Control devices, machine tools, control methods, and computer programs

Abstract

The present invention provides a control device that can suppress collisions between tools when transporting tools between multiple tool magazines, without requiring a detection unit in the storage compartment. [Solution] When the control device executes a first movement command to move a tool from the first magazine to the second magazine, and a second movement command to move a tool from the second magazine to the first magazine, with an empty second storage unit positioned at the second replacement position, the control device executes a first process in the first magazine to locate the designated first storage unit at the first replacement position. After the first process, the tool transport device executes a second process to transport the tool from the first replacement position to the second replacement position. After the second process, the second magazine executes a third process to locate a second storage unit located at a position other than the second replacement position at the second replacement position. After the third process, the tool transport device executes a fourth process to transport the tool from the second replacement position to the first replacement position.

Description

Technical Field

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[0001] This technology relates to a control device, a machine tool, a control method, and a computer program.

Background Art

[0002] Machine tools have been proposed that can exchange tools between multiple tool magazines. The machine tool includes a plurality of tool magazines and switches provided in the tool holders of each of the plurality of tool magazines for detecting the presence or absence of tools. The machine tool checks the presence or absence of tools in each tool holder based on the detection results of the switches. When exchanging tools, if the presence or absence of tools in the tool holder is not normal, warnings or abnormal stops are performed (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] If tool replacement is performed when the presence or absence of tools in the tool holder is not normal, there is a risk of tool collision. However, providing switches in each of the plurality of tool holders to detect the presence or absence of tools increases the manufacturing cost.

[0005] In view of such circumstances, the present disclosure provides a control device, a machine tool, a control method, and a computer program capable of suppressing tool collision when transporting tools between a plurality of tool magazines without providing a detection unit for detecting the presence or absence of tools in the storage unit for storing tools in each tool magazine.

Means for Solving the Problems

[0007] In this disclosure, with the empty second storage compartment positioned at the second replacement position, the tool transport device transports the tool to the empty second storage compartment when moving a tool from the first magazine to the second magazine, and transports the tool to the empty first storage compartment when moving a tool from the second magazine to the first magazine.

[0008] A control device according to one embodiment of the present disclosure includes a tool transport device having a gripping part for gripping a tool, a first gripping position corresponding to the first replacement position in which the gripping part can grip a tool, a second gripping position corresponding to the second replacement position in which the gripping part can grip a tool, and a non-interference position different from the first and second replacement positions in which the gripping part does not interfere with the first magazine and the second magazine, and the second process includes the movement operation of the gripping part to the first gripping position and the first The process involves performing the following actions: gripping the tool with the gripping part at the gripping position, moving the gripping part to the second gripping position, disgruntling the tool at the second gripping position, and moving from the second gripping position to the non-interference position. In the fourth process, the process involves performing the following actions: moving the gripping part to the second gripping position, gripping the tool with the gripping part at the second gripping position, moving the gripping part to the first gripping position, disgruntling the tool at the first gripping position, and moving from the first gripping position to the non-interference position.

[0009] In this disclosure, in the second process, the gripping unit performs a gripping operation at the first gripping position, moves to the second replacement position, and performs a non-gripping operation. In the fourth process, the gripping unit performs a gripping operation at the second gripping position, moves to the first replacement position, performs a non-gripping operation, and moves to the non-interference position.

[0010] In one embodiment of the present disclosure, the control device determines, before executing the first movement command or the second movement command, whether the first storage unit identified in the first process will be emptied after the execution of the first movement command or the second movement command. If it is determined that the first storage unit identified in the first process will be emptied after the execution of the first movement command or the second movement command, it determines whether tools are stored in all of the second storage units located at positions other than the second replacement position. If it is determined that tools are stored in all of the second storage units located at positions other than the second replacement position, it performs abnormal processing.

[0011] If tools are stored in all second storage compartments other than the second replacement position, the first storage compartment identified in the first process cannot be emptied after the execution of the first or second movement command. In this disclosure, if it is determined that tools are stored in all second storage compartments other than the second replacement position when the first storage compartment identified in the first process is to be emptied after the execution of the first or second movement command, an abnormal processing is performed.

[0012] In one embodiment of the present disclosure, the control device determines, before executing the first movement command or the second movement command, whether the first storage unit identified in the first process will be emptied after the execution of the first movement command or the second movement command. If it is determined that the first storage unit identified in the first process will be emptied after the execution of the first movement command or the second movement command, it determines whether tools are stored in all of the second storage units located at positions other than the second replacement position. If it is determined that tools are stored in all of the second storage units located at positions other than the second replacement position, when executing the first movement command or the second movement command, the control device executes a process in the execution of the fourth process to transport the tools from any of the second storage units in which tools are stored to the first storage unit identified in the first process and emptied in the second process.

[0013] If tools are stored in all second storage compartments other than the second replacement position, the first storage compartment identified in the first process cannot be emptied after the execution of the first or second movement command. In this disclosure, when the first storage compartment identified in the first process is to be emptied after the execution of the first or second movement command, if it is determined that tools are stored in all second storage compartments other than the second replacement position, the execution of the fourth process will execute a process to transport the tool from any second storage compartment containing a tool to the first storage compartment identified in the first process and emptied in the second process. The first storage compartment identified in the first process will not be emptied, but the tool transport process will continue.

[0014] A control device according to one embodiment of the present disclosure performs the following processes before executing the first process: specifying the first storage unit to be placed in the first replacement position and storing first information indicating the specified first storage unit; specifying the second storage unit to be placed in the second replacement position and storing second information indicating the specified second storage unit; in the first process, determining the first storage unit to the first replacement position based on the first information; and in the third process, determining the second storage unit to the second replacement position based on the second information.

[0015] In this disclosure, in the first process, the designated first storage unit is located at the first replacement position, and in the third process, the designated second storage unit is located at the second replacement position.

[0016] A machine tool according to one embodiment of the present disclosure comprises a first magazine having a plurality of first storage compartments for storing tools, a second magazine having a plurality of second storage compartments for storing tools, a tool transport device capable of transporting tools between a first replacement position for removing or storing tools in the first magazine and a second replacement position for removing or storing tools in the second magazine, and a control device for controlling the first magazine, the second magazine, and the tool transport device, wherein the control device implements a first movement command to move a tool from the first magazine to the second magazine when an empty second storage compartment is positioned at the second replacement position. When performing the operation, and when executing a second movement command to move a tool from the second magazine to the first magazine, the first magazine performs a first process to locate the designated first storage unit at the first replacement position, and after the first process, the tool transport device performs a second process to transport the tool from the first replacement position to the second replacement position, and after the second process, the second magazine performs a third process to locate the second storage unit, which is located at a position other than the second replacement position, at the second replacement position, and after the third process, the tool transport device performs a fourth process to transport the tool from the second replacement position to the first replacement position.

[0017] In this disclosure, with the empty second storage compartment positioned at the second replacement position, the tool transport device transports the tool to the empty second storage compartment when moving a tool from the first magazine to the second magazine, and transports the tool to the empty first storage compartment when moving a tool from the second magazine to the first magazine.

[0018] A machine tool according to one embodiment of the present disclosure includes a restricting cover that restricts the attachment and removal of tools to and from the second magazine without using the tool transport device.

[0019] In this disclosure, the operator cannot attach or detach tools to the second magazine. Tool transfer between the first and second magazines is only possible by a tool transfer device.

[0020] A control method according to one embodiment of the present disclosure is a control method for controlling a tool transport device capable of transporting a tool between a first magazine having a plurality of first storage compartments for storing tools, a second magazine having a plurality of second storage compartments for storing tools, and a first exchange position for removing or storing tools in the first magazine and a second exchange position for removing or storing tools in the second magazine, wherein when an empty second storage compartment is positioned at the second exchange position, a first move command is executed to move a tool from the first magazine to the second magazine, and when moving a tool from the second magazine to the first When executing a second movement command to move a tool into a magazine, the first magazine performs a first process to locate the designated first storage unit at the first replacement position, and after the first process, the tool transport device performs a second process to transport the tool from the first replacement position to the second replacement position, and after the second process, the second magazine performs a third process to locate the second storage unit, which is located at a position other than the second replacement position, at the second replacement position, and after the third process, the tool transport device performs a fourth process to transport the tool from the second replacement position to the first replacement position.

[0021] In this disclosure, with the empty second storage compartment positioned at the second replacement position, the tool transport device transports the tool to the empty second storage compartment when moving a tool from the first magazine to the second magazine, and transports the tool to the empty first storage compartment when moving a tool from the second magazine to the first magazine.

[0022] A computer program according to one embodiment of the present disclosure is a computer program executable on a control device that controls a first magazine having a plurality of first storage compartments for storing tools, a second magazine having a plurality of second storage compartments for storing tools, and a tool transport device capable of transporting tools between a first exchange position for removing or storing tools in the first magazine and a second exchange position for removing or storing tools in the second magazine, wherein the control device executes a first move command to move a tool from the first magazine to the second magazine when an empty second storage compartment is positioned at the second exchange position, and before When executing a second movement command to move a tool from the second magazine to the first magazine, the first magazine performs a first process to locate the designated first storage unit at the first replacement position, and after the first process, the tool transport device performs a second process to transport the tool from the first replacement position to the second replacement position, and after the second process, the second magazine performs a third process to locate the second storage unit, which is located at a position other than the second replacement position, at the second replacement position, and after the third process, the tool transport device performs a fourth process to transport the tool from the second replacement position to the first replacement position.

[0023] In this disclosure, with the empty second storage compartment positioned at the second replacement position, the tool transport device transports the tool to the empty second storage compartment when moving a tool from the first magazine to the second magazine, and transports the tool to the empty first storage compartment when moving a tool from the second magazine to the first magazine. [Effects of the Invention]

[0024] In a control device, a machine tool, a control method, and a computer program according to an embodiment of the present disclosure, in a state where the empty second storage unit is arranged at the second replacement position, by executing the first to fourth processes, when the tool transfer device moves a tool from the first magazine to the second magazine, the tool is transferred to the empty second storage unit, and when the tool is moved from the second magazine to the first magazine, the tool is transferred to the empty first storage unit. Therefore, it is possible to suppress the collision between tools without providing a detection unit for detecting the presence or absence of tools.

Brief Description of Drawings

[0025] [Figure 1] It is a schematic perspective view of a machine tool according to Embodiment 1. [Figure 2] It is a schematic left side view of the machine tool. [Figure 3] It is a schematic plan view of the machine tool. [Figure 4] It is a partially enlarged view showing the configuration near the cover. [Figure 5] It is a cross-sectional view taken along the cutting line V-V shown in FIG. 3. [Figure 6] Schematic front view of a pod in a non-gripping state [Figure 7] It is a schematic cross-sectional view taken along the cutting line VII-VII of FIG. 6. [Figure 8] It is a schematic cross-sectional view of a pod in a gripping state. [Figure 9] It is a partially enlarged view showing the tool transfer path between the exchange position arm of the first magazine and the exchange position arm of the second magazine. [Figure 10] It is a block diagram showing a control device, a motor, a solenoid valve, a notification unit, and an operation unit. [Figure 11] It is an explanatory diagram for explaining a tool transfer process of storing a tool T2 stored in a second magazine in a first magazine. [Figure 12] It is an explanatory diagram for explaining a tool transfer process of storing a tool stored in a second magazine in a first magazine when an operator forgets to input a tool identification number. [Figure 13] This is an explanatory diagram illustrating the tool transport process shown in Figure 11, in which the second process is omitted and only the first, third, and fourth processes are performed. [Figure 14] This is an explanatory diagram illustrating the tool transport process, which involves transferring tools stored in the first magazine to the second magazine. [Figure 15] This is an explanatory diagram illustrating the tool transport process in which a tool stored in the first magazine is transferred to the second magazine when the operator forgets to enter the tool identification number. [Figure 16] This is an explanatory diagram illustrating a tool transport process in which the fourth process is omitted and the first, second, and third processes are executed consecutively, as shown in Figure 14. [Figure 17] This is an explanatory diagram illustrating a tool transport process in which the fourth process is omitted, and the first, second, and third processes are executed consecutively in order to avoid collisions between the tool placed at the first exchange position and the tool placed at the second exchange position in the first process. [Figure 18] This is an explanatory diagram illustrating a tool transport process in which tools stored in the first magazine are transferred to the second magazine, and tools stored in the second magazine are transferred to the first magazine. [Figure 19] This flowchart illustrates the arm assignment process by which the control unit assigns arms to the first and second swapping positions. [Figure 20] This flowchart illustrates the arm assignment process by which the control unit assigns arms to the first and second swapping positions. [Figure 21] This is a flowchart explaining the tool transport process. [Figure 22] This is a flowchart explaining the tool transport process. [Figure 23] This is a flowchart illustrating the arm specification process performed by the control unit according to Embodiment 2, which specifies the arms to be assigned to the first and second replacement positions. [Modes for carrying out the invention]

[0026] (Embodiment 1) The present invention will be described below based on the drawings showing a machine tool according to Embodiment 1. In the following description, the directions up, down, front, back, left, and right in the drawings will be used. Up, down, front, back, left, and right are merely directional notations used for ease of understanding, and the directional notations are not limited to these.

[0027] A machine tool will be described using Figures 1 to 5. The machine tool comprises a base 1, a workpiece holder 2, an XY movement mechanism 3, a vertical column 4, a Z movement mechanism 5, a first magazine 6, two second magazines 7 and 8, a spindle head 10, etc. The base 1 has a rectangular shape in plan view and extends in the front-to-back direction. An XY movement mechanism 3, which can move in the left-to-right direction (X direction) and the front-to-back direction (Y direction), is provided on the upper front side of the base 1. The workpiece holder 2 is provided above the XY movement mechanism 3. The workpiece holder 2 moves in the X and Y directions by the XY movement mechanism 3. The workpiece holder 2 holds the workpiece.

[0028] A vertical column 4 is provided on the upper rear side of the base 1 via a height adjustment section 4a. The vertical column 4 is a rectangular parallelepiped with a front, rear, and left and right sides. A control device 60 is provided on the rear side of the vertical column 4. The control device 60 controls the drive of the machine tool. A Z-axis movement mechanism 5, which is movable in the vertical direction (Z direction), is provided on the front of the vertical column 4. A spindle head 10 is provided on the Z-axis movement mechanism 5. The spindle head 10 has a spindle 10a that extends vertically. A tool is attached to the lower end of the spindle 10a.

[0029] A first magazine 6 for storing multiple tools is provided on the front side of the spindle head 10. The first magazine 6 is connected to the vertical column 4 via two first support parts 20 and 25. One first support part 20 protrudes forward from the front left side of the vertical column 4. The other first support part 25 protrudes forward from the front right side of the vertical column 4. The first magazine 6 is connected to the protruding ends of each first support part 20 and 25. The first magazine 6 comprises a disc 6a, arms 6b, and a cover 6d. A motor 6f (see Figure 5) is connected to the disc 6a, and the disc 6a rotates around its central axis by the drive of the motor 6f. Multiple arms 6b are provided radially on the periphery of the disc 6a. Each arm 6b has a bifurcated shape and holds a tool. That is, each arm 6b stores a tool. The cover 6d covers the outside of each arm 6b. The cover 6d is rotatable and rotates with the arm 6b during tool changes with the spindle, without interfering with tool changes. Each arm 6b is not equipped with a detection unit to detect the presence or absence of a tool. The arm 6b constitutes the first storage section.

[0030] The first magazine 6 is positioned such that the central axis of the disc 6a extends approximately in the front-to-back direction and the disc 6a is tilted forward. The lower end of the first magazine 6 is the tool change position. When a tool is to be mounted on the spindle, the arm 6b gripping the tool is positioned at the tool change position and the Z-movement mechanism 5 is moved downward. Based on the downward movement of the Z-movement mechanism 5, the spindle 10a mounts the tool gripped by the arm 6b. When a tool is to be removed from the spindle 10a, an empty arm 6b is positioned at the tool change position and the Z-movement mechanism 5 is moved upward. Based on the upward movement of the Z-movement mechanism 5, the arm 6b grips the tool on the spindle 10a and the tool is removed from the spindle 10a.

[0031] The tool mounted on the spindle 10a processes the workpiece held in the workpiece holder 2. The XY movement mechanism 3 adjusts the front-to-back, left-to-right position of the workpiece relative to the tool (spindle), and the Z movement mechanism 5 adjusts the up-to-down position of the tool.

[0032] The second magazine 7 is located to the right of the upright column 4, and the second magazine 8 is located to the left. The second support section 30 connects the rear end of the left first support section 20, i.e., the connection point between the first support section 20 and the upright column 4, to the second magazine 8. The second support section 30 supports the second magazine 8. The second support section 31 connects the rear end of the right first support section 25, i.e., the connection point between the first support section 25 and the upright column 4, to the second magazine 7. The second support section 31 supports the second magazine 7.

[0033] The second magazine 8 comprises a disc-shaped wheel 8a, a plurality of arms 8b, and a motor 8c. The motor 8c is fixed to the second support portion 30. The radial center of the wheel 8a protrudes in the axial direction. With the radial center as the apex, the wheel 8a is generally frustoconical in shape. A plurality of arms 8b are provided on the outer circumference of the wheel 8a. The plurality of arms 8b are arranged in the circumferential direction of the wheel 8a. Each arm 8b has a bifurcated shape and is capable of holding a tool. That is, each arm 8b stores a tool. In two adjacent arms 8b, a portion of each arm 8b overlaps in the circumferential direction of the wheel 8a. Alternatively, a plurality of arms 8b may be provided radially on the outer circumference of the wheel 8a so that two adjacent arms 8b do not overlap. The second magazine 8 stores multiple tools using the plurality of arms 8b. The radial center on the recessed side of the wheel 8a is connected to the motor 8c and a reduction gear (not shown). The rotation of the motor 8c causes the wheel 8a and arm 8b to rotate in the circumferential direction. The arm 8b constitutes the second storage section. No detection unit for detecting the presence or absence of a tool is provided on each arm 8b.

[0034] As shown in Figure 4, the second magazine 8 is covered by a cover 52. The cover 52 has a front, rear, left, and bottom surface. The front, rear, left, and bottom surfaces of the cover 52 cover the front, rear, left, and bottom sides of the second magazine 8. An opening 52a is formed on the front surface of the cover 52. The opening 52a is opened and closed by a shutter (not shown). The shutter is provided with a drive source (not shown), such as an air cylinder and a solenoid valve. The control unit 60a controls the solenoid valve to open and close the shutter. Note that in Figure 4, the left side is omitted so that the second magazine 8 can be seen.

[0035] When a tool is transported between the first magazine 6 and the second magazine 8, the tool passes through the opening 52a. The operator has difficulty approaching the arm 8b due to the cover 52. The operator cannot attach or detach the tool to or from the arm 8b.

[0036] Although the right side of the second magazine 8 is not covered by the cover 52, the presence of the support column 4 makes it difficult for the operator to approach the arm 8b, and therefore impossible to attach or detach tools to the arm 8b. Similarly, although the upper side of the second magazine 8 is not covered by the cover 52, its high position makes it difficult for the operator to approach the arm 8b, and therefore impossible to attach or detach tools to the arm 8b. In other words, the cover 52 restricts the attachment and detachment of tools to the second magazine 8 without using the tool transport device 9. The second magazine 7 is covered by a cover of a similar configuration (not shown).

[0037] As shown in Figure 5, the arm 6b of the first magazine 6 is closest to the arm 8b of the second magazine 8 at the first replacement position P1, and the arm 8b of the second magazine 8 is closest to the arm 6b of the first magazine 6 at the second replacement position P2. That is, the shortest distance between each arm 6b of the first magazine 6 and each arm 8b of the second magazine 8 is between the arm 6b at the first replacement position P1 and the arm 8b at the second replacement position P2. Therefore, the tool 50 is transported between the first replacement position P1 and the second replacement position P2.

[0038] Hereinafter, the arm 6b of the first magazine 6 positioned at the first replacement position P1 will be referred to as the replacement position arm 6c, and the arm 8b of the second magazine 8 positioned at the second replacement position P2 will be referred to as the replacement position arm 8d. The tool transport device 9 performs tool changes between the replacement position arm 6c and the replacement position arm 8d.

[0039] A tool transport device 9 is positioned inside the wheel 8a. The tool transport device 9 transports tools. The tool transport device 9 comprises a motor 9a, a ball screw 9b, a nut 9c, a track 9d, a slider 9e, a pod 9f, and a connecting part 9g. The pod 9f constitutes a holding part. The second support part 30 supports the ball screw 9b and the track 9d. The ball screw 9b is connected to the rotating shaft of the motor 9a. The nut 9c is connected to the ball screw 9b.

[0040] As shown in Figure 5, the track 9d is positioned next to the ball screw 9b. The track 9d is fixed in a position away from the central axis 81a of the wheel 8a. The track 9d extends along the long side of the replacement position arm 8d. One end of the track 9d faces the replacement position arm 8d. The slider 9e is slidably mounted on the track 9d. The pod 9f is attached to the slider 9e. The connecting part 9g connects the slider 9e and the nut 9c. The ball screw 9b rotates when the motor 9a is driven, the nut 9c moves along the ball screw 9b, and the slider 9e, connecting part 9g, and pod 9f move along the track 9d. The pod 9f constitutes the gripping part. The motor 9a, ball screw 9b, nut 9c, track 9d, slider 9e, and connecting part 9g constitute the moving mechanism.

[0041] Pod 9f grips the tool. That is, Pod 9f performs a gripping operation to grip the tool. Pod 9f moves between a first gripping position K1 and a second gripping position K2. The first gripping position K1 is the position where Pod 9f grasps the tool 50 that the replacement position arm 6c is gripping, and corresponds to the first replacement position P1. The second gripping position K2 is the position where Pod 9f grasps the tool 50 that the replacement position arm 8d is gripping, and corresponds to the second replacement position P2. The gripping operation of Pod 9f includes gripping operations on the arm 6b that has a tool stored in it, and gripping operations on the empty arm 6b.

[0042] The tool transfer device 9 transfers tools between the arm 6b of the first magazine 6 and the arm 8b of the second magazine 8. In other words, the second magazine 8 is configured to allow tool exchange with the first magazine 6. By providing the second magazine 8, the number and types of usable tools can be increased compared to the case where only the first magazine 6 is provided.

[0043] The second magazine 7 is positioned symmetrically with the second magazine 8, and its configuration is the same as that of the second magazine 8, so a detailed explanation will be omitted. A tool transport device (not shown) is also provided inside the second magazine 7, and the tool transport device transfers tools between the arm 6b of the first magazine 6 and the arm 8b of the second magazine 7.

[0044] The pod 9f will be described based on Figures 6 and 7. The pod 9f comprises a cylinder 90, a piston 91, a rod 92, a support plate 93, two pivots 94, two arms 95, two hands 96, and a connecting shaft 97.

[0045] The cylinder 90 comprises a cylindrical portion extending in the front-rear direction, a front portion provided at the front end of the cylindrical portion, and a rear portion provided at the rear end of the cylindrical portion. A support plate 93 is provided on the front portion of the cylinder 90. A chamber 90c is provided inside the cylinder 90. A piston 91 is housed in the chamber 90c. The piston 91 is movable in the axial direction of the cylinder 90. A rod 92 protrudes forward from the piston 91, passes through the front portion of the cylinder 90 and the support plate 93, and protrudes from the support plate 93. The rod 92 moves back and forth with the back-and-forth movement of the piston 91. The piston 91 corresponds to the movable part.

[0046] Two protrusions 93a project forward from the support plate 93. The two protrusions 93a are separated vertically, and in the vertical direction, the rod 92 is located between the two protrusions 93a. The protrusions 93a extend horizontally. A pivot 94 extending vertically is provided between the left end of the upper protrusion 93a and the left end of the lower protrusion 93a. A pivot 94 extending vertically is provided between the right end of the upper protrusion 93a and the right end of the lower protrusion 93a.

[0047] Arms 95 are connected to the left and right pivots 94. As shown in Figure 7, the arm 95 has an L-shape in plan view, with the first side 95a and the second side 95b connected at approximately a right angle. The corners 95c of the arm 95 are connected to the pivots 94.

[0048] The first side 95a of the left arm 95 protrudes to the right from the corner 95c of the arm 95, and the second side 95b of the left arm 95 protrudes forward from the corner 95c of the arm 95. The first side 95a of the right arm 95 protrudes to the left from the corner 95c of the arm 95, and the second side 95b of the right arm 95 protrudes forward from the corner 95c of the arm 95.

[0049] The first side portion 95a of the left arm 95 and the first side portion 95a of the right arm 95 are connected to the rod 92 by a connecting shaft 97. The first side portion 95a of the left arm 95 and the first side portion 95a of the right arm 95 are rotatable around the axis of the connecting shaft 97.

[0050] A hand 96 is provided on the right side of the second side 95b of the left arm 95. A hand 96 is provided on the left side of the second side 95b of the right arm 95. The hand 96 corresponds to the gripping part.

[0051] The hand 96 is columnar in shape, extending vertically. A curved surface is formed on the right side of the left hand 96, projecting to the left in a plan view. A curved surface is formed on the left side of the right hand 96, projecting to the right in a plan view. The curvature of the curved surfaces corresponds to the curvature of the circumferential surface of the tool 50.

[0052] When the solenoid valve 63 is switched to the second position, compressed air is supplied from the second port 90b to the rear side of the chamber 90c, and the air from the front side of the chamber 90c is discharged from the first port 90a. As shown in Figure 7, the piston 91 is positioned at the front end of the chamber 90c, and the rod 92 moves forward. The two second sides 95b are inclined with respect to the rod 92 such that the distance between the two second sides 95b in the left-right direction increases as it moves towards the front. That is, the two hands 96 are positioned far apart from each other and are in a non-gripping state, not gripping the tool 50.

[0053] Figure 8 is a schematic cross-sectional view of the pod 9f in the gripping state. When the solenoid valve 63 is switched to the first position, air from the rear of the chamber 90c is discharged from the second port 90b, and compressed air is supplied to the front of the chamber 90c from the first port 90a. As shown in Figure 8, the piston 91 is located in the center of the chamber 90c in the front-rear direction, and the rod 92 moves further back than in the state shown in Figure 7. The two second sides 95b become approximately parallel to each other. That is, the two hands 96 are closer to each other than in the state shown in Figure 7, and are in a gripping state that grips the tool 50. Note that the posture and position of the piston 91, rod 92, arm 95 and hand 96 in Figure 8 are the posture and position when the two hands 96 are gripping the tool 50, that is, when the approach of the hands 96 is prevented by the tool 50.

[0054] Figure 9 is a partially enlarged view showing the tool transport path 51 between the replacement position arm 6c of the first magazine 6 and the replacement position arm 8d of the second magazine 8. As shown in Figure 9, the tool transport device 9 transports the tool 50 so that the center of the tool 50 moves along the tool transport path 51. The tool transport path 51 is a line segment. One end of the tool transport path 51 is located inside the replacement position arm 6c, and the other end is located inside the replacement position arm 8d. The position of one end of the tool transport path 51 is the first replacement position P1. The first replacement position P1 is the center position of the tool 50 held by the replacement position arm 6c. The position of the other end of the tool transport path 51 is the second replacement position P2. The second replacement position P2 is the center position of the tool 50 held by the replacement position arm 8d. P3 in Figure 9 is a non-interference position.

[0055] The non-interference position P3 is located away from the second swap position P2 and on the opposite side of the first swap position P1, and overlaps with the second magazine 8. When pod 9f is in the non-interference position P3, the first magazine 6 and the second magazine 8 can rotate without interfering with pod 9f.

[0056] As described above, the first gripping position K1 is the position where the pod 9f grasps the tool 50 gripped by the replacement position arm 6c. The first replacement position P1 is the position where the replacement position arm 6c grips the tool 50. The first gripping position K1 and the first replacement position P1 are different positions in the axial direction of the tool 50 gripped by the replacement position arm 6c, but are the same position in the radial direction of the tool 50 gripped by the replacement position arm 6c. That is, the first gripping position K1 and the first replacement position P1 are overlapping positions when viewed from the axial direction of the tool 50 gripped by the replacement position arm 6c.

[0057] As mentioned above, the second gripping position K2 is the position where the pod 9f grasps the tool 50 gripped by the replacement position arm 8d. The second replacement position P2 is the position where the replacement position arm 8d grips the tool 50. The second gripping position K2 and the second replacement position P2 are different positions in the axial direction of the tool 50 gripped by the replacement position arm 8d, but are the same position in the radial direction of the tool 50 gripped by the replacement position arm 8d. That is, the second gripping position K2 and the second replacement position P2 are overlapping positions when viewed from the axial direction of the tool 50 gripped by the replacement position arm 8d.

[0058] Figure 10 is a block diagram showing a control device 60, motors 6f, 9a, 8c, solenoid valve 63, notification unit 64, and operating unit 66. The machine tool is equipped with a control device 60. The control device 60 includes a control unit 60a, a main memory unit 60b, an auxiliary memory unit 60c, and an input / output interface (input / output I / F) 60d. The control unit 60a includes, for example, a processor or logic circuit. The processor includes, for example, a CPU, MPU, or GPU. The logic circuit includes, for example, an FPGA or ASIC. The main memory unit 60b includes, for example, RAM. The auxiliary memory unit 60c includes a rewritable storage device, such as an EEPROM, flash ROM, or hard disk. The input / output I / F 60d is an interface connected to the motors 6f, 9a, 8c, solenoid valve 63, notification unit 64, and operating unit 66, etc.

[0059] The solenoid valve 63 is a valve that controls the supply of air to the first port 90a and the second port 90b, which will be described later. The first port 90a and the second port 90b are connected to an air source that supplies compressed air. The solenoid valve 63 is installed between the air source and the first port 90a and the second port 90b. The solenoid valve 63 can be switched between a first position in which compressed air is supplied to the first port 90a and air is discharged from the second port 90b, and a second position in which air is discharged from the first port 90a and compressed air is supplied to the second port 90b. The notification unit 64 is, for example, a display screen, a lamp, a buzzer, etc., and when an abnormality is detected, it notifies the abnormality by displaying information indicating the abnormality, lighting or flashing a light, or making a sound.

[0060] The auxiliary storage unit 60c stores the control program, i.e., the program product. The control unit 60a reads the control program from the auxiliary storage unit 60c into the main storage unit 60b and executes it. The control program includes workpiece machining commands, transport commands for transporting tools between the first magazine 6 and the second magazines 7 and 8, etc. The transport commands constitute the first movement command and the second movement command. The control unit 60a stores the data generated by the execution of the control program in the auxiliary storage unit 60c. The control unit 60a transmits drive signals to the motors 6f, 9a, 8c, solenoid valves 63 and notification unit 64 via the input / output interface 60d as needed. The operation unit 66 is a touch panel, keyboard, switches, mouse, etc., that accepts information input from the operator.

[0061] The auxiliary storage unit 60c stores arm identification numbers that identify each arm in the first magazine 6 and the second magazines 7 and 8, and tool identification numbers that identify the tools. The arm identification numbers and tool identification numbers correspond to each other. When a tool is transported between the first magazine 6 and the second magazines 7 and 8, the control unit 60a updates the arm identification numbers and tool identification numbers to reflect the correspondence after the transport. Note that tool identification numbers are not stored for empty arms. The tool identification number is an example of information used to identify a tool, and tools may also be identified by characters. The arm identification number is an example of information used to identify an arm, and arms may also be identified by characters.

[0062] When an operator attaches tool 50 to arm 6b of the first magazine 6, the operator operates the control unit 66 to input the tool identification number of the attached tool 50 and the arm identification number of arm 6b to which the tool 50 is attached, linking them together. The auxiliary storage unit 60c stores the input arm identification number and tool identification number. When an operator removes tool 50 from arm 6b of the first magazine 6, the operator operates the control unit 66 to delete the tool identification number linked to the arm identification number of arm 6b from which the tool 50 was removed.

[0063] As mentioned above, the cover 52 prevents the operator from attaching or detaching tools to the arms of the second magazines 7 and 8. The attachment and detachment of tools to and from the second magazines 7 and 8 is performed between the first magazine 6 and the second magazines 7 and 8 by the tool transport device 9.

[0064] The control program is stored in a storage medium 65, such as an optical disc, flash memory, or hard disk, and may be downloaded from the storage medium 65 to the auxiliary storage unit 60c. Alternatively, it may be downloaded from an external server to the auxiliary storage unit 60c via a network (not shown). Processing by the control program, such as the tool transport process described later, may be implemented by a server or terminal connected to the control device 60 via a network, or by distributed processing by a server and other devices, such as a terminal or a second server.

[0065] Figure 11 is an explanatory diagram illustrating the tool transport process in which a tool T2 stored in the second magazine 8 is stored in the first magazine 6. In the initial state, the replacement position arm 8d, i.e., the arm 8b located at the second replacement position P2, is empty.

[0066] The control unit 60a performs a first process to assign the specified arm 6b, i.e., arm 6b with arm identification number N, to the first swap position P1. The arm identification number N constitutes the first information. In the case of Figure 11, the specified arm 6b is an empty arm 6b. The control unit 60a performs a first process to assign the specified arm 6b to the first swap position P1. Therefore, the swap position arm 6c is empty.

[0067] Next, the control unit 60a uses the tool transport device 9 to perform a second process in which the tool is transported from the replacement position arm 6c to the replacement position arm 8d. In the case of Figure 11, the replacement position arm 6c is empty, and there is no tool movement in the second process. That is, in the second process, the control unit 60a performs a tool transport operation from the first replacement position P1 to the second replacement position P2. The second process may or may not involve tool movement.

[0068] Next, the control unit 60a performs a third process to assign the designated arm 8b, i.e., arm 8b with arm identification number M, to the second replacement position P2. The arm identification number M constitutes the second information. In the case of Figure 11, the designated arm 8b stores the tool T2. Therefore, the replacement position arm 8d stores the tool T2.

[0069] Next, the control unit 60a uses the tool transport device 9 to perform a fourth process in which the tool is transported from the replacement position arm 8d to the replacement position arm 6c. In the case of Figure 11, the tool T2 is transported from the replacement position arm 8d to the replacement position arm 6c. That is, in the fourth process, the control unit 60a performs a tool transport operation from the second replacement position P2 to the first replacement position P1. The fourth process may or may not involve the movement of the tool.

[0070] Figure 12 is an explanatory diagram illustrating the tool transport process in which tool T2, stored in the second magazine 8, is stored in the first magazine 6 when the operator forgets to enter the tool identification number. When an operator attaches a tool to arm 6b, they may forget to enter the tool identification number of the attached tool, linking it to the arm identification number of arm 6b to which the tool is attached. X in Figure 12 indicates a tool for which the tool identification number has not been entered.

[0071] The control unit 60a performs a first process to locate the designated arm 6b, i.e., arm 6b with arm identification number N, to the first swap position P1. In the case of Figure 12, the designated arm 6b is the arm 6b for which no tool identification number has been entered, and is the arm 6b that stores tool X. That is, the control unit 60a recognizes it as an empty arm 6b. The control unit 60a performs a first process to locate the designated arm 6b to the first swap position P1. Therefore, the swap position arm 6c stores tool X.

[0072] Next, the control unit 60a uses the tool transport device 9 to perform a second process in which the tool is transported from the replacement position arm 6c to the replacement position arm 8d. In Figure 12, the replacement position arm 6c stores the tool X, and in the second process, the tool X is transported from the replacement position arm 6c to the replacement position arm 8d. The replacement position arm 6c is empty.

[0073] Next, the control unit 60a performs a third process to locate the designated arm 8b, i.e., arm 8b with arm identification number M, at the second swap position P2. In the case of Figure 12, the designated arm 8b stores the tool T2. Therefore, the swap position arm 8d stores the tool T2.

[0074] Next, the control unit 60a performs a fourth process using the tool transport device 9 to transport the tool from the replacement position arm 8d to the replacement position arm 6c. In the case of Figure 12, the tool T2 is transported from the replacement position arm 8d to the replacement position arm 6c.

[0075] As shown in Figure 12, even if the operator forgets to enter the tool identification number, collisions between tools will not occur during tool transport.

[0076] In the case of Figure 11, the second process does not involve the transport of tool T2. Figure 13 is an explanatory diagram illustrating the tool transport process in Figure 11 in which the second process is omitted and only the first, third, and fourth processes are executed. The control unit 60a executes the first process of assigning the designated arm 6b, i.e., arm 6b with arm identification number N, to the first replacement position P1. The designated arm 6b is an empty arm 6b. However, the operator has forgotten to input the tool identification number, so the designated arm 6b stores tool X. That is, the replacement position arm 6c stores tool X.

[0077] The control unit 60a performs a third process to locate the designated arm 8b, i.e., arm 8b with arm identification number M, at the second swap position P2. In the case of Figure 13, the designated arm 8b stores the tool T2. Therefore, the swap position arm 8d stores the tool T2.

[0078] Next, the control unit 60a performs a fourth process using the tool transport device 9 to transport the tool from the replacement position arm 8d to the replacement position arm 6c. In the case of Figure 13, tool T2 is transported from the replacement position arm 8d to the replacement position arm 6c. Tool T2 collides with tool X. If the second process in Figure 11 is omitted, and the operator forgets to enter the tool identification number, the tools will collide with each other. Therefore, the second process in Figure 11 cannot be omitted.

[0079] Figure 14 is an explanatory diagram illustrating the tool transport process in which a tool T1 stored in the first magazine 6 is stored in the second magazine 8. In the initial state, the replacement position arm 8d, i.e., the arm 8b located at the second replacement position P2, is empty.

[0080] The control unit 60a performs a first process to locate the designated arm 6b, i.e., arm 6b with arm identification number N, to the first swap position P1. In the case of Figure 14, the designated arm 6b stores the tool T1. The control unit 60a performs a first process to locate the designated arm 6b to the first swap position P1. Therefore, the swap position arm 6c stores the tool T1.

[0081] Next, the control unit 60a uses the tool transport device 9 to perform a second process of transporting the tool from the replacement position arm 6c to the replacement position arm 8d. In the case of Figure 14, the tool T1 is transported from the replacement position arm 6c to the replacement position arm 8d.

[0082] Next, the control unit 60a performs a third process to assign the designated arm 8b, i.e., arm 8b with arm identification number M, to the second swap position P2. In the case of Figure 14, the designated arm 8b is an empty arm. Therefore, the swap position arm 8d is an empty arm.

[0083] Next, the control unit 60a uses the tool transport device 9 to perform a fourth process in which the tool is transported from the replacement position arm 8d to the replacement position arm 6c. In the case of Figure 14, the replacement position arm 8d is empty, and there is no tool movement in the fourth process.

[0084] Figure 15 is an explanatory diagram illustrating the tool transport process in which tool T1, stored in the first magazine 6, is stored in the second magazine 8 when the operator forgets to enter the tool identification number.

[0085] The control unit 60a performs a first process to locate the designated arm 6b, i.e., arm 6b with arm identification number N, to the first swap position P1. In the case of Figure 14, the designated arm 6b stores the tool T1. The control unit 60a performs a first process to locate the designated arm 6b to the first swap position P1. Therefore, the swap position arm 6c stores the tool T1.

[0086] Next, the control unit 60a performs a second process using the tool transport device 9 to transport the tool from the replacement position arm 6c to the replacement position arm 8d. In Figure 15, the tool T1 is transported from the replacement position arm 6c to the replacement position arm 8d.

[0087] Next, the control unit 60a performs a third process to position the designated arm 8b, i.e., arm 8b with arm identification number M, at the second replacement position P2. In the case of Figure 15, the designated arm 8b is an empty arm. However, the operator has forgotten to enter the tool identification number, so the designated arm 8b stores tool X. Therefore, the replacement position arm 8d stores tool X.

[0088] Next, the control unit 60a performs a fourth process using the tool transport device 9 to transport the tool from the replacement position arm 8d to the replacement position arm 6c. In the case of Figure 15, the tool X is transported from the replacement position arm 8d to the replacement position arm 6c.

[0089] As shown in Figure 15, even if the operator forgets to enter the tool identification number, collisions between tools will not occur during tool transport.

[0090] In the case of Figure 14, the fourth process does not involve the transport of tool T1. Figure 16 is an explanatory diagram illustrating a tool transport process in which the fourth process is omitted and the first, second, and third processes are executed consecutively, as in the tool transport process of Figure 14.

[0091] The control unit 60a executes a third process in which, in the previous tool transport process, it positions the designated arm 8b, i.e., arm 8b with arm identification number M, at the second replacement position P2. In the case of Figure 16, the designated arm 8b is an empty arm. However, the operator has forgotten to enter the tool identification number, so the designated arm 8b stores tool X. Therefore, the replacement position arm 8d stores tool X.

[0092] Next, the control unit 60a executes a first process to locate the designated arm 6b, i.e., arm 6b with arm identification number N, to the first swap position P1. In the case of Figure 16, the designated arm 6b stores the tool T3. The control unit 60a executes a first process to locate the designated arm 6b to the first swap position P1. Therefore, the swap position arm 6c stores the tool T3. The first swap position P1 and the second swap position P2 are the positions where the arm 6b of the first magazine 6 and the arm 8b of the second magazine 8 are closest to each other. Therefore, when the arm 6b storing the tool T3 is located at the first swap position P1, the tool T3 collides with the tool X. Thus, the fourth process in Figure 14 cannot be omitted.

[0093] Figure 17 is an explanatory diagram illustrating a tool transport process in which, in the tool transport process of Figure 14, the fourth process is omitted, and the first, second, and third processes are executed consecutively in order to avoid collisions between the tool placed at the first exchange position P1 and the tool placed at the second exchange position P2 in the first process.

[0094] The control unit 60a performs a third process in which it places the specified arm 8b, i.e., arm 8b with arm identification number M, at the second replacement position P2 in the previous tool transport process. In the case of Figure 16, the specified arm 8b is an empty arm. However, the operator has forgotten to enter the tool identification number, so the specified arm 8b stores tool X. Therefore, the replacement position arm 8d stores tool X. At this time, the control unit 60a places arm 8b with arm identification number M at a position slightly away from the second replacement position P2, i.e., a position away from the tool transport path 51.

[0095] Next, the control unit 60a executes a first process to position the designated arm 6b, i.e., arm 6b with arm identification number N, at the first swap position P1. As described above, arm 8b with arm identification number M is located slightly away from the second swap position P2. Therefore, the distance between arm 6b with arm identification number N and arm 8b with arm identification number M is longer than when arms 6b and 8b are positioned at the first swap position P1 and the second swap position P2. As a result, during the first process, the tool T3 stored in arm 6b with arm identification number N will not collide with the tool X stored in arm 8b with arm identification number M. In other words, in the third process of the previous tool transport process, the control unit 60a positions arm 8b with arm identification number M slightly away from the second swap position P2 so that the tools do not collide in the first process of the subsequent tool transport process. After the first process and before the execution of the second process, the control unit 60a positions the arm 8b with arm identification number M to the second replacement position P2.

[0096] Next, the control unit 60a performs a second process using the tool transport device 9 to transport the tool from the replacement position arm 6c to the replacement position arm 8d. In the case of Figure 17, tool T3 is transported from the replacement position arm 6c to the replacement position arm 8d. Tool T3 collides with tool X. If the fourth process in Figure 14 is omitted, the tools will collide if the operator forgets to enter the tool identification number. Therefore, the fourth process in Figure 14 cannot be omitted. In other words, even if the first process performs an operation to avoid collision between the tool placed at the first replacement position P1 and the tool placed at the second replacement position P2, the fourth process in Figure 14 cannot be omitted.

[0097] In this embodiment, the tool transport device 9 transports tools linearly, but the transport of tools is not limited to linear transport. For example, a tool transport device equipped with an arm capable of linear and rotational motion may be used. In this case, the first exchange position, the second exchange position, and the non-interference position are not necessarily located on the same straight line.

[0098] Figure 18 is an explanatory diagram illustrating a tool transport process in which tool T1 stored in the first magazine 6 is stored in the second magazine 8, and tool T2 stored in the second magazine 8 is stored in the first magazine 6. In the initial state, the exchange position arm 8d, i.e., arm 8b located at the second exchange position P2, is empty.

[0099] The control unit 60a performs a first process to locate the designated arm 6b, i.e., arm 6b with arm identification number N, to the first swap position P1. In the case of Figure 18, the designated arm 6b stores the tool T1. The control unit 60a performs a first process to locate the designated arm 6b to the first swap position P1. Therefore, the swap position arm 6c stores the tool T1.

[0100] Next, the control unit 60a performs a second process using the tool transport device 9 to transport the tool from the replacement position arm 6c to the replacement position arm 8d. In Figure 18, the tool T1 is transported from the replacement position arm 6c to the replacement position arm 8d.

[0101] Next, the control unit 60a performs a third process to locate the designated arm 8b, i.e., arm 8b with arm identification number M, at the second swap position P2. In the case of Figure 18, the designated arm 8b stores the tool T2. Therefore, the swap position arm 8d stores the tool T2.

[0102] Next, the control unit 60a performs a fourth process using the tool transport device 9 to transport the tool from the replacement position arm 8d to the replacement position arm 6c. In the case of Figure 18, the tool T2 is transported from the replacement position arm 8d to the replacement position arm 6c.

[0103] Figures 19 and 20 are flowcharts illustrating the arm assignment process by which the control unit 60a assigns arms 6b and 8b to the first and second swapping positions P1 and P2, respectively. The control unit 60a determines whether or not it has read a command to execute a transport command to transport a tool between the first magazine 6 and the second magazine 8 (S1). If it determines that the transport command should not be executed (S1: NO), the control unit 60a terminates the process.

[0104] If it is determined that a transport command should be executed (S1: YES), the control unit 60a determines whether or not an empty arm 8b is positioned at the second replacement position P2 (S2). For example, the control unit 60a displays a message in the notification unit 64 prompting the operator to check whether or not an empty arm 8b is positioned at the second replacement position P2. The control unit 60a also displays a message in the notification unit 64 prompting the operator to input that the operator has confirmed that an empty arm 8b is positioned at the second replacement position P2. This is because operators may forget to input the tool identification number, so the operator is prompted to confirm that an empty arm 8b is positioned at the second replacement position P2. If information is input from the operation unit 66 indicating that the operator has confirmed that an empty arm 8b is positioned at the second replacement position P2, the control unit 60a determines that an empty arm 8b is positioned at the second replacement position P2.

[0105] If it is determined that there is no empty arm 8b at the second swapping position P2 (S2: NO), the control unit 60a returns to step S2. If it is determined that there is an empty arm 8b at the second swapping position P2 (S2: YES), the control unit 60a determines whether the transport command includes the transport of tool T1 from the first magazine 6 to the second magazine 8 (S3). If it is determined that the transport command includes the transport of tool T1 from the first magazine 6 to the second magazine 8 (S3: YES), the control unit 60a determines whether the transport command includes a command to place an empty arm 6b at the first swapping position P1 after the transport of tool T1 (S4).

[0106] If the control unit 60a determines that the transport command includes a command to place an empty arm 6b at the first replacement position P1 after the transport of tool T1 (S4:YES), it determines whether tools are stored in all arms 8b at positions other than the second replacement position P2 (S5). If it determines that tools are stored in all arms 8b at positions other than the second replacement position P2 (S5:YES), the control unit 60a performs error processing (S8) and terminates the process. If it determines that tools are stored in all arms 8b at positions other than the second replacement position P2, it is not possible to place an empty arm 6b at the first replacement position P1 after the transport of tool T1. Therefore, the control unit 60a performs error processing. Error processing includes, for example, the notification unit 64 displaying that transport processing is not possible, that the machine tool is stopped, and requesting a change in the control program, as well as lighting or flashing lights, or making sounds.

[0107] If it is determined that not all arms 8b located at positions other than the second replacement position P2 are equipped with tools (S5: NO), that is, if it is determined that any of the arms 8b located at positions other than the second replacement position P2 are empty (hereinafter, an empty arm 8b will also be referred to as an empty arm Ae), the control unit 60a assigns the arm identification number of the arm 6b that houses the tool T1 to the arm identification number N to be placed at the first replacement position P1 in the first process, and assigns the arm identification number of the empty arm Ae to the arm identification number M to be placed at the second replacement position P2 in the third process (S6). That is, the control unit 60a assigns the arm 6b to be placed at the first replacement position P1 and the arm 8b to be placed at the second replacement position P2. The control unit 60a stores the assigned arm identification number N, i.e., the assigned arm 6b, in the auxiliary storage unit 60c. The control unit 60a stores the assigned arm identification number M, i.e., the assigned arm 8b, in the auxiliary storage unit 60c. The control unit 60a executes the tool transport process (S7). Details of the tool transport process will be described later. The tool transport process executed after step S6 is the tool transport process shown in Figure 14.

[0108] In step S4, if the control unit 60a determines that the transport command does not include a command to place an empty arm 6b at the first exchange position P1 after the transport of tool T1 (S4: NO), the control unit 60a selects tool T2 stored in the second magazine 8 (S9). The control unit 60a selects, for example, the tool specified in the transport command. The control unit 60a assigns the arm identification number of arm 6b that stores tool T1 to arm identification number N to be placed at the first exchange position P1 in the first process, and assigns the arm identification number of arm 8b that stores tool T2 to arm identification number M to be placed at the second exchange position P2 in the third process (S10). That is, the control unit 60a assigns arm 6b to be placed at the first exchange position P1 and arm 8b to be placed at the second exchange position P2. The control unit 60a stores the assigned arm identification number N, i.e., the assigned arm 6b, in the auxiliary storage unit 60c. The control unit 60a stores the specified arm identification number M, i.e., the specified arm 8b, in the auxiliary storage unit 60c. The tool transport process is executed (S7). The tool transport process executed after step S10 is the tool transport process shown in Figure 18.

[0109] In step S3, if it is determined that the transport command does not include the transport of tool T1 from the first magazine 6 to the second magazine 8 (S3: NO), the control unit 60a determines whether the transport command includes a transport command for tool T2 from the second magazine 8 to the empty arm 6b of the first magazine 6 (S11). If it is determined that the transport command includes a transport command for tool T2 from the second magazine 8 to the empty arm 6b of the first magazine 6 (S11: YES), the control unit 60a determines whether there is an empty arm 6b in the first magazine 6 (S12).

[0110] If it is determined that there are no empty arms 6b in the first magazine 6 (S12: NO), the control unit 60a performs error processing (S14) and terminates the process. The error processing in step S14 includes, for example, the notification unit 64 displaying information such as that transport processing is not possible, that the machine tool has stopped, and a request for a change in the control program, as well as lighting or flashing a light, or making a sound.

[0111] If the control unit 60a determines that there is an empty arm 6b in the first magazine 6 (S12: YES), the control unit 60a assigns the arm identification number of the empty arm 6b to the arm identification number N to be placed at the first replacement position P1 in the first process, and assigns the arm identification number of the arm 8b that stores the tool T2 to the arm identification number M to be placed at the second replacement position P2 in the third process (S13). That is, the control unit 60a assigns the arm 6b to be placed at the first replacement position P1 and the arm 8b to be placed at the second replacement position P2. The control unit 60a stores the assigned arm identification number N, i.e., the assigned arm 6b, in the auxiliary storage unit 60c. The control unit 60a also stores the assigned arm identification number M, i.e., the assigned arm 8b, in the auxiliary storage unit 60c. The control unit 60a then executes the tool transport process (S7). The tool transport process executed after step S13 is the tool transport process shown in Figure 11.

[0112] In step S11, if it is determined that the transport command does not include a transport command for tool T2 from the second magazine 8 to the empty arm 6b of the first magazine 6 (S11: NO), that is, if it is determined that the transport command is a transport command for tool T2 from the second magazine 8 to the arm 6b of the first magazine 6 that has a tool stored in it, the control unit 60a determines whether or not the transport command includes a specification of the destination arm 6b (S15).

[0113] If the control unit determines that the transport command includes the specification of the destination arm 6b (S15: YES), the control unit 60a assigns the arm identification number of the specified arm 6b to the arm identification number N to be placed at the first exchange position P1 in the first process, and assigns the arm identification number of the arm 8b that stores the tool T2 to the arm identification number M to be placed at the second exchange position P2 in the third process (S16). That is, the control unit 60a specifies the arm 6b to be placed at the first exchange position P1 and the arm 8b to be placed at the second exchange position P2. The control unit 60a stores the specified arm identification number N, i.e., the specified arm 6b, in the auxiliary storage unit 60c. The control unit 60a also stores the specified arm identification number M, i.e., the specified arm 8b, in the auxiliary storage unit 60c. The control unit 60a then executes the tool transport process (S7). The tool transport process executed after step S16 is the tool transport process shown in Figure 18.

[0114] If the control unit 60a determines that the transport command does not include the specification of the destination arm 6b (S15: NO), that is, if it determines that the command is to transport tool T2 to any arm 6b that stores a tool, the control unit 60a selects any arm 6b in the first magazine 6 that stores a tool (S17), assigns the arm identification number of the selected arm 6b to arm identification number N to be placed at the first exchange position P1 in the first process, and assigns the arm identification number of arm 8b that stores tool T2 to arm identification number M to be placed at the second exchange position P2 in the third process (S18). In other words, the control unit 60a specifies the arm 6b to be placed at the first exchange position P1 and the arm 8b to be placed at the second exchange position P2. The control unit 60a stores the assigned arm identification number N, i.e., the assigned arm 6b, in the auxiliary storage unit 60c. The control unit 60a stores the assigned arm identification number M, i.e., the assigned arm 8b, in the auxiliary storage unit 60c. The control unit 60a executes the tool transport process (S7). The tool transport process executed after step S18 is the tool transport process shown in Figure 18.

[0115] Figures 21 and 22 are flowcharts illustrating the tool transport process. In the initial state, the pod 9f is located in the non-interference position P3. The control unit 60a positions the spindle 10a at the origin (S21) and drives the motor 6f to position arm 6b with arm identification number N at the first replacement position P1 (S22). The control unit 60a opens the shutter of the opening 52a (S23), switches the solenoid valve 63 to the second position (S24), that is, puts the two hands 96 into a non-gripping state and moves the pod 9f to the first replacement position P1 (S25). The control unit 60a switches the solenoid valve 63 to the first position (S26), that is, puts the two hands 96 into a gripping state. If the replacement position arm 6c is storing a tool, the pod 9f grasps the tool.

[0116] The control unit 60a moves the pod to the second replacement position P2 (S27) and switches the solenoid valve 63 to the second position (S28). That is, the pod 9f becomes non-gripping. If the pod 9f is gripping a tool, the tool is stored in the replacement position arm 8d. The control unit 60a moves the pod 9f to the non-interference position P3 (S29).

[0117] The control unit 60a drives the motor 8c to position arm 8b with arm identification number M to the second swap position P2 (S30), and moves the pod 9f to the second swap position P2 (S31). The control unit 60a switches the solenoid valve 63 to the first position (S32), that is, to put both hands 96 into a gripping state. If the swap position arm 8d is storing a tool, the pod 9f grasps the tool.

[0118] The control unit 60a moves the pod 9f to the first exchange position P1 (S33) and switches the solenoid valve 63 to the second position (S34). That is, the pod 9f becomes non-gripping. If the pod 9f is gripping a tool, the tool is stored in the exchange position arm 6c. The control unit 60a moves the pod to the non-interference position P3 (S35). The control unit 60a determines whether there is a next transport command (S36). If it determines that there is a next transport command (S36: YES), the control unit 60a returns to step S22.

[0119] If it is determined that there is no further transport command (S36: NO), the control unit 60a closes the shutter (S37) and determines whether a tool to be attached to the spindle 10a has been specified (S38). If it is determined that no tool to be attached to the spindle 10a has been specified (S38: NO), the control unit 60a terminates the tool transport process and returns to the arm specification process. If it is determined that a tool to be attached to the spindle 10a has been specified (S38: YES), the control unit 60a positions the arm 6b containing the tool to be attached to the spindle 10a to the position to be attached to the spindle 10a, i.e., the lowest position of the first magazine 6 (S39), lowers the spindle 10a (S40), terminates the tool transport process, and returns to the arm specification process.

[0120] Tool transport is also performed between the first magazine 6 and the second magazine 7. Tool transport between the first magazine 6 and the second magazine 7 is carried out in the same manner as tool transport between the first magazine 6 and the second magazine 8.

[0121] In the machine tool according to Embodiment 1, when an empty arm 8b is positioned at the second replacement position P2, the tool transport device 9 transports the tool to the empty arm 8b when moving a tool from the first magazine 6 to the second magazines 7 and 8, and transports the tool to the empty arm 6b when moving a tool from the second magazines 7 and 8 to the first magazine 6. Therefore, collisions between tools can be suppressed without providing a detection unit to detect the presence or absence of tools.

[0122] In the second process, pod 9f performs a gripping operation at the first gripping position K1, moves to the second exchange position P2, and performs a non-gripping operation. In the fourth process, pod 9f performs a gripping operation at the second gripping position K2, moves to the first exchange position P1, performs a non-gripping operation, and moves to the non-interference position P3. Tools can be transported while suppressing collisions between tools without the need for a detection unit to detect the presence or absence of tools.

[0123] Furthermore, if tools are stored in all arms 8b at positions other than the second replacement position P2, the replacement position arm 6c identified in the first process cannot be emptied after the execution of the first or second movement command. In Embodiment 1, if it is determined that tools are stored in all arms 8b at positions other than the second replacement position P2 when the replacement position arm 6c identified in the first process is to be emptied after the execution of the first or second movement command, abnormal processing is performed. This allows, for example, the transport process that the operator does not want to be stopped and the operator to be notified that the transport process that the operator did not want to be stopped has been stopped.

[0124] Furthermore, in the first process, the specified arm 6b is positioned at the first swap position P1, and in the third process, the specified arm 8b is positioned at the second swap position P2.

[0125] Furthermore, when an empty arm 8b is positioned at the second replacement position P2, the tool transport device 9 transports the tool to the empty arm 8b when moving a tool from the first magazine 6 to the second magazines 7 and 8, and transports the tool to the empty arm 6b when moving a tool from the second magazines 7 and 8 to the first magazine 6. Tools can be transported while suppressing collisions between tools without the need for a detection unit to detect the presence or absence of tools.

[0126] Furthermore, the cover 52 prevents the operator from attaching or detaching tools to the arms of the second magazines 7 and 8. Tool transport between the first magazine 6 and the second magazines 7 and 8 is only possible by the tool transport device 9. Therefore, it is possible to prevent tools without a tool identification number from being attached to the second magazines 7 and 8.

[0127] (Embodiment 2) The present invention will be described below based on drawings showing a machine tool according to Embodiment 2. Figure 23 is a flowchart illustrating the arm specification process in which the control unit 60a specifies the arms 6b and 8b to be assigned to the first and second swapping positions P1 and P2, respectively. Embodiment 2 is the same as Embodiment 1 except that the processing after the control unit 60a determines YES in the determination process of step S5 is different. Therefore, only the processing after the control unit 60a determines YES in the determination process of step S5 will be described below.

[0128] If it is determined that all arms 8b in positions other than the second replacement position P2 are stocked with tools (S5: YES), the control unit 60a selects tool T2 stocked in the second magazine 8 (S9). For example, the control unit 60a selects tool stocked in replacement position arm 8d. Note that the control unit 60a may select any tool stocked in arm 8b of any of the second magazines 8, and is not limited to tool stocked in replacement position arm 8d.

[0129] The control unit 60a assigns the arm identification number of the arm 6b that houses the tool T1 to the arm identification number N which will be placed at the first replacement position P1 in the first process, and assigns the arm identification number of the arm 8b that houses the tool T2 to the arm identification number M which will be placed at the second replacement position P2 in the third process (S10), and then executes the tool transport process (S7). The tool transport process executed after step S10 is the tool transport process shown in Figure 18.

[0130] If tools are stored in all arms 8b at positions other than the second exchange position P2, the arm 6b identified in the first process cannot be emptied after the execution of the first or second movement command. In the machine tool according to Embodiment 2, when it is determined that tools are stored in all arms 8b at positions other than the second exchange position P2 when the arm 6b identified in the first process is to be emptied after the execution of the first or second movement command, the execution of the fourth process executes a process to transport the tool from one of the arms 8b that has a tool stored to the arm 6b identified in the first process and emptied in the second process. The arm 6b identified in the first process is not emptied. In other words, this is not the process desired by the operator. However, the tool transport process can be continued and the tool transport process can be advanced.

[0131] The embodiments disclosed herein should be considered illustrative and not restrictive in all respects. The scope of the present invention is intended to include all modifications within the claims and equivalents thereof. The matters described in each embodiment can be combined with one another. Furthermore, the independent and dependent claims described in the claims can be combined with one another in any combination, regardless of the form of reference. In addition, the claims use a multi-claim format in which claims refer to two or more other claims (multi-claim format), but are not limited thereto. They may also be described using a multi-claim format in which at least one multi-claim refers to another multi-claim (multi-multi-claim format). [Explanation of Symbols]

[0132] 6 First Magazine 6b Arm (First storage section) 8 Second Magazine 8b Arm (Second storage compartment) 9. Tool conveying device 9f Pod (Grip part) 9a Motor (movement mechanism) 9b Ball screw (movement mechanism) 9c Nut (moving mechanism) 9d orbit (moving mechanism) 9e Slider (movement mechanism) 9g Connecting part (moving mechanism) 52 Cover (Regulatory Cover) 60 Control device

Claims

1. A control device for controlling a tool transport device that transports a tool between a first magazine having a plurality of first storage compartments for storing tools, a second magazine having a plurality of second storage compartments for storing tools, and a first replacement position for removing or storing tools in the first magazine and a second replacement position for removing or storing tools in the second magazine, When an empty second storage compartment is positioned in the second replacement position, and a first movement command is executed to move a tool from the first magazine to the second magazine, and a second movement command is executed to move a tool from the second magazine to the first magazine, In the first magazine, a first process is performed to locate the designated first storage unit at the first replacement position. After the execution of the first process, the tool transport device performs a second process in which it transports the tool from the first replacement position to the second replacement position. After the execution of the second process, the second magazine performs a third process to move the second storage unit, which is located at a position other than the second replacement position, to the second replacement position. After the execution of the third process, the tool transport device performs a fourth process in which it transports the tool from the second replacement position to the first replacement position. Control device.

2. The tool transport device, A gripping part for holding the tool, A moving mechanism that moves the gripping portion to a first gripping position corresponding to the first replacement position in which the gripping portion can grip a tool, a second gripping position corresponding to the second replacement position in which the gripping portion can grip a tool, and a non-interference position that is different from the first and second replacement positions in which the gripping portion does not interfere with the first magazine and the second magazine. It has, In the second process described above, the following actions are performed: movement of the gripping part to the first gripping position; gripping of the tool by the gripping part at the first gripping position; movement of the gripping part to the second gripping position; non-gripping of the tool at the second gripping position; and movement from the second gripping position to the non-interference position. In the fourth process, the gripping portion is moved to the second gripping position, the gripping portion grips the tool at the second gripping position, the gripping portion is moved to the first gripping position, the tool is not gripped at the first gripping position, and the gripping portion is moved from the first gripping position to the non-interference position. The control device according to claim 1.

3. Before executing the first movement command or the second movement command, In the first process, it is determined whether or not the first storage unit identified in the first process will be emptied after the execution of the first movement command or the second movement command. If it is determined in the first process that the first storage unit will be emptied after the execution of the first or second movement command, then it is determined whether or not tools are stored in all of the second storage units located at positions other than the second replacement position. If it is determined that tools are stored in all of the second storage compartments other than the second replacement position, an error processing is executed. The control device according to claim 1 or 2.

4. Before executing the first movement command or the second movement command, In the first process, it is determined whether or not the first storage unit identified in the first process will be emptied after the execution of the first movement command or the second movement command. If it is determined in the first process that the first storage unit will be emptied after the execution of the first or second movement command, then it is determined whether or not tools are stored in all of the second storage units located at positions other than the second replacement position. If it is determined that all of the second storage compartments other than the second replacement position are filled with tools, when executing the first or second movement command, the fourth process executes a process to transport the tools from any of the second storage compartments in which the tools are stored to the first storage compartment that was identified in the first process and became empty in the second process. The control device according to claim 1 or 2.

5. Before executing the first process described above, Specify the first storage unit to be placed in the first replacement position, The system stores first information indicating the designated first storage unit, Specify the second storage unit to be placed in the second replacement position, The system stores second information indicating the designated second storage unit. Execute the process, In the first process, the first storage unit is determined to the first replacement position based on the first information, In the third process, the second storage unit is determined to the second replacement position based on the second information. The control device according to claim 1 or 2.

6. A machine tool comprising: a first magazine having a plurality of first storage compartments for storing tools; a second magazine having a plurality of second storage compartments for storing tools; a tool transport device capable of transporting tools between a first replacement position for removing or storing tools in the first magazine and a second replacement position for removing or storing tools in the second magazine; and a control device for controlling the first magazine, the second magazine, and the tool transport device, The control device is When an empty second storage compartment is positioned in the second replacement position, and a first movement command is executed to move a tool from the first magazine to the second magazine, and a second movement command is executed to move a tool from the second magazine to the first magazine, In the first magazine, a first process is performed to locate the designated first storage unit at the first replacement position. After the execution of the first process, the tool transport device performs a second process in which it transports the tool from the first replacement position to the second replacement position. After the execution of the second process, the second magazine performs a third process to move the second storage unit, which is located at a position other than the second replacement position, to the second replacement position. After the execution of the third process, the tool transport device performs a fourth process in which it transports the tool from the second replacement position to the first replacement position. Machine tools.

7. The tool transport device is not used and the tool is provided with a restricting cover that restricts the attachment and removal of tools to and from the second magazine. The machine tool according to claim 6.

8. A control method for controlling a tool transport device that can transport a tool between a first magazine having a plurality of first storage compartments for storing tools, a second magazine having a plurality of second storage compartments for storing tools, and a first replacement position for removing or storing tools in the first magazine and a second replacement position for removing or storing tools in the second magazine, When an empty second storage compartment is positioned in the second replacement position, and a first movement command is executed to move a tool from the first magazine to the second magazine, and a second movement command is executed to move a tool from the second magazine to the first magazine, In the first magazine, a first process is performed to locate the designated first storage unit at the first replacement position. After the execution of the first process, the tool transport device performs a second process in which it transports the tool from the first replacement position to the second replacement position. After the execution of the second process, the second magazine performs a third process to move the second storage unit, which is located at a position other than the second replacement position, to the second replacement position. After the execution of the third process, the tool transport device performs a fourth process in which it transports the tool from the second replacement position to the first replacement position. Control method.

9. A computer program executable by a control device that controls a first magazine having a plurality of first storage compartments for storing tools, a second magazine having a plurality of second storage compartments for storing tools, and a tool transport device capable of transporting tools between a first replacement position for removing or storing tools in the first magazine and a second replacement position for removing or storing tools in the second magazine, The control device, When an empty second storage compartment is positioned in the second replacement position, and a first movement command is executed to move a tool from the first magazine to the second magazine, and a second movement command is executed to move a tool from the second magazine to the first magazine, In the first magazine, a first process is performed to locate the designated first storage unit at the first replacement position. After the execution of the first process, the tool transport device performs a second process in which it transports the tool from the first replacement position to the second replacement position. After the execution of the second process, the second magazine performs a third process to move the second storage unit, which is located at a position other than the second replacement position, to the second replacement position. After the execution of the third process, the tool transport device performs a fourth process in which it transports the tool from the second replacement position to the first replacement position. A computer program that executes a process.

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