Machine tool, control method, and control program

Abstract

This technology makes it easier to identify the causes of machining defects in workpieces. [Solution] The machine tool comprises first and second work spindles, first and second turrets capable of performing the same machining on workpieces held on the first and second work spindles respectively, a palletizer that drives first to fourth pallets for placing workpieces, a loader that transports workpieces between the first to fourth pallets and the first and second work spindles, and a control unit. The control unit performs the following processes: transporting the workpiece on the first pallet to the first work spindle and starting machining; transporting the workpiece on the second pallet to the second work spindle and starting machining; transporting the workpiece held on the first work spindle to the third pallet based on the completion of machining on the first work spindle; and transporting the workpiece held on the second work spindle to the fourth pallet based on the completion of machining on the second work spindle.

Description

Technical Field

[0007] ,

[0001] The present disclosure relates to a machine tool, a control method, and a control program.

Background Art

[0002] Japanese Unexamined Patent Application Publication No. 2018-183833 (Patent Document 1) discloses a machine tool including a first main spindle and a second main spindle. The machine tool performs front and back machining of a workpiece using the first main spindle and the second main spindle.

[0003] More specifically, the machine tool performs machining on the front side of the workpiece by mounting the workpiece on the first main spindle. Thereafter, the machine tool replaces the workpiece from the first main spindle to the second main spindle by a workpiece transfer mechanism and performs machining on the back side of the workpiece.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In order to increase the productivity of workpieces of the same variety, the same machining may be performed on each of the first main spindle and the second main spindle. When machining workpieces of the same variety on each main spindle, the shapes of the completed workpieces are the same. Therefore, when machining defects occur, it becomes difficult to identify where the cause of the machining defects is from the machined workpieces.

[0006] The present disclosure has been made to solve the above problems, and an object in one aspect is to provide a technique for facilitating the identification of the cause of machining defects of workpieces.

Means for Solving the Problems

[0007] One example of the present disclosure provides a machine tool. The machine tool comprises a first work spindle for rotatably holding a workpiece, a second work spindle for rotatably holding a workpiece, a first turret capable of machining a workpiece held on the first work spindle, a second turret capable of machining a workpiece held on the second work spindle, a palletizer for driving a pallet for placing a workpiece, the pallet, a loader for transporting the workpiece between the first work spindle and the second work spindle, and a control unit capable of controlling the palletizer and the loader. The control unit performs the following processes: transporting the workpiece placed on the first pallet to the first work spindle and starting the machining process; transporting the workpiece placed on the second pallet to the second work spindle and starting the machining process; transporting the workpiece held on the first work spindle to the third pallet based on the completion of the machining process on the first work spindle; and transporting the workpiece held on the second work spindle to the fourth pallet based on the completion of the machining process on the second work spindle.

[0008] In one example of this disclosure, the rotation axes of the first and second workpiece spindles are parallel to each other. The loader is configured to be driveable in a first horizontal direction perpendicular to the rotation axes. The palletizer is configured to be driveable in a second horizontal direction parallel to the rotation axes.

[0009] In one example of this disclosure, the first work spindle is located to the left of the second work spindle in a top view. The third pallet is located to the left of the fourth pallet in the same top view.

[0010] In one example of this disclosure, the first workpiece spindle is located to the left of the second workpiece spindle in a top view. The first pallet is located to the left of the second pallet in the same top view.

[0011] In one example of this disclosure, the first pallet and the second pallet are arranged side by side on the palletizer in the first horizontal direction. The third pallet and the fourth pallet are arranged side by side on the palletizer in the first horizontal direction. The first pallet and the third pallet are arranged side by side on the palletizer in the second horizontal direction. The second pallet and the fourth pallet are arranged side by side on the palletizer in the second horizontal direction.

[0012] In one example of the present disclosure, the loader includes a transport body configured to hold a workpiece. The transport body has a first hand and a second hand having lower hardness than the first hand, and the control unit causes the workpiece to be held by the first hand when transporting a workpiece from the first pallet to the first work spindle, the workpiece to be held by the first hand when transporting a workpiece from the second pallet to the second work spindle, the workpiece to be held by the second hand when transporting a workpiece from the first work spindle to the third pallet, and the workpiece to be held by the second hand when transporting a workpiece from the second work spindle to the fourth pallet.

[0013] Other examples of the present disclosure provide a method for controlling a machining system. The machining system comprises a first work spindle for rotatably holding a workpiece, a second work spindle for rotatably holding a workpiece, a first turret capable of machining a workpiece held on the first work spindle, a second turret capable of machining a workpiece held on the second work spindle, a palletizer for driving a pallet for placing workpieces, the pallet, and a loader for transporting workpieces between the first and second work spindles. The control method described above includes the steps of: transporting a workpiece placed on a first pallet to the first work spindle and starting the machining process; transporting a workpiece placed on a second pallet to the second work spindle and starting the machining process; transporting the workpiece held on the first work spindle to a third pallet based on the completion of the machining process on the first work spindle; and transporting the workpiece held on the second work spindle to a fourth pallet based on the completion of the machining process on the second work spindle.

[0014] In other examples of the present disclosure, a control program for a machining system is provided. The machining system comprises a first work spindle for rotatably holding a workpiece, a second work spindle for rotatably holding a workpiece, a first turret capable of machining a workpiece held on the first work spindle, a second turret capable of machining a workpiece held on the second work spindle, a palletizer for driving a pallet for placing workpieces, the pallet, and a loader for transporting workpieces between the first and second work spindles. The control program described above causes the machining system to perform the following processes: transport the workpiece placed on the first pallet to the first work spindle and start the machining process; transport the workpiece placed on the second pallet to the second work spindle and start the machining process; transport the workpiece held on the first work spindle to the third pallet based on the completion of the machining process on the first work spindle; and transport the workpiece held on the second work spindle to the fourth pallet based on the completion of the machining process on the second work spindle.

[0015] The above and other objects, features, aspects and advantages of the present invention will become apparent from the following detailed description relating to the invention, which will be understood in conjunction with the accompanying drawings. [Brief explanation of the drawing]

[0016] [Figure 1] This is a diagram showing an example of a processing system. [Figure 2] This figure shows the inside of the processing area as shown in Figure 1. [Figure 3] This diagram shows the palletizer, loader, and workpiece spindle in a top view. [Figure 4] This is a perspective view showing a palletizer. [Figure 5] This is a diagram showing a transporter. [Figure 6] This figure shows an example of a drive mechanism for a machine tool. [Figure 7] This figure shows an example of the hardware configuration of the control unit. [Figure 8] It is a flowchart showing the flow of workpiece transfer processing. [Figure 9] It is a flowchart showing the flow of workpiece transfer processing. [Figure 10] It is a diagram showing the state of the pallet in the process of workpiece transfer. [Figure 11] It is a diagram showing the state of the pallet in the process of workpiece transfer. [Figure 12] It is a diagram showing the state of the pallet in the process of workpiece transfer. [Figure 13] It is a diagram for explaining the synchronization between the transfer program and the processing program. [Figure 14] It is a diagram showing the state of the pallet in the process of workpiece transfer. [Figure 15] It is a diagram showing the state where the turning processing of all material workpieces is completed. [Figure 16] It is a diagram showing the device configuration of the processing system according to the modification example.

Embodiments for Carrying out the Invention

[0017] Hereinafter, each embodiment according to the present invention will be described with reference to the drawings. In the following description, the same parts and components are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated. Note that each embodiment and each modification example described below may be selectively combined as appropriate.

[0018] <A. Processing System 10> First, the processing system 10 will be described with reference to FIGS. 1 and 2. FIG. 1 is a diagram showing an example of the processing system 10. FIG. 2 is a diagram showing the state inside the processing area AR2 shown in FIG. 1.

[0019] As used herein, a “machining system” means a system comprising one or more machine tools. A machine tool may be, for example, a lathe, or a five-axis machining center. Alternatively, a machine tool may be a multi-tasking machine equipped with both turning and cutting functions. Alternatively, a machine tool may be a machining center further equipped with additional machining functions.

[0020] Figure 1 shows a machine tool 100 as an example of a machining system 10. The machine tool 100 comprises a palletizer 130, a loader 140, a workpiece spindle 150L, ​​a workpiece spindle 150R, a turret 160L, and a turret 160R.

[0021] For the sake of clarity, the horizontal direction parallel to the rotation axis of the workpiece spindles 150L and 150R will also be referred to as the "Z-axis direction" below.

[0022] Furthermore, the horizontal direction perpendicular to the rotation axes of the workpiece spindles 150L and 150R is also referred to as the "X-axis direction." In addition, the positive side of the X-axis direction is also referred to as the right side, and the negative side of the X-axis direction is also referred to as the left side. The right side and left side are directions based on a front view of the machine tool 100.

[0023] Furthermore, the direction perpendicular to both the X-axis and Z-axis is referred to as the "Y-axis direction." The positive side of the Y-axis direction is also referred to as the "downward side," and the negative side of the Y-axis direction is also referred to as the "upward side."

[0024] The machine tool 100 has a cover body 125. The cover body 125 forms the external appearance of the machine tool 100. Inside the cover body 125 are, for example, a palletizer 130, a loader 140, a work spindle 150L, ​​a work spindle 150R, a turret 160L, and a turret 160R. The cover body 125 also divides the machine tool into an installation area AR1 for setting the workpiece W and a processing area AR2 for processing the workpiece W.

[0025] A palletizer 130 is provided in the installation area AR1. When an operator or robot places the workpiece W to be processed onto the palletizer 130, the workpiece W is transported from the palletizer 130 to the processing area AR2 by a loader 140. After processing, the workpiece W is returned to the palletizer 130 from the processing area AR2 by the loader 140.

[0026] The palletizer 130 may be a vertical palletizer or a horizontal palletizer. In a vertical palletizer, the workpieces W are placed in a stacked state in the Z-axis direction. In a horizontal palletizer, the workpieces W are arranged horizontally so as not to overlap each other. Preferably, a horizontal palletizer is used as the palletizer 130. In a horizontal palletizer, the workpieces W do not come into contact with each other, thus preventing damage to the workpieces W.

[0027] The loader 140 transports the workpiece W between the palletizer 130 and the workpiece spindle 150L, ​​or between the palletizer 130 and the workpiece spindle 150R. More specifically, the loader 140 picks up the workpiece W before processing that is placed on the palletizer 130 and mounts the workpiece W onto either the workpiece spindle 150L or 150R. The loader 140 also removes the workpiece W after processing is complete from the workpiece spindle 150L or 150R and transports the workpiece W onto the palletizer 130.

[0028] The machining area AR2 is equipped with a workpiece spindle 150L, ​​a workpiece spindle 150R, a turret 160L, and a turret 160R.

[0029] The workpiece spindle 150L is configured to allow the workpiece W to rotate around a rotation axis parallel to the Z-axis direction. The workpiece spindle 150L is equipped with a chuck mechanism 156L. The chuck mechanism 156L is a mechanism for fixing the workpiece W to the workpiece spindle 150L. The workpiece spindle 150L rotates the workpiece W while the workpiece W is fixed by the chuck mechanism 156L.

[0030] The workpiece spindle 150R is configured to allow the workpiece W to rotate around an axis of rotation parallel to the Z-axis direction. That is, the direction of the axis of rotation of the workpiece spindle 150R is parallel to the direction of the axis of rotation of the workpiece spindle 150L. Typically, the axis of rotation of the workpiece spindle 150R and the axis of rotation of the workpiece spindle 150L are located on the same horizontal plane. The workpiece spindle 150R is provided with a chuck mechanism 156R. The chuck mechanism 156R is a mechanism for fixing the workpiece W to the workpiece spindle 150R. The workpiece spindle 150R rotates the workpiece W with the workpiece W fixed by the chuck mechanism 156R.

[0031] The turret 160L is configured to rotate around the rotation axis AXL. The turret 160L holds multiple tools spaced apart in the circumferential direction around the rotation axis AXL. The turret 160L is also configured to move in the X-axis direction by various drive mechanisms such as motors. The turret 160L performs turning by bringing the fixed tools held in the turret 160L into contact with the workpiece W, which is rotated by the workpiece spindle 150L.

[0032] The turret 160R is configured to rotate around the rotation axis AXR. Typically, the rotation axis AXR and the rotation axis AXL are located coaxially. The turret 160R holds multiple tools spaced apart in the circumferential direction around the rotation axis AXR. The turret 160R is also configured to move in the X-axis direction by various drive mechanisms such as motors. The turret 160R performs turning by bringing the fixed tools held in the turret 160R into contact with the workpiece W, which is rotationally driven by the workpiece spindle 150R.

[0033] In the example described above, the machine tool 100 was equipped with two work spindles 150L and 150R, but the number of work spindles provided in the machine tool 100 may be three or more.

[0034] In addition, in the above example, although the case where the machine tool 100 includes two turrets 160L and 160R has been described, the number of turrets provided on the machine tool 100 may be three or more. Typically, the same number of turrets as the work spindle are provided on the machine tool 100.

[0035] <B. Drive Direction> Next, referring to FIGS. 3 and 4, the relationship of the drive directions among the palletizer 130, the loader 140, the work spindle 150L, and the work spindle 150R will be described. FIG. 3 is a top view showing the palletizer 130, the loader 140, the work spindle 150L, and the work spindle 150R. FIG. 4 is a perspective view showing the palletizer 130.

[0036] As shown in FIG. 4, the palletizer 130 includes a housing 132, a ball screw 134, and a table 136.

[0037] The ball screw 134 is fixed to the housing 132. Further, the ball screw 134 is connected to a motor 212Z described later. The ball screw 134 is a mechanism for converting the rotational motion by the motor 212Z into a linear motion.

[0038] More specifically, the ball screw 134 is composed of a screw shaft and a nut screwed onto the screw shaft. When the motor 212Z rotates the screw shaft of the ball screw 134, the balls between the nut and the screw shaft roll, and the nut slides linearly along the screw shaft. The table 136 is fixed to the nut of the ball screw 134. Thereby, the table 136 can be linearly driven along the Z-axis direction.

[0039] Pallets PL1, PR1, PL2, and PR2 are fixed on the table 136. The machine tool 100 drives the table 136 to move the pallets PL1, PR1, PL2, and PR2 to any position in the Z-axis direction. Each of the pallets PL1, PR1, PL2, and PR2 has multiple recesses for placing workpieces. When each workpiece is placed in a recess, the position of the workpiece is fixed on the pallets PL1, PR1, PL2, and PR2.

[0040] Although the above description concerns a single-axis palletizer in which the table 136 can be driven only in the Z-axis direction, the palletizer 130 is not limited to this. As another example, the table 136 may be a two-axis palletizer in which it can be driven not only in the Z-axis direction but also in the X-axis direction.

[0041] Referring to Figure 3, the loader 140 consists of a rail mechanism 142 and a transport body 144. The rail mechanism 142 extends linearly in the X-axis direction. Thus, the rail mechanism 142 functions as a linear guide for moving the transport body 144 in the X-axis direction.

[0042] More specifically, the transporter 144 is connected to a motor 222X (see Figure 6), which will be described later. The machine tool 100 controls the motor 222X to drive the transporter 144 to any position in the X-axis direction.

[0043] Furthermore, the transporter 144 is connected to a motor 222Y (see Figure 6), which will be described later. The machine tool 100 controls the motor 222Y to drive the transporter 144 to any position in the Y-axis direction.

[0044] More specifically, the carrier 144 is composed of a slider and a lifting rod. The slider is attached to the rail mechanism 142. The slider is configured to be slidable in the X-axis direction by a drive mechanism such as a motor. Further, the lifting rod is attached to the slider. The lifting rod is configured to be slidable in the Y-axis direction by the motor 222Y. A hand for gripping the workpiece is provided at the lower end of the lifting rod. The hand has, for example, an arm shape configured to be able to grip the workpiece.

[0045] The machine tool 100 controls the conveyance of the workpiece W between the palletizer 130 and the carrier 144 by controlling the drive of the table 136 in the Z-axis direction and the drive of the carrier 144 in the X-axis and Y-axis directions.

[0046] Further, a motor 232LZ (see FIG. 6) described later is connected to the workpiece spindle 150L. The machine tool 100 drives the workpiece spindle 150L to an arbitrary position in the Z-axis direction by controlling the motor 232LZ.

[0047] The machine tool 100 controls the conveyance of the workpiece W between the carrier 144 and the workpiece spindle 150L by controlling the drive of the workpiece spindle 150L in the Z-axis direction and the drive of the carrier 144 in the X-axis and Y-axis directions. [[ID=I4]]

[0048] Further, a motor 232RZ (see FIG. 6) described later is connected to the workpiece spindle 150R. The machine tool 100 drives the workpiece spindle 150R to an arbitrary position in the Z-axis direction by controlling the motor 232RZ.

[0049] The machine tool 100 controls the conveyance of the workpiece W between the carrier 144 and the workpiece spindle 150R by controlling the drive of the workpiece spindle 150R in the Z-axis direction and the drive of the carrier 144 in the X-axis and Y-axis directions.

[0050] <C. Overview> Referring to Figure 3, we will now explain the general outline of the workpiece transport process by the machine tool 100.

[0051] In the following, for the sake of clarity, the workpiece before processing will also be referred to as the "raw material workpiece." The workpiece after processing will also be referred to as the "finished product workpiece." Furthermore, the workpiece W placed on the left pallet PL1 will be referred to as the "raw material workpiece WL1." The workpiece W placed on the right pallet PR1 will be referred to as the "raw material workpiece WR1." The workpiece W placed on the left pallet PL2 will be referred to as the "finished product workpiece WL2." The workpiece W placed on the right pallet PR2 will be referred to as the "finished product workpiece WR2." Additionally, when no particular distinction is made between raw material workpieces WL1 and WR1 and finished product workpieces WL2 and WR2, they will simply be referred to as "workpiece W."

[0052] The machine tool 100 performs the same machining on the raw workpiece WL1 held on the work spindle 150L and the raw workpiece WR1 held on the work spindle 150R, according to a pre-designed machining program. When machining the same type of workpiece W on the two work spindles 150L and 150R, the shapes of the finished workpieces WL2 and WR2 will be identical. Therefore, if a machining defect occurs, it becomes difficult to identify the cause of the defect in the workpiece W within the machine tool 100.

[0053] Therefore, in the machine tool 100 according to this embodiment, the product workpiece WL2 processed on the workpiece spindle 150L side and the product workpiece WR2 processed on the workpiece spindle 150R side are placed on separate pallets. This allows the operator to narrow down the cause of the workpiece processing defect based on the pallets on which the product workpieces WL2 and WR2 are placed.

[0054] More specifically, the machine tool 100 transports the workpiece WL1, which is placed on pallet PL1 (first pallet), to the work spindle 150L. Then, the machine tool 100 begins turning on the work spindle 150L. In this way, the workpiece WL1, placed on the left pallet PL1, is transported to the left work spindle 150L.

[0055] Furthermore, the machine tool 100 transports the workpiece WR1, which is placed on pallet PR1 (second pallet), to the workpiece spindle 150R. After that, the machine tool 100 starts turning on the workpiece spindle 150R. In this way, the workpiece WR1, which is placed on the right-hand pallet PR1, is transported to the right-hand workpiece spindle 150R.

[0056] Furthermore, based on the completion of the turning process on the workpiece spindle 150L, ​​the machine tool 100 transports the product workpiece WL2 held on the workpiece spindle 150L to pallet PL2 (third pallet). In this way, the product workpiece WL2 processed on the left workpiece spindle 150L is transported to the left pallet PL2.

[0057] Furthermore, based on the completion of the turning process on the workpiece spindle 150R, the machine tool 100 transports the product workpiece WR2 held on the workpiece spindle 150R to pallet PR2 (fourth pallet). In this way, the product workpiece WL2 processed on the right-hand workpiece spindle 150R is transported to the right-hand pallet PL2.

[0058] Based on the above, the operator can determine whether the cause of the machining defect occurred on the left or right side, depending on whether the defective workpiece is on pallet PL2 or PL2. For example, if the defective workpiece is on the left pallet PL2, the operator only needs to examine the machining components on the left side (for example, the workpiece spindle 150L or the tool held by the turret 160L) and the machining program that controls those machining components. On the other hand, if the defective workpiece is on pallet PR2, the operator only needs to examine the machining components on the right side (for example, the workpiece spindle 150R or the tool held by the turret 160R) and the machining program that controls those machining components.

[0059] Note that the arrangement relationship of the pallets PL1, PR1, PL2, and PR2 is not limited to the example shown in FIG. 3, and the pallets PL1, PR1, PL2, and PR2 can be arranged at any position on the palletizer 130. As an example, the left and right positions of the pallets PL1, PR1 and the pallets PL2, PR2 may be swapped.

[0060] Preferably, when the work spindle 150L is located on the left side of the work spindle 150R in a top view, the pallet PL2 is located on the left side of the pallet PR2 in the same top view. Thereby, the product work WL2 processed on the left side is conveyed to the left pallet PL2, and the product work WR2 processed on the right side is conveyed to the right pallet PR2. As a result, the relationship between the mounting positions of the product workpieces and the positional relationship between the work spindles 150L and 150R are aligned, and the operator can intuitively understand on which side, left or right, the cause of the processing defect occurred.

[0061] More preferably, when the work spindle 150L is located on the left side of the work spindle 150R in a top view, the pallet PL1 is located on the left side of the pallet PR1 in the same top view. Thereby, the operator will place the material work WL1 processed by the left work spindle 150L on the left pallet PL1, and place the material work WR1 processed by the right work spindle 150L on the right pallet PR1. As a result, the relationship between the mounting positions of the material workpieces and the positional relationship between the work spindles 150L and 150R are aligned, and it becomes less likely for the operator to be confused about the mounting positions of the material workpieces.

[0062] More preferably, the pallets PL1 and the pallet PR1 are arranged side by side in the X-axis direction on the palletizer 130. The pallets PL2 and the pallet PR2 are arranged side by side in the X-axis direction on the palletizer 130. The pallets PL1 and the pallet PL2 are arranged side by side in the Z-axis direction on the palletizer 130. The pallets PR1 and the pallet PR2 are arranged side by side in the Z-axis direction on the palletizer 130.

[0063] <D. Carrier 144> Next, referring to FIG. 5, an example of the carrier 144 shown in FIG. 3 will be described. FIG. 5 is a view showing the carrier 144 from the negative side in the X-axis direction.

[0064] For the carrier 144, for example, a mechanism capable of simultaneously holding a plurality of workpieces is adopted. As an example, the carrier 144 is composed of a housing 146, a rotation mechanism 148, and hands H1 and H2 for holding workpieces.

[0065] The rotation mechanism 148 is fixedly mounted to the housing 146 so as to be rotatable about the rotation axis AXYZ. The rotation axis AXYZ is inclined at a predetermined angle (for example, 45°) with respect to the horizontal plane. Hands H1 and H2 are provided on the rotation mechanism 148. The carrier 144 is configured such that when the rotation mechanism 148 is rotated 180° about the rotation axis AXYZ, the positional relationship between the hands H1 and H2 changes.

[0066] Preferably, the hand H1 is used to hold the raw material workpiece before processing, and the hand H2 is used to hold the processed product workpiece. In this case, the hardness of the hand H2 is lower than the hardness of the hand H1. Thereby, the risk of damaging the product workpiece can be reduced. On the other hand, the raw material workpiece can be firmly gripped.

[0067] As an example, a buffer material or the like is provided for the hand H2. Alternatively, the claw portion of the hand H2 is made of a material softer than the material of the claw portion of the hand H1.

[0068] <E. Drive mechanism of the machine tool 100> Next, referring to FIG. 6, the drive mechanism in the machine tool 100 will be described. FIG. 6 is a view showing an example of the drive mechanism of the machine tool 100.

[0069] As shown in Figure 6, the machine tool 100 includes a control unit 50, the table 136 described above, the transport body 144 described above, the work spindles 150L and 150R described above, the turrets 160L and 160R described above, and drive units 210, 220, 230L, 230R, 240L, 240R, and 250.

[0070] The control unit 50 controls various devices within the machine tool 100. The configuration of the control unit 50 is arbitrary. The control unit 50 may consist of a single control unit or multiple control units. For example, the control unit 50 may consist of one or more CNC (Computer Numerical Control) devices, one or more PLC (Programmable Logic Controller) devices, or a combination thereof.

[0071] In the example shown in Figure 6, the control unit 50 consists of a CNC device 50A and a CNC device 50B. For example, CNC device 50A functions as the main control device, and CNC device 50B functions as the sub-control device. That is, CNC device 50B follows control commands from CNC device 50A.

[0072] The objects controlled by the CNC device 50A are, for example, the transport body 144, the workpiece spindles 150L and 150R, and the turrets 160L and 160R. The object controlled by the CNC device 50B is, for example, the table 136.

[0073] The drive unit 220 is a drive mechanism for driving the transport body 144. The drive unit 220 may consist of a single drive unit or multiple drive units. In the example in Figure 6, the drive unit 220 consists of motor drivers 221X, 221Y and motors 222X, 222Y.

[0074] The motor driver 221X sequentially receives input from the CNC device 50A regarding the target position of the transport body 144 in the X-axis direction, and outputs a current corresponding to that target position to the motor 222X. As a result, the motor 222X moves the transport body 144 to any position in the X-axis direction.

[0075] Motor 222X may be an AC motor, a stepping motor, a servo motor, or any other type of motor.

[0076] The motor driver 221Y sequentially receives input from the CNC device 50A regarding the target position of the transport body 144 in the Y-axis direction, and outputs a current corresponding to that target position to the motor 222Y. As a result, the motor 222Y moves the transport body 144 to any position in the Y-axis direction.

[0077] Motor 222Y may be an AC motor, a stepping motor, a servo motor, or any other type of motor.

[0078] The drive unit 230L is a drive mechanism for driving the workpiece spindle 150L. The drive unit 230L may consist of a single drive unit or multiple drive units. In the example in Figure 6, the drive unit 230L consists of motor drivers 231LC and 231LZ and motors 232LC and 232LZ.

[0079] The motor driver 231LC sequentially receives input from the CNC device 50A for the target rotation angle or target rotation speed of the workpiece spindle 150L, ​​which has the Z-axis direction as its rotation center, and outputs a current to the motor 232LC corresponding to the target rotation angle or target rotation speed. As a result, the workpiece held by the workpiece spindle 150L rotates with the Z-axis direction as its rotation center.

[0080] Motor 232LC may be an AC motor, a stepping motor, a servo motor, or any other type of motor.

[0081] The motor driver 231LZ sequentially receives input from the CNC device 50A for the target position of the workpiece spindle 150L in the Z-axis direction, and outputs a current corresponding to that target position to the motor 232LZ. As a result, the motor 232LZ moves the workpiece spindle 150L to any position in the Z-axis direction.

[0082] The motor 232LZ may be an AC motor, a stepping motor, a servo motor, or any other type of motor.

[0083] The drive unit 230R is a drive mechanism for driving the workpiece spindle 150R. The drive unit 230R may consist of a single drive unit or multiple drive units. In the example in Figure 6, the drive unit 230R consists of motor drivers 231RC, 231RZ and motors 232RC, 232RZ.

[0084] The motor driver 231RC sequentially receives input from the CNC device 50A for the target rotation angle or target rotation speed of the workpiece spindle 150R, which has the Z-axis direction as its rotation center, and outputs a current to the motor 232RC corresponding to the target rotation angle or target rotation speed. As a result, the workpiece held by the workpiece spindle 150R rotates with the Z-axis direction as its rotation center.

[0085] Motor 232RC may be an AC motor, a stepping motor, a servo motor, or any other type of motor.

[0086] The motor driver 231RZ sequentially receives input from the CNC device 50A for the target position of the workpiece spindle 150R in the Z-axis direction, and outputs a current corresponding to that target position to the motor 232RZ. As a result, the motor 232RZ moves the workpiece spindle 150R to any position in the Z-axis direction.

[0087] The motor 232RZ may be an AC motor, a stepping motor, a servo motor, or any other type of motor.

[0088] The drive unit 240L is a drive mechanism for driving the turret 160L. The drive unit 240L may consist of a single drive unit or multiple drive units. In the example in Figure 6, the drive unit 240L consists of a motor driver 241LA and a motor 242LA.

[0089] The motor driver 241LA sequentially receives input from the CNC device 50A for the target rotation angle or target rotation speed of the turret 160L, with the X-axis as its rotational center, and outputs a current to the motor 242LA corresponding to the target rotation angle or target rotational speed. As a result, the tool held in the turret 160L rotates with the X-axis as its rotational center.

[0090] Motor 242LA may be an AC motor, a stepping motor, a servo motor, or any other type of motor.

[0091] The drive unit 240R is a drive mechanism for driving the turret 160R. The drive unit 240R may consist of a single drive unit or multiple drive units. In the example in Figure 6, the drive unit 240R consists of a motor driver 241RA and a motor 242RA.

[0092] The motor driver 241RA sequentially receives from the CNC device 50A an input of the target rotation angle or the target rotation speed of the turret 160R with the rotation center in the X-axis direction, and outputs a current corresponding to the target rotation angle or the target rotation speed to the motor 242RA. Thereby, the tool held by the turret 160R rotates with the rotation center in the X-axis direction.

[0093] Note that the motor 242RA may be an AC motor, a stepping motor, a servo motor, or other types of motors.

[0094] The drive unit 250 is a drive mechanism for driving the table 136. The drive unit 250 may be composed of a single drive unit or a plurality of drive units. In the example of FIG. 6, the drive unit 250 is composed of a motor driver 251Z and a motor 252Z.

[0095] The CNC device 50A sequentially outputs the target position of the table 136 in the Z-axis direction to the CNC device 50B. The CNC device 50B controls the motor driver 251Z according to the target position input from the CNC device 50A. The motor driver 251Z outputs a current corresponding to the target position to the motor 252Z. Thereby, the motor 252Z moves the table 136 to an arbitrary position in the Z-axis direction.

[0096] Note that the motor 252Z may be an AC motor, a stepping motor, a servo motor, or other types of motors.

[0097] <Hardware Configuration of Control Unit 50> Next, referring to FIG. 7, the hardware configuration of the control unit 50 shown in FIG. 6 will be described. FIG. 7 is a diagram showing an example of the hardware configuration of the control unit 50.

[0098] The control unit 50 is composed of, for example, a CNC device 50A and a CNC device 50B. The hardware configurations of the CNC devices 50A and 50B will be described in order below.

[0099] (F1.CNC device 50A) The CNC machine 50A includes, for example, a control circuit 101A, a ROM (Read Only Memory) 102A, a RAM (Random Access Memory) 103A, communication interfaces 104A and 105A, and an auxiliary storage device 120A. These components are connected to an internal bus 109A.

[0100] The control circuit 101A is comprised of, for example, at least one integrated circuit. The integrated circuit may consist of, for example, at least one CPU (Central Processing Unit), at least one GPU (Graphics Processing Unit), at least one ASIC (Application Specific Integrated Circuit), at least one FPGA (Field Programmable Gate Array), or a combination thereof.

[0101] The control circuit 101A controls the operation of the CNC machine 50A by executing various programs, such as the control program 122A. Based on receiving an execution command for one of the programs, the control circuit 101A reads the program from the ROM 102A into the RAM 103A. The RAM 103A functions as working memory and temporarily stores various data necessary for program execution.

[0102] The communication interface 104A is an interface for enabling communication with various devices. The CNC device 50A communicates with various drive units (for example, the aforementioned drive units 220, 230L, 230R, 240R, 240L, etc.) for machining the workpiece via the communication interface 104A.

[0103] The communication interface 105A is an interface for enabling communication with various devices. For example, the CNC device 50A communicates with the CNC device 50B via the communication interface 105A. Communication between the CNC devices 50A and 50B may be achieved by wire or wireless connection.

[0104] The auxiliary storage device 120A is, for example, a storage medium such as a hard disk or flash memory. The auxiliary storage device 120A stores the control program 122A, etc. The control program 122A includes, for example, a transport program 123A and a machining program 124A. The transport program 123A is a program that drives the loader 140 described above. The machining program 124A is a program that drives the work spindles 150L, ​​150R described above and the turrets 160L, 160R described above. The transport program 123A and the machining program 124A may be a single program or separate programs.

[0105] The storage location of the control program 122A is not limited to the auxiliary storage device 120A, but may also be stored in the storage area of ​​the control circuit 101A (for example, cache memory), ROM 102A, RAM 103A, external devices (for example, a server), etc.

[0106] Furthermore, the control program 122A may be provided not as a standalone program, but incorporated as part of any other program. In this case, the various processes according to this embodiment are realized in cooperation with any other program. Even a program that does not include such modules does not deviate from the spirit of the control program 122A according to this embodiment. Moreover, some or all of the functions provided by the control program 122A may be realized by dedicated hardware. Furthermore, the CNC device 50A may be configured in a form similar to a so-called cloud service, where at least one server executes some of the processing of the control program 122A.

[0107] (F2.CNC device 50B) The CNC device 50B includes, for example, a control circuit 101B, a ROM 102B, a RAM 103B, communication interfaces 104B and 105B, and an auxiliary storage device 120B. These components are connected to an internal bus 109B.

[0108] The control circuit 101B is comprised of, for example, at least one integrated circuit. The integrated circuit may consist of, for example, at least one CPU, at least one GPU, at least one ASIC, at least one FPGA, or a combination thereof.

[0109] The control circuit 101B controls the operation of the CNC machine 50B by executing various programs, such as the control program 122B. Based on receiving an execution command for one of the programs, the control circuit 101B reads the program from the ROM 102B into the RAM 103B. The RAM 103B functions as working memory and temporarily stores various data necessary for program execution.

[0110] The communication interface 104B is an interface for enabling communication with various devices. For example, the CNC device 50B communicates with the drive unit 250 of the palletizer 130 via the communication interface 104B.

[0111] The communication interface 105B is an interface for enabling communication with various devices. For example, the CNC device 50B communicates with the CNC device 50A via the communication interface 105B. Communication between the CNC devices 50A and 50B may be achieved by wire or wireless connection.

[0112] The auxiliary storage device 120B is a storage medium such as a hard disk or a flash memory, for example. The auxiliary storage device 120B stores a control program 122B and the like. The control program 122B is a program responsible for driving the above-described paratizer 130. The storage location of the control program 122B is not limited to the auxiliary storage device 120B, and may be stored in the storage area of the control circuit 101B (for example, cache memory), ROM 102B, RAM 103B, an external device (for example, a server), or the like.

[0113] Further, the control program 122B may be provided by being incorporated into a part of an arbitrary program instead of being a single program. In this case, various processes according to the present embodiment are realized in cooperation with an arbitrary program. Even a program that does not include such a part of the module does not deviate from the gist of the control program 122B according to the present embodiment. Furthermore, some or all of the functions provided by the control program 122B may be realized by dedicated hardware. Further, the CNC device 50B may be configured in a form such as a so-called cloud service in which at least one server executes a part of the processing of the control program 122B.

[0114] <G. Transfer Flow> Next, referring to FIGS. 8 to 15, the transfer flow of the workpiece W by the machine tool 100 will be described. FIGS. 8 and 9 are flowcharts showing the flow of the transfer process of the workpiece.

[0115] The processes shown in FIGS. 8 and 9 are realized, for example, by the above-described transfer program 123A, the above-described machining program 124A, and the above-described control program 122B cooperating and executing. In other aspects, some or all of the processes may be executed by circuit elements or other hardware.

[0116] Figure 10 shows the state of the pallet in steps S112 and S114. Figure 11 shows the state of the pallet in steps S124 and S130. Figure 12 shows the state of the pallet in steps S138 and S140. Figure 13 is a diagram illustrating the synchronization between the transport program 123A and the processing program 124A described above. Figure 14 shows the state of the pallet in steps S148 and S130.

[0117] In step S110, the control unit 50 initializes the counter variable "n". The counter variable "n" is initialized to, for example, "1".

[0118] In step S112, the control unit 50 drives the table 136 on the palletizer 130 to a predetermined initial position. This initial position is set so that the nth (=1st) material workpiece WL1 on the pallet PL1 overlaps with the movable path PS in the X-axis direction of the transporter 144 when viewed from above (see Figure 10).

[0119] In step S114, the control unit 50 calculates the coordinate values ​​in the X-axis direction for the nth (=1st) material workpiece WL1 on the pallet PL1 based on the variable "n", and drives the transporter 144 to the position indicated by these coordinate values. Next, the control unit 50 causes the transporter 144 to pick up the nth material workpiece WL1 on the pallet PL1 (see Figure 10). At this time, the material workpiece WL1 is held in the material workpiece hand H1. Subsequently, the control unit 50 controls the transporter 144 to mount the material workpiece WL1 on the left workpiece spindle 150L.

[0120] In step S116, the control unit 50 starts turning the material workpiece WL1 on the left workpiece spindle 150L according to the machining program 124A.

[0121] In step S124, the control unit 50 calculates the coordinate values ​​in the X-axis direction for the nth (=1st) material workpiece WR1 on the pallet PR1 based on the variable "n", and drives the transporter 144 to the position indicated by these coordinate values. Next, the control unit 50 causes the transporter 144 to pick up the nth material workpiece WR1 on the pallet PR1 (see Figure 11). At this time, the material workpiece WR1 is held in the material workpiece hand H1. Subsequently, the control unit 50 controls the transporter 144 to mount the material workpiece WR1 on the right-hand workpiece spindle 150R.

[0122] In step S126, the control unit 50 starts turning the workpiece WR1 on the right-hand workpiece spindle 150R according to the machining program 124A.

[0123] In step S128, the control unit 50 increments the counter variable "n". That is, the control unit 50 adds "1" to the counter variable "n".

[0124] In step S130, the control unit 50 calculates coordinate values ​​for the position of the nth material workpiece WL1 on the pallet PL1 based on the variable "n". Next, the control unit 50 drives the transporter 144 to the position indicated by the X coordinate of the coordinate values. The control unit 50 also drives the table 136 to the position indicated by the Y coordinate of the coordinate values. As a result, the nth material workpiece WL1 on the pallet PL1 coincides with the movable path PS in the X-axis direction of the transporter 144 in a top view (see Figure 11). Next, the control unit 50 causes the transporter 144 to pick up the nth material workpiece WL1 on the pallet PL1 (see Figure 11). At this time, the material workpiece WL1 is held in the material workpiece handle H1.

[0125] Subsequently, the control unit 50 starts transporting the material workpiece WL1 to the left-side workpiece spindle 150L. At this time, the workpiece spindle 150L is in the process of turning. Therefore, the control unit 50 keeps the transport body 144 waiting at a predetermined position until the turning process on the workpiece spindle 150L is completed.

[0126] In step S132, the control unit 50 determines whether the turning process on the left workpiece spindle 150L is complete. Whether the turning process is complete is determined, for example, based on a waiting code (for example, an M code). In the example in Figure 13, "M531" is shown as the M code indicating completion of the process. The transport program 123A waits until "M531" of the machining program 124A is executed. When "M531" of the machining program 124A is executed, the completion of the process is communicated to the transport program 123A. Based on this, the control unit 50 executes the transport process from "M531" onward in the transport program 123A.

[0127] If the control unit 50 determines that the turning process on the left workpiece spindle 150L is complete (YES in step S132), it switches the control to step S134. Otherwise (NO in step S132), the control unit 50 repeats the process in step S132.

[0128] In step S134, the control unit 50 controls the transport body 144 to remove the product workpiece WL2 from the workpiece spindle 150L. At this time, the product workpiece WL2 is held in the product workpiece hand H2. Subsequently, the control unit 50 controls the transport body 144 to mount the raw material workpiece WL1, which is held in the other hand H1, onto the left workpiece spindle 150L.

[0129] In step S136, the control unit 50 starts turning the material workpiece WL1 on the left workpiece spindle 150L according to the machining program 124A.

[0130] In step S138, the control unit 50 calculates coordinate values ​​for the placement position of the (n-1)th product workpiece WL2 removed from the workpiece spindle 150L, ​​based on the variable "n". Next, the control unit 50 drives the transport body 144 to the position indicated by the X coordinate of the coordinate values. The control unit 50 also drives the table 136 to the position indicated by the Y coordinate of the coordinate values. Next, the control unit 50 controls the transport body 144 to place the product workpiece WL2 onto the pallet PL2 (see Figure 12).

[0131] In step S140, the control unit 50 calculates coordinate values ​​for the position of the nth material workpiece WR1 on the pallet PR1 based on the variable "n". Next, the control unit 50 drives the transporter 144 to the position indicated by the X coordinate of the coordinate values. The control unit 50 also drives the table 136 to the position indicated by the Y coordinate of the coordinate values. As a result, the nth material workpiece WR1 on the pallet PR1 overlaps with the movable path PS in the X-axis direction of the transporter 144 in a top view (see Figure 12). Next, the control unit 50 causes the transporter 144 to pick up the nth material workpiece WR1 on the pallet PR1 (see Figure 12). At this time, the material workpiece WR1 is held in the material workpiece handle H1.

[0132] Subsequently, the control unit 50 starts transporting the workpiece WR1 to the workpiece spindle 150R on the right side. At this time, the workpiece spindle 150R is undergoing turning. Therefore, the control unit 50 keeps the transport body 144 waiting at a predetermined position until the turning process on the workpiece spindle 150R is completed.

[0133] In step S142, the control unit 50 determines whether the turning process on the right-hand workpiece spindle 150R is complete. Whether the turning process is complete is determined, for example, based on a standby code (for example, an M code). The determination process is as described above, so it will not be repeated. If the control unit 50 determines that the turning process on the right-hand workpiece spindle 150R is complete (YES in step S142), it switches control to step S144. Otherwise (NO in step S142), the control unit 50 executes the process in step S142 again.

[0134] In step S144, the control unit 50 controls the transport body 144 to remove the product workpiece WR2 from the workpiece spindle 150R. At this time, the product workpiece WR2 is held in the product workpiece hand H2. Subsequently, the control unit 50 controls the transport body 144 to mount the raw material workpiece WR1, which is held in the other hand H1, onto the right-hand workpiece spindle 150R.

[0135] In step S146, the control unit 50 starts the turning process of the material work WR1 on the right workpiece spindle 150R according to the machining program 124A.

[0136] In step S148, the control unit 50 calculates the coordinate values regarding the placement position of the (n - 1)-th product work WR2 removed from the workpiece spindle 150R based on the variable “n”. Next, the control unit 50 drives the carrier 144 to the position indicated by the X coordinate of the coordinate values. Also, the control unit 50 drives the table 136 to the position indicated by the Y coordinate of the coordinate values. Next, the control unit 50 controls the carrier 144 to place the product work WR2 on the pallet PR2 (see FIG. 14).

[0137] In step S150, the control unit 50 determines whether or not the turning process of all the material works on the pallets PL1 and PR1 has been completed. FIG. 15 is a diagram showing a state where the turning process of all the material works has been completed. When the control unit 50 determines that the turning process of all the material works has been completed (YES in step S150), the control unit 50 ends the processes shown in FIGS. 8 and 9. Otherwise (NO in step S150), the control unit 50 returns the control to step S128. That is, the control unit 50 repeatedly executes the processes of steps S128, S130, S132, S134, S136, S138, S140, S142, S144, S146, S148, and S150 until the turning process of all the material works is completed.

[0138] <H. Modified Example> Next, referring to FIG. 16, the processing system 10 according to the modified example will be described. FIG. 16 is a diagram showing the device configuration of the processing system 10 according to the modified example.

[0139] In the example described above, we explained an example in which the machining system 10 is composed of a single machine tool 100. That is, we explained an example in which a palletizer 130, a loader 140, a workpiece spindle 150L, ​​a workpiece spindle 150R, a turret 160L, and a turret 160R are mounted on a single machine tool 100. However, some of these devices may be provided outside the machine tool 100.

[0140] In this modified example, the processing system 10 comprises machine tools 100A and 100B, a workstation 129, and a loader 140.

[0141] Inside the machine tool 100A, for example, the workpiece spindle 150L and the turret 160L are provided.

[0142] Furthermore, the machine tool 100B is equipped with, for example, the workpiece spindle 150R and the turret 160R mentioned above.

[0143] Inside the workstation 129, for example, the palletizer 130 described above is provided.

[0144] The loader 140 loads raw material workpieces placed on the workstation 129 into the machine tools 100A and 100B, and unloads processed product workpieces from the machine tools 100A and 100B into the workstation 129.

[0145] As an example, the loader 140 consists of support columns 141A and 141B, a rail mechanism 142, and a transport body 144. The support columns 141A and 141B are arranged in the X-axis direction with machine tools 100A and 100B in between, and support the rail mechanism 142. The rail mechanism 142 extends linearly in the X-axis direction and functions as a linear guide for moving the transport body 144 in the X-axis direction.

[0146] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols]

[0147] 10 Machining system, 50 Control unit, 50A CNC device, 50B CNC device, 100 Machine tool, 100A Machine tool, 100B Machine tool, 101A Control circuit, 101B Control circuit, 102A ROM, 102B ROM, 103A RAM, 103B RAM, 104A Communication interface, 104B Communication interface, 105A Communication interface, 105B Communication interface, 109A Internal bus, 109B Internal bus, 120A Auxiliary storage device, 120B Auxiliary storage device, 122A Control program, 122B Control program, 123A Transport program, 124A Machining program, 125 Cover body, 129 Workstation, 130 Palletizer, 132 Housing, 134 Ball screw, 136 Table, 140 Loader, 141A Support column, 141B Support column, 142 Rail mechanism, 144 Conveyor body, 146 Housing, 148 Rotation mechanism, 150L Work spindle, 150R Work spindle, 156L Chuck mechanism, 156R Chuck mechanism, 160L Turret, 160R Turret, 210 Drive unit, 212Z Motor, 220 Drive unit, 221X Motor driver, 221Y Motor driver, 222X Motor, 222Y Motor, 230L Drive unit, 230R Drive unit, 231LC Motor driver, 231LZ Motor driver, 231RC Motor driver, 231RZ Motor driver, 232LC Motor, 232LZ Motor, 232RC Motor, 232RZ Motor, 240L Drive unit, 240R Drive unit, 241LA Motor driver, 241RA Motor driver, 242LA motor, 242RA motor, 250 drive unit, 251Z motor driver, 252Z motor, AR1 installation area, AR2 processing area, AXL rotary axis, AXR rotary axis, AXYZ rotary axis, H1 hand, H2 hand, PL1 pallet, PL2 pallet, PR1 pallet, PR2 pallet, PS movable path, W workpiece, WL1 raw material workpiece, WL2 finished product workpiece, WR1 raw material workpiece, WR2 finished product workpiece.

Claims

1. A first workpiece spindle for rotatably holding the workpiece, A second workpiece spindle for rotatably holding the workpiece, A first turret capable of machining a workpiece held on the first workpiece spindle, A second turret capable of machining the workpiece held on the second workpiece spindle, A palletizer for driving pallets for placing workpieces, The pallet, and a loader for transporting the workpiece between the first workpiece spindle and the second workpiece spindle, The system includes a control unit capable of controlling the palletizer and the loader, The control unit, A process of transporting the workpiece placed on the first pallet to the first workpiece spindle and starting the machining process, A process of transporting the workpiece placed on the second pallet to the second workpiece spindle and starting the machining process, Based on the completion of the machining on the first workpiece spindle, the process involves transporting the workpiece held on the first workpiece spindle to a third pallet. A machine tool that, based on the completion of the machining in the second workpiece spindle, performs the process of transporting the workpiece held in the second workpiece spindle to a fourth pallet.

2. The rotation axes of the first and second workpiece spindles are parallel to each other. The loader is configured to be drivable in a first horizontal direction perpendicular to the rotation axis, The machine tool according to claim 1, wherein the palletizer is configured to be drivable in a second horizontal direction parallel to the rotation axis.

3. The first workpiece spindle is located to the left of the second workpiece spindle when viewed from above. The machine tool according to claim 2, wherein the third pallet is located to the left of the fourth pallet in the same top view.

4. The first workpiece spindle is located to the left of the second workpiece spindle when viewed from above. The machine tool according to claim 2 or 3, wherein the first pallet is located to the left of the second pallet in the same top view.

5. The first pallet and the second pallet are arranged side by side in the first horizontal direction on the palletizer. The third pallet and the fourth pallet are arranged side by side in the first horizontal direction on the palletizer. The first pallet and the third pallet are arranged side by side in the second horizontal direction on the palletizer. The machine tool according to claim 2 or 3, wherein the second pallet and the fourth pallet are arranged side by side in the second horizontal direction on the palletizer.

6. The loader includes a conveyor configured to hold a workpiece, The transporter body, First hand, It has a second hand with lower hardness than the first hand, The control unit, When transporting a workpiece from the first pallet to the first workpiece spindle, the workpiece is held by the first hand, When transporting a workpiece from the second pallet to the second workpiece spindle, the workpiece is held by the first hand. When transporting the workpiece from the first workpiece spindle to the third pallet, the workpiece is held by the second hand, The machine tool according to any one of claims 1 to 3, wherein the workpiece is held by the second hand when transporting the workpiece from the second workpiece spindle to the fourth pallet.

7. A method for controlling a processing system, The aforementioned processing system is A first workpiece spindle for rotatably holding the workpiece, A second workpiece spindle for rotatably holding the workpiece, A first turret capable of machining a workpiece held on the first workpiece spindle, A second turret capable of machining the workpiece held on the second workpiece spindle, A palletizer for driving pallets for placing workpieces, The system comprises the pallet and a loader for transporting workpieces between the first workpiece spindle and the second workpiece spindle. The control method described above is The steps include transporting the workpiece placed on the first pallet to the first workpiece spindle and starting the machining process, The steps include transporting the workpiece placed on the second pallet to the second workpiece spindle and starting the machining process, Based on the completion of the machining on the first workpiece spindle, the workpiece held on the first workpiece spindle is transported to a third pallet. A control method comprising the step of transporting the workpiece held in the second workpiece spindle to a fourth pallet based on the completion of the machining in the second workpiece spindle.

8. A control program for a processing system, The aforementioned processing system is A first workpiece spindle for rotatably holding the workpiece, A second workpiece spindle for rotatably holding the workpiece, A first turret capable of machining a workpiece held on the first workpiece spindle, A second turret capable of machining the workpiece held on the second workpiece spindle, A palletizer for driving pallets for placing workpieces, The system comprises the pallet and a loader for transporting workpieces between the first workpiece spindle and the second workpiece spindle. The control program is configured for the machining system. A process of transporting the workpiece placed on the first pallet to the first workpiece spindle and starting the machining process, A process of transporting the workpiece placed on the second pallet to the second workpiece spindle and starting the machining process, Based on the completion of the machining on the first workpiece spindle, the process involves transporting the workpiece held on the first workpiece spindle to a third pallet. A control program that, based on the completion of the machining on the second work spindle, causes the program to perform a process of transporting the workpiece held on the second work spindle to a fourth pallet.

Images