tool changing systems have a function to automatically change the placement of tools, as described in Patent Document 1, for example. The tool changing system of Patent Document 1 prioritizes frequently used tools and places them closer to the tool changing position. This allows the tool changing device to reduce the time it takes to change frequently used tools. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 2849268 Summary of the Invention [Problem to be solved by the invention]

[0006] However, since a tool that is generally used frequently is not necessarily used for machining a specific individual workpiece, there is a need for a technology in a tool changing system that arranges tools corresponding to the machining of each individual workpiece. [Means for solving the problem]

[0007] The present disclosure can be realized in the following forms.

[0008] (1) According to one aspect of the present disclosure, there is provided a tool changing system including: a magazine having a plurality of storage sections each capable of storing one tool; a machine tool that performs machining using one of the tools stored in the plurality of storage sections; an extracting section that extracts one tool from the plurality of storage sections and stores the tool in the magazine; a tool changing section that exchanges tools between the machine tool and the extracting section; an acquiring section that acquires information from outside the tool changing system; and a control device that controls the tool changing system, wherein the extracting section performs the extracting and storing in parallel with machining by moving the plurality of storage sections or by the magazine moving the plurality of storage sections, and the control device acquires information on a workpiece of the machine tool by the acquiring section before the machine tool starts machining. One or more machining programs including the use time and use order for the tools to be used are obtained, and based on an information set including position information indicating the relative position of each of the multiple storage units and the removal unit, storage information indicating the storage unit for each of the multiple tools, vacancy information indicating vacant storage units that do not store tools, and the one or more machining programs, tool tidying control is performed in which, in accordance with the use order and use time of each of the tools, the removal unit moves the tool within the magazine or the magazine moves the multiple storage units so that the tool that is the next to be tidied up to be used in the machine tool and whose removal period by the removal unit exceeds the use period of a tool currently in use in the machine tool is closer to the tool change unit. Depending on the relative positions of the removal unit when the tool changer replaces a tool of the machine tool and the storage unit storing the tool to be tidied, the tool to be tidied may require a removal period that exceeds the lifespan of the tool. This requires stopping machining using the tool of the machine tool until removal of the tool of the machine tool is complete. The closer the storage unit is to the tool changer, the shorter the time required for the removal unit to remove the tool. The tool changing system of the present disclosure moves the tool to be tidied within the magazine so that it is closer to the tool changer. As a result, when the tool to be tidied is replaced with a tool to be used with the tool to be tidied, the relative positions of the removal unit and the storage unit storing the tool to be tidied are shortened. In other words, the time required for tool removal is shortened. Therefore, the tool changing system of the present disclosure can arrange tools corresponding to the machining of each workpiece. (2) In the tool changing system of the above form, the control device may execute the tool tidying control during a waiting period of the removal unit that occurs when the usage period of the tool being used in the machine tool exceeds the length of the storage period required for the storage by the removal unit and the removal period. By adopting such a configuration, the tool changing system of the present disclosure performs tool tidying control during the standby period of the removal section, thereby preventing the machining by the machine tool from being stopped. (3) In the tool changing system of the above form, the one or more machining programs are multiple machining programs, the information set further includes a production plan indicating the order in which the multiple machining programs are to be executed, and the control device may further acquire the production plan using the acquisition unit before the machine tool starts machining. By adopting such a configuration, the tool changing system of the present disclosure arranges tools corresponding to the machining of multiple workpieces, thereby enabling more efficient machining according to a production plan than by arranging tools corresponding to the machining of individual products. (4) In the tool changing system of the above form, the plurality of storage units may further store spare tools that can replace the tools arranged in any of the plurality of storage units, and the control device may further acquire, by the acquisition unit, the usage history and life value of the tools before the start of processing by the machine tool, and after the tool tidying control, if a tool that has reached the end of its lifespan determined based on the usage history and the lifespan values ​​of the plurality of tools is generated due to processing by the machine tool, the removal unit may perform the removal and storage so that the tool that has reached its end of lifespan and the spare tool are swapped between the storage units that respectively store them. By adopting such a configuration, the tool changing system of the present disclosure can prevent a tool that has reached the end of its life from being used in processing. (5) In the tool changing system of the above form, when multiple tools have reached the end of their life, the control device may perform the removal and storage using the removal unit so that the multiple tools that have reached the end of their life are close to each other in the magazine. By adopting such a configuration, multiple tools that have reached the end of their life tend to gather in one part of the magazine, and therefore, the tool changing system of the present disclosure allows an operator who replaces tools that have reached the end of their life to perform the replacement work efficiently from outside the magazine. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an explanatory diagram showing the configuration of a tool changing system. [Figure 2] A process chart showing the process of the tool change system. [Figure 3] FIG. 4 is an explanatory diagram showing a state in which tools are arranged. [Figure 4] FIG. [Figure 5] FIG. [Figure 6] FIG. [Figure 7] FIG. [Figure 8] An explanatory diagram showing the tool arrangement of the 19th arrangement example. [Figure 9] FIG. [Figure 10] An explanatory diagram showing the tool arrangement of the 20th arrangement example. [Figure 11] FIG. [Figure 12] FIG. [Figure 13] 4 is a flowchart showing the operation of the tool changing system. [Figure 14] 10 is a flowchart showing the operation of the tool changing system according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] A. First embodiment: A-1. Tool change system configuration: FIG. 1 is an explanatory diagram showing the configuration of a tool changing system 10. The tool changing system 10 includes a magazine 100, an extracting unit 200, a tool changing unit 300, a machine tool 400, an acquiring unit 500, and a control device 600. Specifically, the tool changing system 10 is realized by the configuration of a machining center. Note that the machine tool 400 in FIG. 1 is shown as viewed along the central axis of a spindle unit 410 to which a tool T is attached.

[0011] In the tool changing system 10, the tool T is used by the machine tool 400 to machine a workpiece. The tool T is, for example, a cutting tool such as a drill or an end mill. The multiple tools T used in the description of the first embodiment are made up of nine tools T, namely, a first tool T1 to a ninth tool T9. In FIG. 1, hatched areas indicate the positions of the tools T. The arrangement of the tools T in FIG. 1 is one example. The arrangement of the tools T will be described in detail later.

[0012] The magazine 100 stores a plurality of tools T. Furthermore, the magazine 100 moves the plurality of tools T to the removal section 200. The magazine 100 includes a chain 110, a plurality of storage sections 120, and a connection section 130. Specifically, the magazine 100 is a chain magazine.

[0013] The chain 110 connects the multiple storage sections 120 in series. Furthermore, the chain 110 moves the multiple storage sections 120 in response to commands from the control device 600. Note that the chain 110 in FIG. 1 shows the range in which the chain 110 is arranged, to facilitate understanding of the technology. The arrow Da in FIG. 1 indicates the direction in which the chain 110 moves. As indicated by the arrow Da, the chain 110 moves in both directions along the direction in which it is arranged.

[0014] Each of the plurality of storage sections 120 can store one tool T. Each of the plurality of storage sections 120 has a space capable of storing and holding the tool T. The storage section 120 has an opening 120o that opens toward the removal section 200 when the storage section 120 is disposed in the connection section 130. Note that, as shown in FIG. 3 described later, in this specification, the plurality of storage sections 120 is made up of nine storage sections 120, namely, a first storage section 121 to a ninth storage section 129.

[0015] The connection part 130 connects one of the plurality of storage parts 120 to the ejection part 200. More specifically, the connection part 130 connects the opening 120o of the storage part 120 to the movable part 210 of the ejection part 200.

[0016] The magazine 100 further acquires position information indicating the relative position of each of the storage sections 120 and the connection section 130. In addition, the magazine 100 acquires storage information indicating the tools T stored in the storage sections 120 and availability information indicating available storage sections 120e that do not store tools T. The storage information, availability information, and position information will be described later.

[0017] That is, in a state where each of the plurality of tools T is stored in the storage section 120, the magazine 100 moves the plurality of storage sections 120 by the chain 110 in response to a command from the control device 600. Furthermore, the magazine 100 moves one of the plurality of storage sections 120 to the connection section 130. As a result, the extraction section 200, which will be described later, extracts and stores the tool T.

[0018] The take-out unit 200 takes out one tool T from the plurality of storage units 120. Furthermore, the take-out unit 200 stores one tool T in the magazine 100. The take-out unit 200 includes a movable unit 210 and a holding unit 220.

[0019] The movable part 210 is provided so as to be connected to the opening 120o of the storage part 120 in the connection part 130. The movable part 210 moves the tool T between the storage part 120 in the connection part 130 and the holding part 220 of the extraction part 200. An arrow Db in FIG. 1 indicates the direction in which the tool T is moved by the movable part 210. As indicated by the arrow Db, the movable part 210 moves the tool T in both directions, toward the connection part 130 and the holding part 220. Note that the movable part 210 moves one tool T.

[0020] The holder 220 holds the tool T. The holder 220 holds only one tool T at a position where the gripper 311 of the arm 310 in the tool exchanger 300 can grip the tool T.

[0021] That is, the removal unit 200 removes the tool T stored in the storage unit 120 of the connection unit 130 using the movable unit 210. The removal unit 200 holds the removed tool T in the storage unit 220. Furthermore, the removal unit 200 stores the tool T stored in the storage unit 220 in the storage unit 120 of the connection unit 130 using the movable unit 210. Note that the removal unit 200 removes and stores the tool T in parallel with the machining of the machine tool 400. The operating periods of the removal unit 200 and the machine tool 400 will be explained later.

[0022] The tool exchange unit 300 exchanges the tool T between the machine tool 400 and the extraction unit 200. The tool exchange unit 300 includes an arm unit 310.

[0023] The arm unit 310 has two gripping units 311. Each of the two gripping units 311 grips one tool T. Furthermore, the arm unit 310 uses one of the gripping units 311 to attach or detach the tool T to or from the holder 220. The arm unit 310 uses the other gripping unit 311 to attach or detach the tool T to or from the spindle unit 410. The arm unit 310 also rotates about a rotation axis 300C. An arrow Dc indicates the rotation direction of the arm unit 310.

[0024] That is, while holding the tool T of the holder 220 and the tool T of the machine tool 400, the tool exchanger 300 rotates about the rotation axis 300C to swap the positions of the two tools T. In this way, the tool T is exchanged between the machine tool 400 and the take-out unit 200. The tool exchanger 300 exchanges the tool T of the holder 220 with the tool T of the machine tool 400 in response to a command from the control device 600.

[0025] In addition, when the machine tool 400 performs processing or the removal unit 200 moves the tool T, the tool exchange unit 300 rotates the arm unit 310 so that the gripping unit 311 is not positioned in the removal unit 200 or the machine tool 400.

[0026] Machine tool 400 performs machining using one tool T among the tools T stored in multiple storage units 120. Machine tool 400 is equipped with a spindle unit 410. Tool T is attached to spindle unit 410 by tool exchange unit 300. That is, machine tool 400 performs machining of a workpiece using tool T attached to spindle unit 410. Machine tool 400 performs machining in accordance with a machining program in response to commands from control device 600.

[0027] The acquisition unit 500 acquires information from outside the tool changing system 10. Specifically, the acquisition unit 500 acquires one machining program. The machining program will be described later. The acquisition unit 500 sends the acquired information to the control device 600. The acquisition unit 500 is, for example, a communication interface. That is, the acquisition unit 500 acquires the machining program by inputting the machining program created by the operator.

[0028] The acquiring unit 500 is a communication interface, but more specifically, the acquiring unit 500 may acquire information from an HMI (Human Machine Interface). Alternatively, the acquiring unit 500 may acquire information pre-stored in the control device 600, or information from a control device other than the control device 600, such as a personal computer, a server, or a smartphone.

[0029] The control device 600 controls the tool changing system 10. The control device 600 includes a processor, RAM, and ROM. The processor realizes the functions of each unit by executing various programs stored in the ROM. The processor uses the RAM to store information necessary for processing. The ROM is a read-only semiconductor memory that pre-stores a control program for controlling the tool changing system 10. The RAM includes a main memory, which is a semiconductor memory, and an auxiliary storage device such as a hard disk or solid state drive.

[0030] The control device 600 executes tool arranging control based on an information set including a machining program, storage information, availability information, and position information.

[0031] The machining program includes the usage time and usage sequence of the tools T used to machine the workpieces of the machine tool 400. The usage time is specifically the time used for machining each tool T. As mentioned above, the machining program is acquired by the acquisition unit 500. In the drawings, the "machining program" is abbreviated as "PRG."

[0032] FIG. 2 is a process chart showing the processes of the tool changing system 10. In FIG. 2, each of the upper and lower tables is composed of a row showing the machining program, a row showing the process of the removal unit 200, and a row showing an example of the arrangement of the tool T. In FIG. 2, the horizontal axis shows the passage of time. The upper table is a process chart when tool tidying control is not executed. The lower table is a process chart when tool tidying control is executed. The lower table will be explained later.

[0033] In the process chart at the top of Figure 2, the symbols of the tools T are shown in the rows indicating the machining programs. The symbols arranged along the time axis indicate the order in which the tools T with the same symbol are used. Furthermore, the width of the frame indicates the usage time of the tool T. That is, the row indicating the machining program indicates the usage period of each of the multiple tools T. Furthermore, the overall width of the row indicating the machining program is the time required for the machine tool 400 to complete machining. Note that the replacement period C is the period during which the tool T is replaced by the tool replacement unit 300. The hatched areas indicate the standby period Pa during which the machine tool 400 is on standby. The standby period Pa of the machine tool 400 will be explained later.

[0034] In the process chart at the top of FIG. 2 , the rows showing the processes of the removal unit 200 illustrate the symbols of the tools T in accordance with the machining program. Each symbol indicates the removal period required to remove the tool T with the same symbol. More specifically, the removal period is defined by the period during which the magazine 100 moves the tool T to the connection unit 130, followed by the period during which the removal unit 200 moves the tool T from the connection unit 130 to the holding unit 220. Furthermore, the rows showing the processes of the removal unit 200 illustrate a storage period I during which the removal unit 200 moves the tool T from the holding unit 220 to the connection unit 130. The "storage period" is also referred to as the "return period." In other words, the storage period I is also the period during which the removal unit 200 stores the tool T from the holding unit 220 in the storage unit 120. Note that hatched areas indicate standby periods during which the magazine 100 and the removal unit 200 are on standby. In the standby period during which the magazine 100 and the take-out unit 200 are on standby, the standby period Pb is a period that occurs during the use of the tool T. In this specification, unless otherwise specified, the standby period of the take-out unit 200 refers to the standby period Pb. The standby period Pb of the take-out unit 200 will be described later.

[0035] In the process chart at the top of Fig. 2, the rows showing arrangement examples show symbols corresponding to the arrangement examples showing the arrangement of the tools T in the magazine 100 in accordance with the machining program. The arrangement examples when tool tidying control is not executed are the first arrangement example S1 to the twenty-third arrangement example S23. The arrangement examples will be described in detail later.

[0036] Fig. 3 is an explanatory diagram showing a state in which a tool T is placed. In Fig. 3, hatched areas indicate a state in which a tool T is placed. The area indicated by the symbol E indicates a state in which a tool T is not placed in a location where the tool T can be placed.

[0037] The storage information indicates the storage section 120 for each of the multiple tools T. For example, when the tools T are arranged as shown in Fig. 3, the storage information indicates that the ninth tool T9 is stored in the second storage section 122, the seventh tool T7 is stored in the ninth storage section 129, etc.

[0038] The vacancy information indicates an empty storage section 120e that does not store a tool T. For example, when the tool T is arranged as shown in FIG. 3, the vacancy information indicates that the first storage section 121 is the empty storage section 120e.

[0039] The position information indicates the relative position of each of the multiple storage sections 120 and the removal section 200. In the case of a chain magazine, the position information also indicates the relative position of each of the multiple storage sections 120 and the connection section 130. The position information indicates the distance from the connection section 130 to each of the multiple storage sections 120 along the arrangement direction of the chain 110. For example, when the tool T is arranged as shown in FIG. 3 , the position information indicating the relative position of the connection section 130 and the fifth storage section 125 that stores the sixth tool T6 indicates the length of the arrow Rs1 connecting the connection section 130 and the fifth storage section 125.

[0040] The control device 600 acquires storage information, availability information, and location information from the magazine 100. Based on the information set of the machining program, storage information, availability information, and location information, the control device 600 determines the process of the tool changing system 10, as shown in the process chart of FIG.

[0041] A-2. Tool replacement method: FIG. 4 is an explanatory diagram showing an example of the arrangement of the tool T. The reference numerals on the left side of FIG. 4 correspond to the reference numerals in the rows showing the arrangement examples in FIG. 2. Five arrangement examples are shown in FIG. 4. Each arrangement example shows the arrangement of the tool T in the magazine 100, the holder 220, and the spindle 410. The first arrangement drawing A100 shows the tool T arranged in the magazine 100. The second arrangement drawing A220 shows the tool T arranged in the holder 220. The third arrangement drawing A410 shows the tool T arranged in the spindle 410. However, the reference numeral E indicates a state in which the tool T is not arranged.

[0042] For example, the first arrangement example S1 shows the arrangement of the tool T shown in Fig. 3. That is, in the first arrangement example S1 in Fig. 4, the third arrangement drawing A410 including the first tool T1 shows that the first tool T1 is arranged in the spindle portion 410. The second arrangement drawing A220 showing a state in which the tool T is not arranged shows that the tool T is not arranged in the holding portion 220. The first arrangement drawing A100 including tools T other than the first tool T1 shows the tools T arranged in the magazine 100.

[0043] In the first layout drawing A100, the central frame indicates the state of the storage section 120 arranged at the connection section 130. For example, the central frame in the first layout example S1 is marked with the symbol E, indicating that no tool T is arranged there. The symbols aligned from the center to the left and right outward indicate the order in which the tools T leave the connection section 130 along the chain 110 arrangement, as shown in FIG. 3. In the first layout drawing A100, the width of the frame surrounding the symbol increases as the tool T moves further outward from the center. The width of the other frames, excluding the frame containing the central tool T, indicates the length of time it takes for the storage section 120 to move to the connection section 130. The further outward the tool T is from the center, the longer it takes to move to the connection section 130. In other words, the width of the frame is proportional to the relative length of the removal period of the removal section 200. For example, in the first layout example S1, the sixth tool T6 and the fifth tool T5 take the longest time to move to the connection section 130. This is because the housing portions 120 housing the sixth tool T6 and the fifth tool T5, respectively, are the farthest from the connecting portion 130, as shown in FIG.

[0044] In FIG. 4, the dashed arrows indicate the operation of the tool exchange system 10 until transition to the next arrangement example. For example, in the machining program of FIG. 2, the machine tool 400 uses the first tool T1 and then the second tool T2. That is, the second tool T2 must be placed in the holder 220 so that it can be replaced with the first tool T1 after the first tool T1 has been used. Therefore, to move the second tool T2 to the holder 220 from the state of the first arrangement example S1, the magazine 100 moves the second tool T2 to the connection part 130, as indicated by the first arrow Ps11 in the first arrangement example S1. Next, the take-out part 200 moves the second tool T2 to the holder 220, as indicated by the second arrow Ps12 in the first arrangement example S1. Therefore, the second tool T2 is placed in the holder 220, as in the second arrangement example S2. The first arrow Ps21 in the second arrangement example S2 indicates the exchange of the tool T between the holder 220 and the spindle 410.

[0045] 5 to 7 are explanatory diagrams showing examples of arrangement of tool T. 6th arrangement example S6 to 20th arrangement example S20 are shown in Fig. 5 to Fig. 7. 21st arrangement example S21 to 24th arrangement example S24 are omitted from the illustration because they are arrangement examples after the standby period Pa of machine tool 400, which is shortened by tool tidying control, which will be described later.

[0046] A-3. Magazine and machine tool waiting period: The standby period Pa of the machine tool 400 occurs when the removal period by the removal unit 200 exceeds the usage period of the tool T currently being used by the machine tool 400 when the tool T to be used immediately before has been removed. The state in which the tool T to be used immediately before has been removed is a state in which the tool T to be used in parallel with the removal period by the removal unit 200 has been removed by the removal unit 200. For example, arrangement examples of this state are the 17th arrangement example S17 to the 19th arrangement example S19 in FIG. 7. That is, in the process chart at the top of FIG. 2, when the seventh tool T7 has been removed, the removal period of the eighth tool T8 exceeds the usage period of the seventh tool T7, thereby causing the standby period Pa of the machine tool 400. The operation of the tool changing system 10 during the removal period of the eighth tool T8 is shown in the 19th arrangement example S19 in FIG. 7.

[0047] FIG. 8 is an explanatory diagram showing the arrangement of tool T in the 19th arrangement example S19. The length of the removal period by the removal unit 200 depends on the relative position between the connection unit 130 and the storage unit 120 storing the tool T. That is, the removal period of the eighth tool T8 depends on the relative position Rs2 between the connection unit 130 and the eighth tool T8, as shown in FIG. 8. Before being moved to the holding unit 220, the eighth tool T8 is arranged in the magazine 100 at the farthest position from the connection unit 130. As shown in the 19th arrangement example S19 in FIG. 7, the removal period of the eighth tool T8 is the longest among the removal periods in the first arrangement drawing A100. Therefore, the removal period of the eighth tool T8 is likely to be longer than the usage period of the seventh tool T7, which is used before the eighth tool T8 in the tool T usage order.

[0048] In this specification, a tool T, such as the eighth tool T8, which is the next tool T to be used in the machine tool 400 in accordance with the use order and use time of each tool T, and whose removal period by the removal section 200 exceeds the use period of the tool T currently in use in the machine tool 400, is referred to as a "tool to be organized."

[0049] The standby period Pb of the removal unit 200 occurs when the usage period of the tool T currently in use in the machine tool 400 exceeds the length of the storage period I required for storage by the removal unit 200 and the length of the removal period required for removal. The length of the storage period I and the removal period is the total length of the periods. For example, in the process chart at the top of Figure 2, the usage period of the fourth tool T4 exceeds the total length of the removal period and storage period I of the fifth tool T5, resulting in the standby period Pb of the removal unit 200.

[0050] Therefore, the standby period Pb of the removal unit 200 is calculated by subtracting the length of the return period I of the tool T and the removal period of the tool T from the length of the use period of the tool T.

[0051] For the reasons described above, during standby period Pa of machine tool 400, machine tool 400 needs to stop machining of the workpiece. In other words, when standby period Pa of machine tool 400 occurs, the time required for machine tool 400 to complete machining becomes longer. However, standby period Pb of take-out unit 200 occurs while tool T is in use, and therefore does not affect the machining of machine tool 400. Therefore, the tool tidying control described below is performed during standby period Pb of take-out unit 200, thereby shortening the time required for machine tool 400 to complete machining.

[0052] A-4. Tool tidying control: The control device 600 executes tool arranging control. The tool arranging control moves the storage sections 120 of the magazine 100 so that the tool to be arranged is closer to the tool changing section 300. More specifically, the tool arranging control controls the take-out section 200 so that the tool to be arranged is closer to the tool T that is used before the tool to be arranged in the usage order of the tool T in the magazine 100.

[0053] FIG. 9 is an explanatory diagram showing an example of arrangement of the tool T. The upper part of FIG. 9 illustrates a tenth arrangement example S10 during the standby period Pb of the removal unit 200. In the process chart at the top of FIG. 2, the tool to be tidied is the eighth tool T8. The tool T used before the eighth tool T8 in the usage order of the tools T is the seventh tool T7. The tool tidying control moves the eighth tool T8 closer to the seventh tool T7 during the standby period Pb of the removal unit 200.

[0054] As shown in FIG. 9 , during the standby period Pb of the take-out unit 200, an empty storage section 120e is present adjacent to the storage section 120 that stores the seventh tool T7. Therefore, for example, the tool tidying control controls the magazine 100 and the take-out unit 200 to place the tool T to be organized in the empty storage section 120e that is closest to the tool T to be used next after the tool to be organized in the tool T usage order. Specifically, the tool tidying control places the eighth tool T8 in the empty storage section 120e that is adjacent to the storage section 120 that stores the seventh tool T7. Specifically, the control device 600 operates the magazine 100 to move the eighth tool T8 to the connection section 130, as indicated by the first arrow Ps101 in the tenth arrangement example S10. Furthermore, the control device 600 operates the take-out unit 200 to move the eighth tool T8 to the holder 220, as indicated by the second arrow Ps102 in the tenth arrangement example S10. That is, the removal unit 200 removes the eighth tool T8. Therefore, the arrangement of the tool T shifts from the tenth arrangement example S10 to the 11ath arrangement example B11a.

[0055] Next, the control device 600 operates the magazine 100 to move the empty storage section 120e adjacent to the seventh tool T7 to the connecting section 130, as indicated by the first arrow Ps11a1 in the eleventh arrangement example B11a. Furthermore, the control device 600 controls the ejection section 200 to move the eighth tool T8 in the holder 220 to the connecting section 130, as indicated by the second arrow Ps11a2 in the eleventh arrangement example B11a. In other words, the ejection section 200 stores the eighth tool T8 in the empty storage section 120e.

[0056] Next, because the standby period Pb of the take-out unit 200 occurs while the fourth tool T4 is being used, the control device 600 must move the fifth tool T5, which will be used next, to the holding unit 220. Specifically, the control device 600 operates the magazine 100 to move the fifth tool T5 to the connecting unit 130, as indicated by the second arrow Ps11b1 in the 11b arrangement example B11b. Furthermore, the control device 600 controls the take-out unit 200 to move the fifth tool T5 to the connecting unit 130, as indicated by the second arrow Ps11a2 in the 11b arrangement example B11b2. In other words, the take-out unit 200 takes out the fifth tool T5. This completes the tool tidying control.

[0057] In other words, the time required for tool tidying control is the sum of the time required to remove the tool to be tidied, the time required to move the empty storage section 120e closest to the tool T to be used next after the tool to be tidied to the connection section 130, the time required to store the tool to be tidied in the empty storage section 120e, and the time required to move the tool T to be used next after the tool T currently in use to the connection section 130.

[0058] FIG. 10 is an explanatory diagram showing the arrangement of tool T in 20th arrangement example B20. FIGS. 11 and 12 are explanatory diagrams showing arrangement examples of tool T. 20th arrangement example B20 is an arrangement example before the removal period of the 8th tool T8 in the process flow at the bottom of FIG. 2. As shown in 20th arrangement example B20 in FIG. 12, the 8th tool T8 is located closest to the connection part 130. As a result, as shown by the relative position Rs3 in FIG. 10, the relative position Rs3 between the 8th tool T8 and the connection part 130 is shorter than the relative position Rs2 before the tool tidying control shown in FIG. 5 is executed. Therefore, as shown in the process flow at the bottom of FIG. 2, the removal period of the 8th tool T8 is shorter than the relative position Rs1 before the tool tidying control is executed. In other words, the time required for the machine tool 400 to complete machining is reduced.

[0059] A-5. Tool Change System Operation: 13 is a flowchart showing the operation of the tool changing system 10. The control device 600 starts when, for example, an operator issues an instruction to start the control device 600 via the acquisition unit 500. Note that the tool T required for machining the workpiece is stored in the magazine 100 in advance by the operator before the following process is started.

[0060] In step S100 of FIG. 13, the control device 600 causes the acquisition unit 500 to acquire a machining program including the use time and use sequence for the tool T to be used on the workpiece of the machine tool 400.

[0061] 13, control device 600 acquires storage information, vacant storage information, and position information. That is, before machine tool 400 starts machining, control device 600 acquires an information set including storage information, vacant storage information, position information, and a machining program.

[0062] 13, the control device 600 determines the use period and removal period for each of the multiple tools T based on an information set including storage information, vacant storage information, position information, and a machining program. That is, the control device 600 determines the process for machining by the machine tool 400, including the standby period Pa for the machine tool 400, the replacement period C for the tool T, and the standby period Pb for the removal unit 200, in accordance with the use order of the tools T. For example, the control device 600 creates information represented by the process chart at the top of FIG.

[0063] In step S130 of FIG. 13 , the control device 600 determines whether or not to execute tool tidying control in the determined process. More specifically, if a standby period Pa for one or more machine tools 400 occurs and a standby period Pb for one or more take-out units 200 occurs in the determined process, the control device 600 calculates the time required for tool tidying control. Furthermore, if the tool tidying control can be executed within the standby period Pb for the take-out unit 200, the control device 600 proceeds to step S140. If the standby period Pa for one or more machine tools 400 or the standby period Pb for one or more take-out units 200 does not occur in the determined process, the control device 600 proceeds to step S160. Alternatively, if the tool tidying control cannot be executed within the standby period Pb for the take-out unit 200, the control device 600 proceeds to step S160.

[0064] In the determination of step S130, control device 600 determines whether or not tool tidying control can be executed for each of the standby periods Pa of machine tool 400 in the determined process, in order from the earliest start time.

[0065] 13, the control device 600 changes the process for machining by the machine tool 400 so as to execute the tool tidying control. That is, the control device 600 re-determines the process for machining by the machine tool 400, taking into consideration the arrangement of the tool T that is changed by the tool tidying control. For example, the control device 600 creates information represented by the process chart at the bottom of FIG.

[0066] In step S150 of Fig. 13, the control device 600 determines whether or not the processing of step S130 has been completed for the standby periods Pa of all machine tools 400. If there are standby periods Pa for the remaining machine tools 400, the control device 600 returns the processing to step S130. Furthermore, in step S130 to which the control device 600 has returned, the control device 600 executes the processing of step S130 for the standby period Pa of the next earliest machine tool 400. If there are no standby periods Pa for the remaining machine tools 400, the control device 600 proceeds to step S160.

[0067] 13, control device 600 starts machining the workpiece in accordance with the determined process. That is, control device 600 controls the machining of machine tool 400, the operation of magazine 100, tool change by tool changer 300, etc. in accordance with the determined process. After completing the processing of step S160, control device 600 ends the processing.

[0068] As a result, the tool arranging control is executed during the machining of the workpiece. That is, based on the information set, the control device 600 executes the tool arranging control for the tool T that is to be used next in the machine tool 400 in accordance with the use order and use time of each tool T, and whose removal period by the removal unit 200 exceeds the use period of the tool T currently being used in the machine tool 400. More specifically, the control device 600 moves the multiple storage units 120 of the magazine 100 so as to be closer to the tool change unit 300.

[0069] As described above, in this configuration, the relative positions of the removal unit 200 when the tool changer 300 replaces the tool T of the machine tool 400 and the storage unit 120 that stores the tool to be tidied are such that the removal period for the tool to be tidied exceeds the usage period of the tool T of the machine tool 400. This makes it necessary to stop machining using the tool T of the machine tool 400 until removal of the tool T of the machine tool 400 is complete. The closer the storage unit 120 is to the tool changer 300, the shorter the time required for the removal unit 200 to remove the tool T.

[0070] The tool changing system 10 of the present disclosure moves the tool to be organized within the magazine 100 so that it is closer to the tool changing unit 300. For example, the tool changing system 10 of the present disclosure uses the extracting unit 200 to store the tool to be organized in the empty storage unit 120e that is closest to the tool T to be replaced in order to use the tool to be organized. As a result, when the tool to be organized and the tool T to be replaced in order to use the tool to be organized are replaced, the relative positions of the extracting unit 200 and the storage unit 120 storing the tool to be organized are shortened. In other words, the time required to remove the tool T is reduced. Therefore, the tool changing system 10 of the present disclosure can arrange the tools T in accordance with the machining of each workpiece.

[0071] Furthermore, the tool changing system 10 of the present disclosure performs tool tidying control during the standby period Pb of the take-out section 200, thereby preventing the machining by the machine tool 400 from stopping.

[0072] B. Second embodiment: In the above embodiment, the acquisition unit 500 acquires one machining program. However, the acquisition unit 500 may acquire multiple machining programs. The tool changing system 10 of the second embodiment has the same configuration as the tool changing system 10 of the first embodiment. The control device 600 of the second embodiment proceeds with the same processing as that shown in the flowchart of FIG. 13, except for the processing described below.

[0073] In step S100 of FIG. 13, the control device 600 of the second embodiment acquires a plurality of machining programs by the acquisition unit 500.

[0074] In step S110 of FIG. 13, the control device 600 of the second embodiment acquires, in addition to the information set of the first embodiment, a production plan that indicates the order in which a plurality of machining programs are to be executed.

[0075] In step S120 of FIG. 13, the control device 600 of the second embodiment determines the process for machining by the machine tool 400 so as to execute a plurality of machining programs in accordance with the production plan.

[0076] In step S130 of Fig. 13, the control device 600 of the second embodiment determines whether or not to execute tool tidying control in the process determined for all machining programs. The control device 600 of the second embodiment makes the determination in the same manner as in step S130 of the first embodiment. If the control device 600 of the second embodiment executes tool tidying control, the process proceeds to step S140. If the control device 600 of the second embodiment does not execute tool tidying control, the process proceeds to step S160.

[0077] 13, the control device 600 of the second embodiment changes the process for machining by the machine tool 400 so as to execute tool tidying control. In the second embodiment, the process for machining by the machine tool 400 is determined based on a plurality of machining programs, and therefore the control device 600 can also execute tool tidying control during a standby period Pb of the take-out unit 200 that occurs in a machining program different from the machining program in which the standby period Pa of the machine tool 400 occurs.

[0078] The control device 600 of the second embodiment performs the same processes as in the first embodiment in steps S150 and S160 of FIG.

[0079] With this configuration, the tool changing system 10 of the present disclosure arranges the tools T corresponding to the machining of a plurality of workpieces. Therefore, the tool changing system 10 of the present disclosure can more efficiently perform machining in accordance with a production plan than when the tools T are arranged corresponding to the machining of each individual product.

[0080] C. Third embodiment: 14 is a flowchart showing the operation of the tool changing system 10 of the third embodiment. The multiple storage units 120 of the third embodiment further store spare tools that can be substituted for the tool T arranged in any of the multiple storage units 120. The tool changing system 10 of the third embodiment has the same configuration as the tool changing system 10 of the first embodiment. However, like the second embodiment, the acquisition unit 500 of the third embodiment may acquire multiple machining programs.

[0081] The process of step S200 in FIG. 14 is the same as the process of step S100 in FIG.

[0082] 14, the control device 600 of the third embodiment acquires, in addition to the information set of the first embodiment, the usage history of the tool T and the life value of the tool T. The usage history is, for example, the number of times the tool T has been used in the past. In this case, the life value of the tool T is the maximum number of times the tool T can be used.

[0083] The process of step S220 in Fig. 14 is the same as the process of step S120 in Fig. 13. However, the information set includes the usage record of tool T and the life value of tool T.

[0084] The processing in steps S230 to S260 in FIG. 14 is the same as the processing in steps S130 to S150 in FIG.

[0085] In step S270 of FIG. 14, the control device 600 of the third embodiment updates the usage history of the tool T in response to the use of the tool T by the machine tool 400.

[0086] 14, the control device 600 of the third embodiment determines whether or not a tool has reached the end of its life due to use of the tool T by the machine tool 400. More specifically, the control device 600 of the third embodiment proceeds to step S290 when a tool that has reached the end of its life, which is determined based on the usage history and life values ​​of multiple tools T, has been produced as a result of machining by the machine tool 400. The control device 600 of the third embodiment proceeds to step S300 when a tool that has reached the end of its life has not been produced.

[0087] 14, the control device 600 of the third embodiment switches the tool T. That is, the control device 600 of the third embodiment uses the removal unit 200 to remove and store the tool T so that the tool T is replaced between the storage units 120 that store the tool that has reached the end of its life and the spare tool.

[0088] In step S300 of Fig. 14, the control device 600 of the third embodiment determines whether the machining program has been completed. If the machining program has not been completed, the control device 600 of the third embodiment returns the process to step S270. If the machining program has been completed, the control device 600 of the third embodiment ends the process. Note that if there is a workpiece to be machined next, the control device 600 of the third embodiment may perform tool tidying control.

[0089] By adopting such a configuration, the tool changing system 10 of the present disclosure can prevent a tool that has reached the end of its life from being used in machining.

[0090] D. Fourth embodiment: In the third embodiment, the control device 600 controls the removal unit 200 to remove and store tools so that the tools are interchanged between the storage units 120 that store the tools that have reached the end of their life and the spare tools. However, when there are multiple tools that have reached the end of their life, the control device 600 may also control the removal unit 200 to remove and store the tools so that the multiple tools that have reached the end of their life are close to each other in the magazine 100. In other words, when there are multiple tools that have reached the end of their life, the control device 600 controls the tool changing system 10 so that the tools that have reached the end of their life are arranged adjacent to each other in the multiple storage units 120.

[0091] By adopting such a configuration, multiple tools that have reached the end of their life are likely to gather in one part of the magazine 100. Therefore, the tool changing system 10 of the present disclosure allows a worker who replaces tools that have reached the end of their life from outside the magazine 100 to perform the replacement work efficiently.

[0092] E. Fifth embodiment: In the third and fourth embodiments, the control device 600 may replace or arrange the tool that has reached the end of its life during the standby period Pb of the removal unit 200. By adopting such a configuration, the tool changing system 10 of the present disclosure does not stop machining by the machine tool 400.

[0093] F. Sixth embodiment: In the above embodiment, the magazine 100 is a chain magazine. However, the magazine 100 may also be a matrix magazine. In a matrix magazine, the storage section for the tool T is fixed. Therefore, when a tool changing system is realized using a matrix magazine, the removal unit moves among the multiple storage sections within the magazine to remove and store the tool T in parallel with the machining of the machine tool. That is, in tool organization control using a matrix magazine, the control device controls the removal unit to move the tool T within the magazine so that the tool to be organized is closer to the tool change unit. This allows the tool changing system to function in the same way when the magazine is realized as a matrix magazine as when it is realized as a chain magazine. Furthermore, although the magazine in this embodiment is a matrix magazine, it may also be a tool storage system in which tools are aligned vertically, horizontally, etc., and the tools T are transported by a transport unit.

[0094] G. Variations: (1) In the above embodiment, the tool tidying control is performed during the standby period Pb of the removal unit 200, thereby shortening the time required for the machine tool 400 to complete machining. However, the tool tidying control may be performed during other periods. For example, as in the process chart of FIG. 2, the removal unit 200 may be in standby immediately after the start of a process, and the tool tidying control may be performed during such a period. (2) In the above embodiment, the usage history is the number of times the tool T has been used in the past. However, the usage history may be based on other information. For example, the usage history may be the amount of time the tool T has been used in the past, or a value based on the worn state of the tool T. Note that the life value may also be based on other information. (3) In the above embodiment, the tool tidying control controls the magazine 100 and the removal unit 200 so as to place the tool to be tidied in the empty storage unit 120e closest to the tool T to be used next after the tool to be tidied in the usage order of the tools T. However, other methods may be used for the tool tidying control. For example, the tool tidying control controls the tool changing system 10 so as to always provide an empty storage unit 120e adjacent to the tool T to be used next after the tool to be tidied. This minimizes the relative distance between the tool to be tidied and the connection unit 130. This configuration ensures that there is no empty storage unit 120e closer to the tool T to be used next after the tool to be tidied. In other words, the tool changing system 10 of the present disclosure can always shorten the time required to remove the tool to be tidied. (4) In the above embodiment, the control device 600 may be a control device of the machine tool 400. Furthermore, the control device 600 may be provided in the tool changer 300 or the magazine 100, or may be a control device external to the machine tool 400. (5) In the above embodiment, when the machine tool 400 is not machining a workpiece, the operator may perform an operation equivalent to tool arranging control. That is, the operator may change the arrangement of the tools T in the magazine 100 so that the tool to be arranged is closer to the tool T that will be used before the tool to be arranged in the usage order of the tools T. However, when the tool changing system 10 performs tool arranging control after the operator changes the arrangement of the tools T, the tool changing system 10 newly acquires the storage information, empty storage information, and position information before performing the tool arranging control. That is, the tool changing system 10 determines the process for machining the machine tool 400 according to the arrangement of the tools T changed by the operator.

[0095] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features of the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above problems or achieve some or all of the above effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0096] 10...tool exchange system, 110...chain, 120, 120e...accommodation section, 120o...opening, 121-129...first to ninth accommodation sections, 130...connection section, 200...removal section, 210...movable section, 220...holding section, 300...tool exchange section, 300C...rotating shaft, 310...arm section, 311...gripping section, 400...machine tool, 410...spindle section, 500...acquisition section, 600...control device, Pa, Pb...standby period, T...tool, T1-T9...first to ninth tools

Claims

1. 1. A tool changing system, comprising: a magazine having a plurality of storage sections each capable of storing one tool; a machine tool that performs machining using one tool among the tools accommodated in the plurality of accommodation sections; an extracting unit that extracts one tool from the plurality of storage units and stores one tool in the magazine; a tool exchange unit that exchanges tools between the machine tool and the take-out unit; an acquisition unit that acquires information from outside the tool changing system; a control device for controlling the tool changing system, the removal unit moves the plurality of storage units, or the magazine moves the plurality of storage units, thereby performing the removal and the storage in parallel with the processing by the machine tool; The control device Before starting machining by the machine tool, the acquisition unit acquires one or more machining programs including use times and use sequences of tools to be used on a workpiece by the machine tool; a tool changing system that performs tool tidying control based on an information set including position information indicating the relative position of each of the storage sections of the plurality of storage sections and the removal section, storage information indicating the storage sections of each of the plurality of tools, vacancy information indicating vacant storage sections that do not store tools, and the one or more machining programs, in which the removal section moves the tool within the magazine or the magazine moves the plurality of storage sections so that the tool that is to be tidied up to be used next in the machine tool in accordance with the use order and the use time of each of the tools and whose removal period by the removal section exceeds the use period of a tool currently being used in the machine tool is closer to the tool changing section, in accordance with the use order and the use time of each of the tools.

2. 2. The tool changing system of claim 1, A tool changing system in which a control device performs the tool tidying control during a waiting period of the removal unit that occurs when the usage period of a tool in use on the machine tool exceeds the length of the storage period and removal period required for the tool to be stored by the removal unit.

3. 3. The tool changing system according to claim 2, the one or more machining programs are a plurality of machining programs, The information set further includes a production plan indicating an order in which the plurality of machining programs are to be executed, A tool changing system in which the control device further acquires the production plan using the acquisition unit before the machine tool starts machining.

4. 4. The tool changing system according to claim 3, The plurality of storage sections further store a spare tool that can be substituted for a tool disposed in any one of the plurality of storage sections, The control device Before starting machining by the machine tool, the acquisition unit further acquires a usage record of the tool and a life value of the tool; a tool changing system in which, if, after the tool tidying control, a tool that has reached the end of its lifespan determined based on the usage history and the lifespan values ​​of the plurality of tools is generated through machining by the machine tool, the removal unit performs the removal and storage so that the tool that has reached its lifespan and the spare tool are swapped between storage units that respectively store the tool that has reached its lifespan.

5. 5. The tool changing system according to claim 4, A tool changing system in which, when multiple tools have reached the end of their life, the control device performs the removal and storage using the removal unit so that the multiple tools reach the end of their life in the magazine.

Images