Control system, control method, control program, and transport device

Abstract

The present invention provides a control system, control method, control program, and transport device that enable users to perform the intended processing on a workpiece. [Solution] In the control system, the transport device 1C displays a setting screen on the display (T5). The setting screen is a screen for associating work information with program information. The transport device 1C acquires program information from the machine tool 1A (T9). In T9, the transport device 1C acquires program information of the machining program selected in the machine tool 1A. The transport device 1C displays the program information acquired in T9 on the setting screen (T11). The transport device 1C stores the work information displayed on the setting screen in association with the program information (T13).

Description

Technical Field

[0001] The present invention relates to a control system, a control method, a control program, and a conveying device.

Background Art

[0002] The automatic processing system described in Patent Document 1 includes a machine tool that performs processing on a workpiece, and a workpiece conveying device that transfers the workpiece between the machine tools. The automatic processing system creates a processing plan for the workpiece by associating workpiece identification information for identifying the workpiece with workpiece processing information regarding a processing tool, a jig, and the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above automatic processing system, when the workpiece identification information and the workpiece processing information are stored in association with each other, the workpiece identification information and the workpiece processing information may be stored in an incorrect relationship. If the processing plan is executed with the incorrect relationship, there is a possibility that the processing intended by the user may not be performed on the workpiece.

[0005] An object of the present invention is to provide a control system, a control method, a control program, and a conveying device that can perform the processing intended by the user on the workpiece.

Means for Solving the Problems

[0006] A control system according to a first aspect of the present invention is a control system comprising a machine tool that processes a workpiece based on a processing program and a transfer device that transfers the workpiece to the machine tool, characterized in that it performs the following: a first display process that displays a setting screen on a display unit for associating workpiece information and program information of the processing program; an acquisition process that acquires the program information of the processing program selected in the machine tool; a second display process that displays the program information acquired in the acquisition process on the setting screen; and a storage process that stores the workpiece information and program information displayed on the setting screen in association. According to this, the control system is less likely to store the workpiece information and program information in an incorrect relationship compared to a case where the control system stores the workpiece information and program information in association without acquiring program information from the machine tool. Therefore, the control system can perform the processing intended by the user on the workpiece.

[0007] In the control system of the present invention, the program information includes a program number indicating the machining program, and the second display process may display the program number on the settings screen. The control system displays the program number of the machining program on the settings screen in the second display process. Since the user can confirm the program number obtained from the machine tool via the settings screen, the control system can prevent the system from storing work information and program information in an incorrect relationship.

[0008] In the control system of the present invention, the program information further includes, in addition to the program number, the name of the folder in the storage unit where the machining program is stored, and the second display process may display the program number and the folder name on the settings screen. The control system displays the name of the folder in which the machining program is stored on the settings screen in the second display process. Since the user can confirm the program number and folder name obtained from the machine tool via the settings screen, the control system can further suppress the storage of work information and program information in an incorrect relationship.

[0009] In the control system of the present invention, the setting screen may have a first reception area for receiving instructions to execute the acquisition process. This allows the control system to acquire program information at a timing desired by the user.

[0010] In the control system of the present invention, the setting screen may have a second reception area for receiving instructions to execute the memory processing. The control system can store work information and program information in association with each other after the user has confirmed the setting screen. Therefore, the control system can prevent storing work information and program information in an incorrect relationship.

[0011] In the control system of the present invention, the transfer device transfers the workpiece to a plurality of machine tools, the setting screen has a first selection area for selecting one of the plurality of machine tools, and the acquisition process may acquire the program information selected for the one machine tool selected in the first selection area. The control system can prevent the transfer device from storing workpiece information and program information in an incorrect relationship, even when transferring workpieces to a plurality of machine tools.

[0012] In the control system of the present invention, the machine tool performs machining on the workpiece based on the first machining program, and then operates based on the second machining program as a post-machining operation. The setting screen has a second selection area for selecting either the first machining program or the second machining program, and the acquisition process may acquire the program information of one of the first or second machining programs selected in the second selection area. The control system can correctly acquire the program information of the first machining program for machining the workpiece and the program information of the second machining program for post-machining operations.

[0013] A control method according to a second aspect of the present invention is a control method for a control system comprising a machine tool that performs machining on a workpiece based on a machining program and a transfer device that transfers the workpiece to the machine tool, characterized in that it performs the following steps: a first display step of displaying a setting screen on a display unit for associating workpiece information indicating the workpiece with program information of the machining program; an acquisition step of acquiring the program information of the machining program selected in the machine tool; a second display step of displaying the program information acquired in the acquisition step on the setting screen; and a storage step of associating and storing the workpiece information and the program information displayed on the setting screen.

[0014] A control program according to a third aspect of the present invention causes a computer that controls a control system comprising a machine tool that processes a workpiece based on a processing program and a transfer device that transfers the workpiece to the machine tool to execute a first display step of displaying a setting screen on a display unit for associating workpiece information indicating the workpiece with program information of the processing program; an acquisition step of acquiring the program information of the processing program selected in the machine tool; a second display step of displaying the program information acquired in the acquisition step on the setting screen; and a storage step of storing the workpiece information and the program information displayed on the setting screen in association.

[0015] A transfer device according to a fourth aspect of the present invention is a transfer device that transfers a workpiece to a machine tool that performs machining on the workpiece based on a machining program, characterized in that it performs a first display process that displays a setting screen on a display unit for associating workpiece information indicating the workpiece with program information of the machining program; an acquisition process that acquires the program information of the machining program selected in the machine tool; a second display process that displays the program information acquired in the acquisition process on the setting screen; and a storage process that stores the workpiece information and the program information displayed on the setting screen in association.

[0016] The second, third, and fourth aspects have the same effects as the first aspect.

Brief Description of the Drawings

[0017] [Figure 1] It is a perspective view showing the control system 1. [Figure 2] It is a perspective view showing the conveying device 1C. [Figure 3] It is a block diagram showing the electrical configuration of the machine tools 1A, 1B, and the conveying device 1C. [Figure 4] It is a conceptual diagram showing the storage unit 77. [Figure 5] It is a diagram showing the selection display screen 170. [Figure 6] It is a diagram showing the setting screen 150. [Figure 7] It is a diagram showing the outline of the operation of the control system 1. [Figure 8] It is a flowchart of the acquisition process.

Embodiments for Carrying Out the Invention

[0018] The control system 1 according to an embodiment of the present invention will be described. The drawings referred to are used to explain the technical features that can be adopted by the present invention. The configurations, controls, etc. described in the drawings are not intended to be limited thereto, but are merely illustrative examples. In the following description, the left - right, front - rear, and up - down directions indicated by arrows in the figures are used. The left - right direction, up - down direction, and front - rear direction are the X - axis direction, Z - axis direction, and Y - axis direction of the machine tools 1A, 1B, respectively.

[0019] <Overview of the Control System 1> As shown in FIG. 1, the control system 1 includes the machine tools 1A, 1B, and the conveying device 1C.

[0020] The machine tools 1A, 1B perform various processes on the workpiece. The various processes include hole - making processes using drills, taps, etc., and side - surface processes using end mills, milling cutters, etc. The operation in which the machine tools 1A, 1B perform various processes on the workpiece is referred to as the "processing operation".

[0021] Machine tools 1A and 1B perform various operations after the machining operation. The various operations include tool change, cleaning of the tool 29 with cleaning liquid, etc. The various operations performed by the machine tools 1A and 1B after the machining operation are referred to as "post-machining operations".

[0022] The transfer device 1C transfers the workpiece in and out of the machine tools 1A and 1B.

[0023] Machine tool 1A is located on the left side of the transfer device 1C. Machine tool 1B is located on the right side of the transfer device 1C. The machine tools 1A and 1B and the transfer device 1C are arranged side by side in the left-right direction.

[0024] Machine tool 1A has a main body 20 and a housing 30.

[0025] The main body 20 includes a base 21, a column 22, a Z-axis movement mechanism, a spindle head 23, a spindle 24, a table device 25, a tool changer 26, and a control box 27. The base 21 is a substantially rectangular parallelepiped-shaped metal base. The column 22 is fixed to the upper rear of the base 21. The Z-axis movement mechanism is arranged on the front surface of the column 22. The Z-axis movement mechanism moves the spindle head 23 in the Z-axis direction in response to the drive of the Z-axis motor.

[0026] The spindle head 23 has a box shape and is arranged on the front side of the column 22. The spindle 24 is arranged inside the spindle head 23. The spindle 24 has a mounting hole at its lower end. The spindle 24 mounts a tool holder in the mounting hole and rotates in response to the drive of the spindle motor. The tool holder holds the tool 29.

[0027] The table device 25 includes a Y-axis movement mechanism, a Y-axis table 25A, a table 25B, an X-axis movement mechanism, etc. The Y-axis movement mechanism is arranged on the upper surface of the base 21. The Y-axis movement mechanism moves the Y-axis table 25A in the Y-axis direction in response to the drive of the Y-axis motor.

[0028] The X-axis movement mechanism is positioned on the upper surface of the Y-axis table 25A. The X-axis movement mechanism moves the table 25B in the X-axis direction in response to the drive of the X-axis motor. Thus, the table 25B can move in both the X-axis and Y-axis directions on the base 21 by means of the X-axis movement mechanism and the Y-axis movement mechanism.

[0029] Three pallet clamps 250 are fixed to the table 25B. The pallet clamps 250 secure the pallet P shown in Figure 2 to the table 25B. With the pallet P placed on the table 25B, the three pallet clamps 250 are inserted into each of the three holes on the bottom surface of the pallet P.

[0030] The tool changer 26 is located in front of the spindle head 23 and includes a tool magazine 26A. The tool magazine 26A has a plurality of grip arms 260 arranged in a circle on its outer circumference. The grip arms 260 grip the tool holder. The tool changer 26 has a magazine motor at its top. The magazine motor rotates the tool magazine 26A.

[0031] The control box 27 is fixed to the rear of the column 22 and houses the numerical control device 10 shown in Figure 3. The numerical control device 10 controls the Z-axis motor, spindle motor, X-axis motor, Y-axis motor, magazine motor, and the opening / closing motor described later. The numerical control device 10 performs various machining operations on the workpiece by moving the workpiece attached to the pallet P held on the table 25B and the tool 29 mounted on the spindle 24 relative to each other.

[0032] The housing 30 prevents chips generated during machining by the machine tool 1A and the scattering of cleaning fluid from the machine tool 1A. The housing 30 has a cover 31 and a shutter 32.

[0033] The cover 31 has a box shape and surrounds the main body 20. The wall 31N of the cover 31 that is close to the transport device 1C has an entrance / exit 310. Wall 31N is the right wall of the cover 31. The shutter 32 is located on wall 31N. The shutter 32 moves vertically by an opening / closing motor. By moving vertically, the shutter 32 can open and close the entrance / exit 310.

[0034] The state in which the shutter 32 opens the loading / unloading entrance 310 is called the "open state". The state in which the shutter 32 closes the loading / unloading entrance 310 is called the "closed state".

[0035] The configuration of machine tool 1B is the same as that of machine tool 1A. Of the housing 30 of machine tool 1B, the wall 31N adjacent to the conveying device 1C is the left wall of cover 31.

[0036] As shown in Figure 2, the transport device 1C has a robot arm 40 and a housing 50.

[0037] The robot arm 40 is a known articulated industrial robot. The robot arm 40 includes a base 41, multiple rotary joints 42, multiple links 43, a ball joint 44, and an end effector 45. The multiple rotary joints 42, multiple links 43, the ball joint 44, and the end effector 45 are referred to as the "arm section 4A".

[0038] The arm section 4A rotates around the base 41. Multiple links 43 extending from the base 41 are connected by multiple rotary joints 42. As each of the multiple rotary joints 42 rotates, the multiple links 43 can move freely. End effectors 45 are connected to the ends of the multiple links 43 via ball joints 44. The end effectors 45 can be fitted with a detachable pallet P.

[0039] The housing 50 has a cover 51 and a support base 52.

[0040] The cover 51 has a box-like shape and surrounds the robot arm 40. An entrance / exit 56L is formed in the left wall 51L of the cover 51. An entrance / exit 56R is formed in the right wall 51R of the cover 51.

[0041] An operation panel 57 is positioned on the front of the front wall 51F of the cover 51. The operation panel 57 includes a display 57A and an operation unit 57B. The display 57A is a liquid crystal display (LCD) and displays various screens such as the setting screen 150 shown in Figure 6. The operation unit 57B has a touch panel, buttons, and switches, and various inputs, instructions, settings, etc. are input. The touch panel of the operation unit 57B is positioned on the display 57A and accepts touch operations from the user.

[0042] The support base 52 includes a front support base 52F and a rear support base 52B. The front support base 52F is fixed to the rear surface of the front wall 51F of the cover 51. The rear support base 52B is fixed to the front surface of the rear wall 51B of the cover 51.

[0043] The front support base 52F and the rear support base 52B each consist of five plates arranged vertically. Multiple pallets P are placed on the top surface of the five plates of the front support base 52F and the rear support base 52B. The front support base 52F and the rear support base 52B function as shelves for the pallets P. The pallets P, while placed on the front support base 52F and the rear support base 52B, are housed inside the cover 51.

[0044] <Electrical Configuration> Referring to Figure 3, the electrical configurations of control system 1 and machine tools 1A and 1B will be described.

[0045] The transport device 1C includes a control unit 60, a display 57A, an operating unit 57B, communication interfaces 63 and 64, and a motor assembly 56. The motor assembly 56 includes various motors that drive the base 41, rotary joint 42, ball joint 44, and end effector 45 of the robot arm 40. Hereinafter, the interface will be referred to as "I / F".

[0046] The control unit 60, display 57A, operation unit 57B, communication I / F 63, 64, and motor assembly 56 are electrically connected to each other.

[0047] The control unit 60 includes a CPU 61 and a memory 62. The CPU 61 provides overall control of the transport device 1C. The memory 62 stores processing programs such as acquisition programs, transport programs, set values, various parameters, etc. The acquisition program is a program for the CPU 61 to execute the acquisition process shown in Figure 8. The transport program is a program that causes the machine tools 1A and 1B to execute machining operations sequentially according to a predetermined machining schedule.

[0048] Communication I / F63 is a connection device for communicating with machine tool 1A. Communication I / F64 is a connection device for communicating with machine tool 1B.

[0049] Each numerical control device 10 of machine tools 1A and 1B includes a control unit 70, a display 73, an operating unit 74, a communication interface 75, a motor assembly 76, and a storage unit 77. The motor assembly 76 includes an X-axis motor, a Y-axis motor, a Z-axis motor, a spindle motor, a magazine motor, an opening / closing motor, etc.

[0050] The control unit 70, display 73, operation unit 74, communication interface 75, motor assembly 76, and storage unit 77 are electrically connected.

[0051] The control unit 70 includes a CPU 71 and a memory 72. The CPU 71 provides overall control of the numerical control device 10. The memory 72 stores processing programs, setting values, various parameters, etc., for the CPU 71 to execute processing.

[0052] The display 73 is a device that displays various screens, such as the selection display screen 170 shown in Figure 5. Various inputs, instructions, settings, etc., are input to the operation unit 74. The communication interface 75 is a connection device for communicating with the conveying device 1C. The communication interface 75 of the machine tool 1A is electrically connected to the communication interface 63 of the conveying device 1C. The communication interface 75 of the machine tool 1B is electrically connected to the communication interface 64 of the conveying device 1C.

[0053] <Storage section 77> As shown in Figures 3 and 4, the storage unit 77 has folders 81, 82, ..., 91, 92, .... The storage unit 77 stores machining programs 101, 102, ..., 111, 112, .... In this embodiment, the machining programs are NC programs.

[0054] The machining program consists of multiple blocks written in a predetermined programming language. Each block includes control commands that control the operation of machine tools 1A and 1B. In this embodiment, machining programs 101, 102, ... include control commands related to machining operations. Machining programs 111, 112, ... include control commands related to post-machining operations.

[0055] Machining programs 101, 102, ..., 111, 112, ... are each assigned a program number for identification. The program number for machining program 101 is "101". The program number for machining program 102 is "102". The program number for machining program 111 is "111". The program number for machining program 112 is "112".

[0056] In this embodiment, the processing programs 101, 102, ..., 111, 112, ... are stored in folders. Processing programs 101, 102, ... are stored in folder 91. Processing programs 111, 112, ... are stored in folder 92. Folders 91, 92, ... are stored in folder 81. Folders 81, 82, ... are stored in the root folder of the storage unit 77.

[0057] Folders 81, 82, ..., 91, 92, ... are each given an identifying folder name. The folder name for folder 81 is "FOLDER81". The folder name for folder 82 is "FOLDER82". The folder name for folder 91 is "FOLDER91". The folder name for folder 92 is "FOLDER92".

[0058] Processing program 101 is stored in the folder named "FOLDER81 / FOLDER91" relative to the root folder. Processing program 102 is stored in the folder named "FOLDER81 / FOLDER91" relative to the root folder. Processing program 111 is stored in the folder named "FOLDER81 / FOLDER92" relative to the root folder. Processing program 112 is stored in the folder named "FOLDER81 / FOLDER92" relative to the root folder.

[0059] <Selection display screen 170> As shown in Figure 5, the display 73 displays the selection display screen 170. The selection display screen 170 displays one of the multiple machining programs stored in the storage unit 77, selected via the operation unit 74. In Figure 5, the selection display screen 170 displays machining program 101.

[0060] <Settings screen 150> As shown in Figure 6, the display 73 displays the settings screen 150. The settings screen 150 is a screen for associating work information with program information. Work information shows information about the workpiece attached to the pallet P. Program information shows information about the machining program that controls the machining operation or post-machining operation. The program information includes the program number of the machining program and the folder name based on the root folder of the machining program.

[0061] The settings screen 150 has areas 151, 152, and 153.

[0062] Area 151 displays work information. Area 151 has a target selection area 154. The target selection area 154 is an area for selecting whether to perform the machining operation on the work indicated by the work information using machine tool 1A or machine tool 1B.

[0063] The user checks the target selection area 154, selects either machine tool 1A or machine tool 1B, and performs a touch operation on the touch panel of the operation unit 57B. In the target selection area 154, information indicating the selected machine tool, either machine tool 1A or machine tool 1B, is displayed in white text on a black background. In Figure 6, the target selection area 154 shows that machine tool 1A is selected.

[0064] Area 152 displays program information. Area 152 includes folder name areas 155 and 157, and program number areas 156 and 158.

[0065] The folder name area 155 displays the folder name based on the root folder of the machining program that controls the machining operation. The program number area 156 displays the program number of the machining program that controls the machining operation.

[0066] The folder name area 157 displays the folder name based on the root folder of the machining program that controls the post-machining operations. The program number area 158 displays the program number of the machining program that controls the post-machining operations.

[0067] The folder name areas 155 and 157, and the program number areas 156 and 158 accept user selection via the touch panel of the operation unit 57B. The user selects one of the folder name areas 155 and 157, and the program number areas 156 and 158 on the display 57A and performs a touch operation on the touch panel. In area 152, information indicating the selected one of the folder name areas 155 and 157, and the program number areas 156 and 158 is displayed in white text on a black background. In Figure 6, area 152 indicates that the program number area 156 is selected.

[0068] Area 153 includes an acquisition area 161 and a storage area 162. The acquisition area 161 receives instructions to acquire program information from machine tools 1A and 1B.

[0069] The user provides instructions to acquire program information via the touch panel of the operation unit 57B by touching the acquisition area 161. When the acquisition area 161 receives the instruction, the CPU 61 acquires the machining program selected for machine tools 1A and 1B as a machining program that controls the machining operation or post-machining operation selected in area 152. The machine tool from which the CPU 61 acquires the machining program is the one selected in the target selection area 154 from machine tools 1A and 1B. When the acquisition area 161 receives an instruction in the setting screen 150 of Figure 6, the CPU 61 acquires the machining program selected for machine tool 1A as a machining program that controls the machining operation.

[0070] The CPU 61 displays the acquired machining program in a folder name area based on its root folder, and displays the acquired machining program's program number in a program number area. In the settings screen 150 of Figure 6, the folder name based on the root folder of machining program 101 is displayed in the folder name area 155, and the program number of machining program 101 is displayed in the program number area 156.

[0071] The storage area 162 receives instructions to associate and store the work information displayed in area 151 with the program information displayed in area 152. The user provides instructions to associate the work information and program information via the touch panel of the operation unit 57B by touching the storage area 162. When the storage area 162 receives the instruction, the CPU 61 associates the work information displayed in area 151 with the program information displayed in area 152 and stores it in memory 62.

[0072] <Operation overview> Referring to Figure 7, the operation overview of the control system 1 will be explained. In the control system 1, the transport device 1C controls the machine tools 1A and 1B, causing them to perform machining operations and post-machining operations according to the machining schedule. The control system 1 operates in combination with either the transport device 1C and the machine tool 1A, or with the transport device 1C and the machine tool 1B. The operation overview of the control system 1 in the case of the transport device 1C and the machine tool 1A will be explained below, but the operation is similar in the case of the transport device 1C and the machine tool 1B.

[0073] The CPU 71 of machine tool 1A selects a machining program (T1). The CPU 71 selects a machining program specified by the user via the control unit 74 of machine tool 1A. The CPU 71 displays the selected machining program on the display 73 of machine tool 1A on the selection display screen 170 shown in Figure 5 (T3).

[0074] Next, the user issues an instruction to display the settings screen 150 to the display 57A via the control unit 57B. The CPU 61 of the transport device 1C receives the instruction and displays the settings screen 150 to the display 57A (T5).

[0075] The CPU 61 displays work information in area 151 of the setting screen 150 (T7). The user inputs work information via the operation unit 74. The work information input by the user also includes information about the machine tool selected by the target selection area 154. The user selects machine tool 1A from among machine tool 1A and machine tool 1B, using the target selection area 154 via the operation unit 74, to perform the machining operation. The CPU 61 receives the work information input by the user via the operation unit 74 and displays it in area 151.

[0076] The CPU 61 performs an acquisition process to obtain program information from the machine tool 1A (T9). The user selects one of the folder name areas 155, 157 and the program number areas 156, 158 via the touch panel of the operation unit 57B and performs a touch operation. After that, the user performs a touch operation on the acquisition area 161 to give an instruction to acquire program information via the touch panel of the operation unit 57B. The acquisition area 161 accepts the instruction.

[0077] Referring to Figure 8, the acquisition process (T9) executed by the CPU 61 will be explained. When the acquisition area 161 receives an instruction to acquire program information, the CPU 61 starts the acquisition process by reading the acquisition program from memory 62 and executing it.

[0078] When the CPU 61 starts the acquisition process, it outputs a conversion command to the machine tool 1A to convert the program information string of the machining program selected in the machine tool indicated by the target selection area 154 into ASCII code (S3). The CPU 71 detects the conversion command and converts the program information string of the machining program selected in the machine tool 1A into ASCII code. The CPU 71 outputs the program information converted into ASCII code to the transport device 1C.

[0079] The CPU 61 obtains program information converted to ASCII code from the machine tool 1A (S5). When the folder name area 155 or the program number area 156 is selected, the CPU 61 obtains program information as a machining program that controls machining operations. When the folder name area 157 or the program number area 158 is selected, the CPU 61 obtains program information as a machining program that controls post-machining operations.

[0080] The CPU 61 determines whether all of the strings in the acquired program information are usable based on the ASCII code of the acquired program information (S7). If the CPU 61 determines that all of the strings in the acquired program information are usable (S7: YES), it converts the ASCII code of the acquired program information back to a string (S11). The CPU 61 then terminates the acquisition process.

[0081] If CPU 61 determines that a part of the acquired program information string is unusable (S7: NO), it deletes the ASCII code corresponding to the unusable character from the acquired program information's ASCII code (S9). CPU 61 then converts the ASCII code of the modified program information back into a string (S11). CPU 61 then terminates the acquisition process.

[0082] Returning to the explanation of Figure 7, the CPU 61 displays the program information acquired in T9 in area 152 of the settings screen 150 (T11). In area 152, the program number area 156 or program number area 158 displays the program number of the machining program from the program information acquired in T9. In area 152, the folder name area 155 or folder name area 157 displays the folder name based on the root folder of the machining program from the program information acquired in T9.

[0083] The CPU 61 stores the work information and program information in memory 62 in association (T13). The user makes a touch operation on the storage area 162, giving instructions via the touch panel of the operation unit 57B to store the work information and program information in association. When the storage area 162 receives the instruction, the CPU 61 stores the work information displayed in area 151 and the program information displayed in area 152 in memory 62 in association.

[0084] Next, the user issues an instruction to the CPU 61 via the control unit 57B to begin machining the workpiece. Upon receiving the instruction, the CPU 61 outputs a loading command to the machine tool 1A to begin loading the workpiece (T15). The CPU 71 of the machine tool 1A detects the loading command and opens the shutter 32.

[0085] The CPU 61 loads the workpiece (T17). The CPU 61 controls the robot arm 40. The robot arm 40 holds the pallet P with the workpiece attached in the end effector 45 and removes the pallet P from the support base 52. The pallet P removed by the robot arm 40 holds the workpiece indicated by the workpiece information displayed in area 151.

[0086] The robot arm 40 passes its arm section 4A through the loading / unloading entrance 56L and the loading / unloading entrance 310 of the machine tool 1A. This allows the pallet P to be loaded into the housing 30 of the machine tool 1A. The loaded pallet P is then fixed to the table 25B of the machine tool 1A. After the pallet P is fixed to the table 25B, the robot arm 40 retracts its arm section 4A into the housing 50.

[0087] The CPU 71 closes the shutter 32. With this, the loading of the workpiece into the machine tool 1A at T17 is completed.

[0088] After closing the shutter 32, the CPU 71 outputs a notification signal to the transport device 1C to indicate that the shutter 32 is closed (T19). The CPU 61 detects the notification signal.

[0089] The CPU 61 outputs a machining operation command to the machine tool 1A to initiate machining operations on the workpiece (T21). The machining operation command includes the workpiece information associated in T11 and information from the machining program that controls the machining operation. The CPU 71 detects the machining operation command.

[0090] CPU 71 performs machining operations according to the machining program (T23). The machining program that controls the machining operations is acquired in T9 and is the machining program indicated in folder name area 155 and program number area 156.

[0091] After the machining operation is completed, CPU 71 outputs a notification signal to the transport device 1C to indicate the completion of the machining operation (T25). CPU 61 detects the notification signal.

[0092] The CPU 61 outputs a discharge command to the machine tool 1A to start the discharge of the workpiece (T27). The CPU 71 of the machine tool 1A detects the discharge command and opens the shutter 32.

[0093] The CPU 61 performs workpiece removal (T29). The CPU 61 controls the robot arm 40. The robot arm 40 passes its arm section 4A through the removal / exit opening 56L and the removal / exit opening 310 of the machine tool 1A. The robot arm 40 holds the pallet P, which is fixed to the table 25B of the machine tool 1A, with the end effector 45 and detaches it from the table 25B. The robot arm 40 houses its arm section 4A in the housing 50. As a result, the pallet P is removed from inside the housing 30 of the machine tool 1A.

[0094] The robot arm 40 places the pallet P, on which the processed workpiece is attached, onto the support base 52. The CPU 71 closes the shutter 32. With this, the removal of the workpiece from the machine tool 1A at T29 is completed.

[0095] After closing the shutter 32, the CPU 71 outputs a notification signal to the transport device 1C (T31) to indicate that the shutter 32 is closed. The CPU 61 detects the notification signal.

[0096] The CPU 61 outputs a post-machining operation command to the machine tool 1A to initiate post-machining operations (T33). The post-machining operation command includes the workpiece information associated in T11 and information from the machining program that controls the machining operations. The CPU 71 detects the post-machining operation command.

[0097] CPU 71 performs post-machining operations according to the machining program (T35). The machining program that controls the post-machining operations is acquired in T9 and is the machining program indicated in folder name area 157 and program number area 158.

[0098] After the post-processing operation is completed, CPU 71 outputs a notification signal to the transport device 1C to indicate the completion of the post-processing operation (T37). CPU 61 detects the notification signal.

[0099] <Operation and effects of this embodiment> In the control system 1, the CPU 61 of the transport device 1C displays the setting screen 150 on the display 57A (T5). The setting screen 150 is a screen for associating work information with program information. The CPU 61 acquires program information from the machine tool 1A (T9). In T9, the CPU 61 acquires program information for the machining program selected in the machine tool 1A. The CPU 61 displays the program information acquired in T9 in area 152 of the setting screen 150 (T11). The CPU 61 associates the work information displayed in area 151 with the program information displayed in area 152 and stores it in memory 62 (T13). As a result, the control system 1 is less likely to store work information and program information in an incorrect relationship compared to when it stores work information and program information in association without acquiring program information from the machine tool 1A. Therefore, in the control system 1, machining operations or post-machining operations are performed on the transported workpiece according to the correct machining program. Therefore, the control system 1 can perform the machining intended by the user on the workpiece.

[0100] In the control system 1, the program information includes the program number of the machining program. The CPU 61 displays the program number in the program number areas 156 and 158 of the setting screen 150. Accordingly, the control system 1 displays the program number of the machining program in area 152 of the setting screen 150. The user can confirm the program number of the machining program obtained from the machine tool 1A via the setting screen 150. Therefore, the control system 1 can prevent the incorrect storage of work information and program information.

[0101] In control system 1, program information includes folder names based on the root folder of the machining program. The CPU 61 displays folder names based on the root folder of the machining program in folder name areas 155 and 157 of the setting screen 150. As a result, control system 1 displays the folder names of the machining program in area 152 of the setting screen 150. The user can confirm the folder names of the machining program obtained from the machine tool 1A via the setting screen 150. Therefore, control system 1 can prevent storing work information and program information in an incorrect relationship.

[0102] In the control system 1, the setting screen 150 has an acquisition area 161 in area 153. When the acquisition area 161 receives a command to acquire program information, the CPU 61 acquires the machining program selected in the machine tool 1A (T9). This allows the control system 1 to acquire program information at the timing desired by the user.

[0103] In the control system 1, the setting screen 150 has a storage area 162 in area 153. The storage area 162 receives instructions to store work information and program information in association. When the storage area 162 receives an instruction, the CPU 61 stores the work information displayed in area 151 and the program information displayed in area 152 in memory 62 in association (T13). The control system 1 allows the user to store work information and program information in association after confirming the setting screen 150. Therefore, the control system 1 can prevent storing work information and program information in an incorrect relationship.

[0104] In the control system 1, the transfer device 1C transfers workpieces to machine tools 1A and 1B. The setting screen 150 has a target selection area 154 in area 151. The target selection area 154 is an area for selecting whether to perform the machining operation on machine tool 1A or machine tool 1B for the workpiece indicated by the workpiece information. At T9, the CPU 61 acquires the program information of the machining program from one of the machine tools 1A or 1B selected in the target selection area 154. The control system 1 can prevent the transfer device 1C from storing workpiece information and program information in an incorrect relationship, even when transferring workpieces to multiple machine tools 1A and 1B.

[0105] In the control system 1, the machine tool 1A performs machining operations according to a machining program that controls machining operations (T23), and after the completion of machining operations, performs machining operations according to a machining program that controls machining operations (T35). The setting screen 150 has folder name areas 155 and 157, and program number areas 156 and 158 in area 152. The folder name areas 155 and 157, and program number areas 156 and 158 accept user selection via the operation unit 57B. When folder name area 155 or program number area 156 is selected, the CPU 61 acquires program information for the machining program selected in the machine tool 1A as the machining program that controls machining operations. When folder name area 157 or program number area 158 is selected, the CPU 61 acquires program information for the machining program selected in the machine tool 1A as the machining program that controls post-machining operations. The control system 1 can correctly acquire program information for the machining program that controls machining operations and program information for the machining program that controls post-machining operations.

[0106] <Variation> The present invention is not limited to the above embodiments, and various modifications are possible. In the control system 1, the number of machine tools is not limited to two; it may be one or three or more.

[0107] Although the machine tools 1A and 1B in the above embodiments are vertical machine tools in which the spindle 24 extends in the Z-axis direction, the present invention can also be applied to horizontal machine tools in which the spindle extends horizontally. Furthermore, machine tools 1A and 1B may be either a table traverse type in which the table moves on the XY plane, or a column traverse type in which the spindle moves along the XY plane. The configuration of machine tool 1A and the configuration of machine tool 1B may be different.

[0108] The mechanism by which the transport device 1C loads and unloads workpieces into and out of machine tools 1A and 1B is not limited to the robot arm 40, but may be any other mechanism.

[0109] T5, T7, T11, and T13 do not need to be executed by the CPU 61 of the conveying device 1C. T1, T3, T23, and T35 do not need to be executed by the CPU 71 of the machine tools 1A and 1B. For example, a control device that controls the conveying device 1C and machine tools 1A and 1B according to the machining schedule may be included in the control system 1. The control device may be, for example, a PC, smartphone, tablet, etc.

[0110] In the above embodiment, the "first display processing," "acquisition processing," "second display processing," and "storage processing" of the present invention are all performed by the transport device 1C. Therefore, the present invention can be realized not only in the form of a control system 1 including machine tools 1A, 1B, and transport device 1C, but also in the form of only the transport device 1C that transfers workpieces to the machine tools.

[0111] The program containing instructions for executing processes T5, T9, T11, and T13 only needs to be stored in memory 62 before the CPU 61 executes the processes. Therefore, the method of acquiring the program, the acquisition path, and the device for storing the program can each be modified as appropriate. The program may also be received from another device via cable or wireless communication and stored in memory 62. Other devices include, for example, a PC and a server connected via a network.

[0112] Each step of the program is not limited to being executed by CPU 61; some or all of it may be executed by other electronic devices (e.g., ASICs). Each step may be distributed among multiple electronic devices (e.g., multiple CPUs).

[0113] The settings screen 150 is not limited to being displayed on the display 57A. For example, the settings screen 150 may be displayed on an external display device electrically connected to the transport device 1C.

[0114] In the above embodiment, the CPU 61 stores the work information and program information in the memory 62 in association with each other, but the storage medium is not limited to the memory 62. The work information and program information may be stored, for example, on an external PC and a server connected via a network.

[0115] The workpiece information in the above embodiment is an example and may be modified, added to, or deleted as appropriate. The workpiece information may include, for example, information such as the material of the workpiece and the weight of the workpiece.

[0116] The program information in the above embodiment is an example and may be modified, added to, or deleted as appropriate. The program information does not necessarily have to include the program number of the processing program. In the above embodiment, the program number is a number, but it may also include a string.

[0117] The program information does not have to include the folder name of the processing program. The program information may include the path to the processing program instead of the folder name relative to the root folder. In this case, folder name areas 155 and 157 will display, for example, "FOLDER81 / FOLDER91 / 101". The program information may include the folder name where the processing program is stored instead of the folder name relative to the root folder. In this case, folder name areas 155 and 157 will display, for example, "FOLDER91".

[0118] In the memory unit 77, the processing program is stored in a folder, but the configuration may be changed as appropriate as long as it is possible to store the processing program. For example, the processing program may be stored in a directory. In this case, the directory name becomes the "folder name" of the present invention.

[0119] In the above embodiment, the processing programs 101, 102, ... are stored in folder 91, but they may also be stored in folders higher in the hierarchy than folder 91. For example, processing program 101 may be stored in folder 81. In this case, the folder name relative to the root folder of processing program 101 will be "FOLDER81". For example, processing program 101 may also be stored in the root folder of the storage unit 77. In this case, the folder name of the folder storing processing program 101 will be " / ".

[0120] Machining programs 101, 102, ... do not need to include control commands related to machining operations. Machining programs 111, 112, ... do not need to include control commands related to post-machining operations. Machining programs 101, 102, ... do not need to be stored in the same folder. Machining programs 111, 112, ... do not need to be stored in the same folder. Machining programs 101, 102, ..., 111, 112, ... may be stored in the same folder.

[0121] The settings screen 150 does not need to have an input area 161. In this case, the CPU 61 may acquire program information from machine tools 1A and 1B when displaying the settings screen 150. The settings screen 150 does not need to have a storage area 162. In this case, the CPU 61 may associate and store the acquired program information with the work information when displaying it on the settings screen 150.

[0122] The settings screen 150 does not need to have a target selection area 154. In this case, the CPU 61 may obtain program information from either machine tool 1A or machine tool 1B, whichever is pre-configured.

[0123] In the settings screen 150, the folder name areas 155 and 157, and the program number areas 156 and 158 do not necessarily have to accept selections. For example, when the import area 161 receives an instruction to acquire program information, a window may be displayed as a pop-up on the settings screen 150 to allow the user to select whether the processing program for the acquired program information controls the processing operation or the post-processing operation.

[0124] <Other> T5 is an example of the "first display processing" and "first display step" of the present invention. T9 is an example of the "acquisition processing" and "acquisition step" of the present invention. T11 is an example of the "second display processing" and "second display step" of the present invention. T13 is an example of the "storage processing" and "storage step" of the present invention. The input area 161 is an example of the "first reception area" of the present invention. The storage area 162 is an example of the "second reception area" of the present invention. The target selection area 154 is an example of the "first selection area" of the present invention. The folder name areas 155, 157, and program number areas 156, 158 are examples of the "second selection area" of the present invention. [Explanation of Symbols]

[0125] 1: Control System 1A, 1B, :Machine tools 1C: Conveyor device 57A: Display 60: Control Unit 61: CPU 77: Storage section 81, 82, 91, 92: Folders 101, 102, 111, 112: Machining program 150: Settings screen 154: Target Selection Area 155, 157: Folder name area 156, 158: Program number area 161: Capture area 162 :Save area

Claims

1. A control system comprising a machine tool that processes a workpiece based on a processing program, and a transfer device that transfers the workpiece to the machine tool, A first display process that displays a setting screen on the display unit for associating work information indicating the workpiece with program information of the machining program, An acquisition process for acquiring the program information of the machining program selected in the machine tool, A second display process that displays the program information acquired in the acquisition process on the settings screen, A storage process that associates and stores the work information and program information displayed on the settings screen, A control system characterized by performing the following.

2. The program information includes a program number indicating the processing program, The control system according to claim 1, characterized in that the second display process displays the program number on the setting screen.

3. The program information further includes, in addition to the program number, the folder name of the storage unit in which the processing program is stored. The control system according to claim 2, characterized in that the second display process displays the program number and the folder name on the settings screen.

4. The control system according to claim 1, characterized in that the setting screen has a first reception area for receiving instructions to execute the acquisition process.

5. The control system according to claim 1, characterized in that the setting screen has a second reception area for receiving instructions to execute the memory processing.

6. The transfer device transfers the workpiece to a plurality of machine tools. The aforementioned settings screen has a first selection area for selecting one of the multiple machine tools, The acquisition process involves acquiring the program information selected for the machine tool selected in the first selection area. The control system according to claim 1, characterized by the following:

7. The machine tool, after performing machining on the workpiece based on the first machining program, operates based on the second machining program as a post-machining operation. The settings screen has a second selection area for selecting the first machining program or the second machining program. The acquisition process involves acquiring the program information of either the first processing program or the second processing program, whichever is selected in the second selection area. The control system according to claim 1, characterized by the following:

8. A control method for a control system comprising a machine tool that performs machining on a workpiece based on a machining program, and a transfer device that transfers the workpiece to the machine tool, A first display step involves displaying a setting screen on the display unit for associating work information indicating the workpiece with program information of the machining program. An acquisition step of acquiring the program information of the machining program selected in the machine tool, A second display step involves displaying the program information acquired in the acquisition step on the settings screen, A storage step of associating and storing the work information and program information displayed on the settings screen, A control method characterized by performing the following.

9. A computer controls a control system comprising a machine tool that processes a workpiece based on a processing program, and a transfer device that transfers the workpiece to the machine tool. A first display step involves displaying a setting screen on the display unit for associating work information indicating the workpiece with program information of the machining program. An acquisition step of acquiring the program information of the machining program selected in the machine tool, A second display step involves displaying the program information acquired in the acquisition step on the settings screen, A storage step of associating and storing the work information and program information displayed on the settings screen, A control program to execute the program.

10. In a transfer device that transfers a workpiece to a machine tool that performs machining on the workpiece based on a machining program, A first display process that displays a setting screen on the display unit for associating work information indicating the workpiece with program information of the machining program, An acquisition process for acquiring the program information of the machining program selected in the machine tool, A second display process that displays the program information acquired in the acquisition process on the settings screen, A storage process that associates and stores the work information and program information displayed on the settings screen, A transport device characterized by performing the following actions.

Images