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

Abstract

The present invention provides a control device, machine tool, control method, and computer program that can reduce manual recovery operations. [Solution] The control device controls a first magazine in which tools are stored, a second magazine in which tools are stored, and a tool transport device capable of transporting tools between the first magazine and the second magazine. When an abnormality occurs during the execution of a command to transport tools from one of the first magazine and the second magazine to the other, the control device performs a stop process to stop the first magazine, the second magazine and the tool transport device, a storage process to store information indicating the state of the first magazine, the second magazine and the tool transport device at the time of stopping, and a recovery process to restore the first magazine, the second magazine and the tool transport device according to the information.

Description

Technical Field

[0001] The present technology relates to a control device, a machine tool, a control method, and a computer program that execute a process of conveying a tool between a first magazine and a second magazine. Background Art

[0002] Machine tools capable of exchanging tools between a plurality of tool magazines have been proposed. The machine tool includes a plurality of tool magazines and sensors provided in tool holders of each of the plurality of tool magazines for detecting the presence or absence of a tool. The machine tool checks the presence / absence state of a tool in each tool holder based on the detection result of the sensor. When exchanging tools, if the presence / absence state of a tool in a tool holder is not normal, a warning is issued, an emergency stop is performed, or the like (see Patent Document 1). Prior Art Literature Patent Literature

[0003] Patent Document 1 Japanese Patent No. 5503908 Summary of Invention Problem to be Solved by Invention

[0004] When a machine tool abnormally stops, an operator has to perform recovery operations manually.

[0005] The present disclosure has been made in view of such circumstances, and an object thereof is to provide a control device, a machine tool, a control method, and a computer program that can reduce manual recovery operations. Means for Solving Problem

[0006] A control device according to one embodiment of the present disclosure controls a first magazine in which tools are stored, a second magazine in which tools are stored, and a tool transport device capable of transporting tools between the first magazine and the second magazine, and when an abnormality occurs during the execution of a command to transport tools from one of the first magazine and the second magazine to the other, the control device performs a stop process to stop the first magazine, the second magazine and the tool transport device, a storage process to store information indicating the state of the first magazine, the second magazine and the tool transport device at the time of stopping, and a recovery process to restore the first magazine, the second magazine and the tool transport device according to the information.

[0007] In this disclosure, recovery processing is performed according to the state of the first magazine, the second magazine, and the tool transport device when they are stopped.

[0008] A control device according to one embodiment of the present disclosure has 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 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 the command executes a first process in the first magazine to locate a specified first storage compartment at the first replacement position when an empty second storage compartment is positioned at the second replacement position, and after the execution of the first process, The tool transport device performs a second process, which includes transporting a tool from the first replacement position to the second replacement position; after the second process, the second magazine performs a third process, which includes assigning the second storage unit, located at a position other than the second replacement position, to the second replacement position; and after the third process, the tool transport device performs a fourth process, which includes transporting a tool from the second replacement position to the first replacement position. If the information indicates that the first process was being performed, the recovery process is a first recovery process that assigns any of the first storage units to the first replacement position.

[0009] In this disclosure, if the first magazine, the second magazine, and the tool transport device stop during the execution of the first process, the control device assigns one of the first storage units to the first replacement position.

[0010] 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 which is 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 recovery process is a second recovery process that performs a movement of the gripping part to the first gripping position and a movement of the gripping part to the non-interference position when the information indicates that the second process was being executed.

[0011] In this disclosure, if the first magazine, the second magazine, and the tool transport device stop during the execution of the second process, the control device moves the gripping part that grips the tool to the first gripping position and then to a non-interference position.

[0012] In one embodiment of the present disclosure, the control device is a third recovery process in which, if the information indicates that the third process was being executed, the second storage unit is positioned at the second replacement position, the gripping unit is moved from the second gripping position to the first gripping position, and the gripping unit is moved to the non-interference position.

[0013] In this disclosure, if the first magazine, the second magazine, and the tool transport device stop during the execution of the third process, the control device positions the second storage unit at the second replacement position. It also moves the gripping unit from the second gripping position to the first gripping position, and then moves it to a non-interference position.

[0014] In one embodiment of the present disclosure, the control device is a fourth recovery process which, if the information indicates that the fourth process was being performed, performs a movement of the gripping part to the first gripping position and a movement of the gripping part to the non-interference position.

[0015] In this disclosure, if the first magazine, the second magazine, and the tool transport device stop during the execution of the fourth process, the control device moves the gripping unit to the first gripping position and then to a non-interference position.

[0016] A control device according to one embodiment of the present disclosure includes a tool transport device having a gripping unit for gripping a tool, a first gripping position corresponding to the first replacement position in which the gripping unit can grip a tool, a second gripping position corresponding to the second replacement position in which the gripping unit can grip a tool, and a non-interference position different from the first and second replacement positions in which the gripping unit does not interfere with the first and second magazines, and the recovery process is a fifth recovery process which, if the information indicates that the second process was being executed and the gripping unit is gripping a tool, executes a movement of the gripping unit to the first gripping position and a movement of the gripping unit to the non-interference position, and if the information indicates that the second process was being executed and the gripping unit is not gripping a tool, executes a movement of the gripping unit to the non-interference position.

[0017] In this disclosure, if the first magazine, the second magazine, and the tool transport device stop during the execution of the second process, if the gripping part is gripping a tool, the gripping part is moved to the first gripping position and then to a non-interference position. If the gripping part is not gripping a tool, the gripping part is moved to a non-interference position.

[0018] In one embodiment of the present disclosure, the control device is a sixth recovery process in which, if the information indicates that the fourth process was being performed and the gripping part is gripping a tool, the gripping part is moved to a first gripping position and the gripping part is moved to a non-interference position, and if the information indicates that the fourth process was being performed and the gripping part is not gripping a tool, the gripping part is moved to a non-interference position.

[0019] In this disclosure, if the first magazine, the second magazine, and the tool transport device stop during the execution of the fourth process, if the gripping part is gripping a tool, the gripping part is moved to the first gripping position and then to a non-interference position. If the gripping part is not gripping a tool, the gripping part is moved to a non-interference position.

[0020] A control device according to one embodiment of the present disclosure outputs a signal indicating an operating procedure for performing the recovery process, and performs the recovery process when an operation is performed in accordance with the operating procedure.

[0021] In this disclosure, the control device provides the operator with operating instructions, and when the operation is performed, it executes a recovery process.

[0022] In one embodiment of the present disclosure, the control device executes the stop process if a system abnormality occurs, if an abnormality occurs in the servo drive system and tool transport cannot be continued, or if a power outage occurs.

[0023] In this disclosure, the control device stops the first magazine, the second magazine, and the tool transport device when a system malfunction occurs, when a malfunction occurs in the servo drive system, or when there is a power outage.

[0024] A machine tool according to an embodiment of the present disclosure includes: a first magazine having a plurality of first storage portions in which tools are stored; a second magazine having a plurality of second storage portions in which tools are stored; a tool conveying device capable of conveying a tool between the first magazine and the second magazine; and a control device that controls the first magazine, the second magazine and the tool conveying device, wherein when an abnormality occurs during execution of a command to convey a tool from one of the first magazine and the second magazine to the other, the control device stops the first magazine, the second magazine and the tool conveying device, stores information indicating a state of the first magazine, the second magazine and the tool conveying device at the time of stop, and restores the first magazine, the second magazine and the tool conveying device in accordance with the information.

[0025] In the present disclosure, restoration processing is executed in accordance with the states at the time of stop of the first magazine, the second magazine, and the tool conveying device.

[0026] A control method according to an embodiment of the present disclosure is a control method for controlling a first magazine having a plurality of first storage portions in which tools are stored, a second magazine having a plurality of second storage portions in which tools are stored, and a tool conveying device capable of conveying a tool between the first magazine and the second magazine, the method comprising: when an abnormality occurs during execution of a command to convey a tool from one of the first magazine and the second magazine to the other, stopping the first magazine, the second magazine and the tool conveying device, storing information indicating a state of the first magazine, the second magazine and the tool conveying device at the time of stop, and restoring the first magazine, the second magazine and the tool conveying device in accordance with the information.

[0027] In the present disclosure, restoration processing is executed in accordance with the states at the time of stop of the first magazine, the second magazine, and the tool conveying device.

[0028] 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 the first magazine and the second magazine, wherein if an abnormality occurs in the control device while executing a command to transport tools from one of the first magazine and the second magazine to the other, the control device stops the first magazine, the second magazine and the tool transport device, stores information indicating the state of the first magazine, the second magazine and the tool transport device at the time of stopping, and restores the first magazine, the second magazine and the tool transport device according to the information.

[0029] In this disclosure, recovery processing is performed according to the state of the first magazine, the second magazine, and the tool transport device when they are stopped. [Effects of the Invention]

[0030] In a control device, machine tool, control method, and computer program according to one embodiment of this disclosure, recovery processing is performed according to the state of the first magazine, second magazine, and tool transport device when they are stopped. Therefore, manual recovery operations can be reduced. [Brief explanation of the drawing]

[0031] [Figure 1] This is a schematic perspective view of a machine tool according to Embodiment 1. [Figure 2] This is a schematic left side view of a machine tool. [Figure 3] This is a schematic plan view of a machine tool. [Figure 4] This is a magnified view showing the structure near the cover. [Figure 5] Figure 3 shows a cross-sectional view with the VV line as the cutting line. [Figure 6] This is a schematic front view of the pod in a non-gripping state. [Figure 7] This is a schematic cross-sectional view with line VII-VII in Figure 6 as the cutting line. [Figure 8] This is a schematic cross-sectional view of the pod in a gripping state. [Figure 9] This is a partially enlarged view showing the tool transport path between the replacement position arm for the first magazine and the replacement position arm for the second magazine. [Figure 10] This is a block diagram showing the control device, motor, solenoid valve, notification unit, and operating unit. [Figure 11] 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 12] This flowchart explains the error handling procedures performed when an abnormality occurs during tool transport. [Figure 13] This is a flowchart explaining the recovery process. [Figure 14] This is a schematic front view of the pod according to Embodiment 2. [Figure 15] This is a schematic cross-sectional view showing the air-sounding state. [Figure 16] This is an explanatory diagram illustrating the relationship between the piston position and the detection ranges of the first and second detection units. [Figure 17] This table shows the relationship between the piston's position range, the detection results from the first and second detection units, and the hand's state. [Figure 18] This is a block diagram showing the control device, motor, first detection unit, second detection unit, solenoid valve, notification unit, and operation unit. [Figure 19] This is a flowchart explaining the recovery process. [Figure 20] This is a flowchart illustrating the recovery process according to Embodiment 3. [Figure 21] This is a flowchart illustrating the recovery process according to Embodiment 4. [Modes for carrying out the invention]

[0032] (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.

[0033] 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.

[0034] 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.

[0035] 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 10) 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.

[0036] 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.

[0037] 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 vertical position of the tool.

[0038] 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.

[0039] 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. 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.

[0040] 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 (see Figure 10) 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.

[0041] 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.

[0042] 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).

[0043] As shown in Figure 5, when the arm 6b of the first magazine 6 is positioned at the first replacement position P1, it is closest to the arm 8b of the second magazine 8. When the arm 8b of the second magazine 8 is positioned at the second replacement position P2, it is closest to the arm 6b of the first magazine 6. 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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 of the second magazine 7.

[0050] The pod 9f will be described based on Figures 6 to 8. 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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. The motors 6f, 9a, and 8c are servo motors and are included in the servo drive system.

[0063] 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, which supplies compressed air to the first port 90a and discharges air from the second port 90b, and a second position, which discharges air from the first port 90a and supplies compressed air to the second port 90b. 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 on the front side of the chamber 90c is discharged from the first port 90a. As shown in Figure 7, the piston 91 is located 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 towards the front. That is, in Figure 7, the two hands 96 are separated from each other and are in a non-gripping state, not gripping the tool 50. 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, in Figure 8, the two hands 96 are closer to each other than in the state shown in Figure 7 and are in a gripping state, gripping the tool 50. Note that the posture and position of the piston 91, rod 92, arm 95, and hand 96 in Figure 8 are those of the state in which the two hands 96 are gripping the tool 50, that is, the posture and position when the tool 50 is preventing the hands 96 from approaching. The notification unit 64 is, for example, a display screen, lamp, 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.

[0064] 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 a program to execute workpiece processing commands, transport commands to transport tools between the first magazine 6 and the second magazines 7 and 8, and the abnormality handling and recovery processing described later. The transport commands consist of a first movement command and a 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] Figure 11 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 replacement position arm 8d, i.e., arm 8b located at the second replacement position P2, is empty. The control unit 60a performs a first process to assign the designated arm 6b, i.e., arm 6b with arm identification number N, to the first replacement position P1. In the case of Figure 11, the designated arm 6b stores tool T1. The control unit 60a performs a first process to assign the designated arm 6b to the first replacement position P1. Therefore, the replacement position arm 6c stores tool T1.

[0070] Next, the control unit 60a performs a second process which involves moving the pod 9f from the non-interference position P3 to the first exchange position P1, moving the pod 9f from the first exchange position P1 to the second exchange position P2, and moving the pod 9f from the second exchange position P2 to the non-interference position P3. In the case of Figure 11, the tool T1 is transported from the exchange position arm 6c to the exchange position arm 8d. Next, the control unit 60a performs a third process which involves assigning the designated arm 8b, i.e., arm 8b with arm identification number M, to the second exchange position P2. In the case of Figure 11, the designated arm 8b stores the tool T2. Therefore, the exchange position arm 8d stores the tool T2. Next, the control unit 60a executes a fourth process which involves moving the pod 9f from the non-interference position P3 to the second exchange position P2, moving the pod 9f from the second exchange position P2 to the first exchange position P1, and moving the pod 9f from the first exchange position P1 to the non-interference position P3. In the case of Figure 11, the tool T2 is transported from the exchange position arm 8d to the exchange position arm 6c. The same procedure is followed when transporting the tool between the first magazine 6 and the second magazine 7.

[0071] The following explanation describes the error handling and recovery procedures when transporting tools between the first magazine 6 and the second magazine 8. The error handling and recovery procedures between the first magazine 6 and the second magazine 7 are the same as those between the first magazine 6 and the second magazine 8, so their description is omitted. Figure 12 is a flowchart illustrating the error handling procedures performed when an error occurs during tool transport.

[0072] The control unit 60a determines whether or not it has read the transport command (S1). If it has read the transport command, the control unit 60a starts transporting the tool between the first magazine 6 and the second magazine 8, i.e., tool transport. If it determines that it has not read the transport command (S1: NO), the control unit 60a returns to step S1. If it determines that it has read the transport command (S1: YES), the control unit 60a performs tool transport (S2) and determines whether or not an abnormality has occurred during tool transport (S3). For example, if a system abnormality occurs in the control unit 60a, if an abnormality occurs in the servo drive system including motors 6f, 9a, and 8c and tool transport cannot be continued, or if a power outage occurs, the control unit 60a determines that an abnormality has occurred.

[0073] If it is determined that no abnormality occurred during tool transport (S3: NO), the control unit 60a determines whether or not tool transport has finished (S6). If it is determined that tool transport has not finished (S6: NO), the control unit 60a returns to step S2. If it is determined that an abnormality occurred during tool transport (S3: YES), the control unit 60a stops the driving of the first magazine 6, the second magazine 8 and the tool transport device 9 (S4). The process in step S4 constitutes a stop process. The control unit 60a stores information indicating the state of the first magazine 6, the second magazine 8 and the tool transport device 9 at the time of stopping, i.e., stop information (S5), and terminates the process. The stop information includes, for example, information indicating which of the first to fourth processes was being executed at the time of stopping, and information indicating the state before the driving of the first magazine 6, the second magazine 8 and the tool transport device 9 was started at the time of stopping. If it is determined in step S6 that tool transport has finished (S6: YES), the control unit 60a returns to step S1. Step S5 constitutes a storage process.

[0074] The control unit 60a can stop the driving of the first magazine 6, the second magazine 8, and the tool transport device 9, and then perform a recovery process to restore the first magazine 6, the second magazine 8, and the tool transport device 9 to a state where tools can be transported. Figure 13 is a flowchart illustrating the recovery process. The control unit 60a determines whether or not it has received a signal to start the recovery process (S11). If the operation unit 66 receives an operation from, for example, an operator to start the recovery process, it outputs a signal to the control unit 60a indicating that the recovery process should be started. If it determines that it has not received a signal to start the recovery process (S11: NO), the control unit 60a returns to step S11.

[0075] If the control unit 60 determines that it has received a signal indicating that it will start the recovery process (S11: YES), it determines whether the stop information and the current position information of the pod 9f, the first magazine 6, and the second magazine 8 indicate that they are subject to the recovery process (S12). Each motor is equipped with an encoder (not shown), and the control device 60 receives position information for each motor, i.e., the position information of the pod 9f, the first magazine 6, and the second magazine 8, from each encoder. For example, if the stop information and position information match, i.e., if the system stops while executing any of the first to fourth processes and is not manually operated after stopping, it is determined that the stop information and position information indicate that they are subject to the recovery process. If the stop information and position information do not match, i.e., if the system stops while executing any of the first to fourth processes and is manually operated after stopping, it is determined that they do not indicate that they are subject to the recovery process.

[0076] If the control unit 60a determines that the stop information does not indicate that the recovery process is applicable (S12: NO), it terminates the recovery process. If the control unit 60a determines that the stop information does indicate that the recovery process is applicable (S12: YES), it determines whether the stop information indicates that the first process was being executed at the time of the stop (S13). If the control unit 60a determines that the stop information indicates that the first process was being executed at the time of the stop (S13: YES), i.e., the stop occurred while the tool T1 was being indexed to the first replacement position P1 (see the first process in Figure 11), the control unit 60a indexes one of the arms 6b of the first magazine 6 to the first replacement position P1 (S20) and terminates the recovery process. The arm 6b indexed to the first replacement position P1 is, for example, the arm 6b closest to the first replacement position P1. The arm 6b indexed to the first replacement position P1 may be determined arbitrarily. As a result of the process in step S20, when the transport process is resumed, the control unit 60a can execute the transport process from the first process, that is, the process of positioning the tool T1 at the first replacement position P1, without any manual recovery operation. The process in step S20 constitutes the first recovery process.

[0077] If the control unit 60a determines that the stop information does not indicate that the first process was being executed at the time of the stop (S13: NO), it determines whether the stop information indicates that the second process was being executed at the time of the stop (S14). If the control unit 60a determines that the stop information indicates that the second process was being executed at the time of the stop (S14: YES), that is, if the pod 9f stops while moving from the non-interference position P3 toward the first exchange position P1, or while the pod 9f gripping the tool T1 is moving toward the second exchange position P2, or while moving from the second exchange position P2 toward the non-interference position P3 (see the second process in Figure 11), the control unit 60a moves the pod 9f gripping the tool T1 toward the first gripping position K1 (S18). That is, it stores the tool T1 in the exchange position arm 6c of the first magazine 6. The control unit 60a moves the pod 9f toward the non-interference position P3 (S19) and terminates the recovery process. As a result of the processes in steps S18 and S19, when the transport process is resumed, the control unit 60a can execute the transport process from the first process or the second process, that is, from the process of positioning the tool T1 at the first replacement position P1 or from the process of gripping the tool T1 with the pod 9f and transporting the pod 9f to the second replacement position P2, without any manual recovery operation. The processes in steps S18 and S19 constitute the second recovery process.

[0078] If the control unit 60a determines that the stop information does not indicate that the second process was being executed at the time of the stop (S14: NO), it determines whether the stop information indicates that the third process was being executed at the time of the stop (S15). If the control unit 60a determines that the stop information indicates that the third process was being executed at the time of the stop (S15: YES), that is, if the stop occurred while the tool T2 was being positioned to the second replacement position P2 (see the third process in Figure 11), the control unit 60a positions the arm 8b of the second magazine 8 that houses the tool T1 to the second replacement position P2 (S21). The control unit 60a positions the pod 9f to the second gripping position K2, that is, the pod 9f grips the tool T1, moves the pod 9f to the second gripping position K2 and then moves it to the first gripping position K1 (S22). That is, the tool T1 is stored in the arm 6b. The control unit 60a moves the pod 9f to the non-interference position P3 (S23) and terminates the recovery process. Through the processes in steps S21 to S23, when the transport process is restarted, the control unit 60a can execute the transport process from the first or second process, that is, from the process of positioning the tool T1 to the first replacement position P1 or from the process of gripping the tool T1 with the pod 9f and transporting the pod 9f to the second replacement position P2, without manual recovery operation. The processes in steps S21 to S23 constitute the third recovery process.

[0079] If the control unit 60a determines that the stop information does not indicate that the third process was being executed at the time of the stop (S15: NO), that is, if it determines that the fourth process was being executed at the time of the stop (see the fourth process in Figure 11), that is, if the pod 9f is moving from the non-interference position P3 to the second exchange position P2, or if the pod 9f is gripping the tool T2 and moving from the second exchange position P2 to the first exchange position P1, or if the pod 9f is moving from the first exchange position P1 to the non-interference position P3, the control unit 60a moves the pod 9f gripping the tool T2 to the first gripping position K1 (S16). That is, the tool T2 is transported to the exchange position arm 6c of the first magazine 6. The control unit 60a moves the pod 9f to the non-interference position P3 (S17) and terminates the recovery process. As a result of the processes in steps S16 and S17, when the transport process is resumed, the control unit 60a can execute the transport process from the first process without any manual recovery operation. The processes in steps S16 and S17 constitute the fourth recovery process.

[0080] (Embodiment 2) The present invention will be described below based on drawings showing a machine tool according to Embodiment 2. In the configuration of Embodiment 2, components similar to those in Embodiment 1 are denoted by the same reference numerals, and their detailed descriptions are omitted. Figure 14 is a schematic front view of the pod 9f. As shown in Figure 14, a first detection unit 61 and a second detection unit 62 are mounted on the right side of the cylinder 90. The first detection unit 61 is located at the rear of the cylinder 90, and the second detection unit 62 is located at the front of the cylinder 90. That is, the first detection unit 61 and the second detection unit 62 are separated front to back.

[0081] The piston 91 is equipped with a magnet. The first detection unit 61 and the second detection unit 62 are equipped with magnetic sensors. The first detection unit 61 detects whether the piston 91 is located in the center of the chamber 90c in the front-rear direction, that is, whether the hand 96 is in a gripping state. The second detection unit 62 detects whether the piston 91 is located at the front end of the chamber 90c, that is, whether the hand 96 is not in a gripping state. Note that the magnetic sensor is an example of a proximity sensor. An optical sensor, ultrasonic sensor, or contact-type sensor may be used instead of the magnetic sensor.

[0082] Figure 15 is a schematic cross-sectional view of the pod 9f in an idle state. The idle state is, for example, the state when the hand 96 performs the action of gripping the tool 50 against empty arms 6b and 8b. As shown in Figure 15, the piston 91 is located at the rear end of the chamber 90c, and the rod 92 moves to the rear. 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 decreases as it moves towards the front. That is, the two hands 96 are in a position that is excessively close to each other, resulting in an idle state. In the idle state, the approach of the hands 96 is not prevented by the tool 50, so the two hands 96 are excessively close to each other.

[0083] Figure 16 is an explanatory diagram illustrating the relationship between the position of the piston 91 and the detection ranges of the first detection unit 61 and the second detection unit 62. In Figure 16, Pa indicates the position of the piston 91 where the two hands 96 are at their maximum distance from each other. The state in which the hands 96 are at their maximum distance from each other is included in the non-gripping state. The position of the piston 91 and the orientation of the hands 96 at position Pa are, for example, the positions and orientations shown in Figure 8.

[0084] Position Pb indicates the gripping reference position of the piston 91 when the hand 96 grips the tool 50 with no chips between the tool 50 and the hand 96. The state in which the hand 96 grips the tool 50 with no chips is included in the gripping state. The position of the piston 91 and the orientation of the hand 96 at position Pb are, for example, the positions and orientations shown in Figure 9.

[0085] Pc indicates the position of the piston 91 where the two hands 96 are closest together. This closest position of the two hands 96 is included in the air-running state. The position of the piston 91 and the orientation of the hands 96 at position Pc are, for example, those shown in Figure 10.

[0086] The distance between position Pa and position Pc is the stroke width of the piston 91 in cylinder 90. Within the stroke width, position Pa is located at the foremost position, and position Pc is located at the rearmost position.

[0087] D1 is the maximum width in the first detection unit 61 that can detect the piston 91. The maximum width D1 comprises a main detection width d1 that is not affected by environmental factors, such as temperature, and a secondary detection width k1 that is affected by environmental factors. The secondary detection width k1 is located at both ends of the maximum width D1. The secondary detection width k1 is a width that changes, for example, due to temperature changes. As the temperature decreases, the secondary detection width k1 becomes longer, and as the temperature increases, the secondary detection width k1 becomes shorter.

[0088] Pd is the foremost position of the maximum width D1, and lies between position Pa and position Pb. The front end position of the main detection width d1 is located behind position Pd by the sub-detection width k1. The rearmost position of the maximum width D1 is Pe. The rear end position of the main detection width d1 is position Pb. That is, the width between position Pb and position Pe is the sub-detection width k1.

[0089] D2 is the maximum width in the second detection unit 62 that can detect the piston 91. The maximum width D2 comprises a main detection width d2 that is not affected by environmental factors, such as temperature, and two sub-detection widths k2 that are affected by environmental factors. The sub-detection widths k2 are located at both ends of the maximum width D2. The main detection width d1 and the main detection width d2 are approximately the same distance apart. The sub-detection width k2 and the sub-detection width k1 are approximately the same distance apart. The relationship between the sub-detection width k2 and temperature is the same as that of the sub-detection width k1.

[0090] Pf is the foremost position of the maximum width D2, and is in front of position Pa. Pg is the rearmost position of the maximum width D2, and is between positions Pd and Pb. The distance between positions Pd and Pg is longer than the sub-detection widths k1 and k2. Between positions Pd and Pg, the front end portion of the maximum width D1 and the rear end portion of the maximum width D2 overlap, resulting in a rear sub-detection width k2 and a front sub-detection width k1. Ph is the rear end position of the main detection width d2, and is between positions Pd and Pg.

[0091] Position Pa is located approximately in the center of the maximum width D2. Since the piston 91 does not move in front of position Pa, the portion of the maximum width D2 in front of position Pa is not used for detecting the piston 91. If the piston 91 is between position Pa and position Pg, the second detection unit 62 detects the piston 91. If the piston 91 is between position Pd and position Pe, the first detection unit 61 detects the piston 91.

[0092] If the piston 91 is located between position Pa and position Pd, i.e., within range R1, the second detection unit 62 detects the piston 91, while the first detection unit 61 does not. If the piston 91 is located within range R1, the hand 96 is in a non-gripping state. If the piston 91 is located between position Pe and position Pg, i.e., within range R3, the first detection unit 61 detects the piston 91, while the second detection unit 62 does not. If the piston 91 is located within range R3, the hand 96 is in a gripping state.

[0093] As mentioned above, position Pb is the gripping reference position of the piston 91 where the hand 96 grips the tool 50 when there are no chips. Even if the two hands 96 are slightly closer than position Pb, it is acceptable to determine that the hand 96 is in a gripping state. Even if chips are caught between the hand 96 and the tool 50, the hand 96 can still grip the tool 50, so it is acceptable to determine that the hand 96 is in a gripping state. Therefore, if the piston 91 is in the range R3 between position Pe, which is behind position Pb, and position Pg, which is in front of position Pb, it can be determined that the hand 96 is in a gripping state.

[0094] If the piston 91 is between position Pe and position Pc, i.e., within range R4, the first detection unit 61 and the second detection unit 62 do not detect the piston 91. When the piston 91 is within range R4, the hand 96 is in an idle state. If the piston 91 is between position Pd and position Pg, i.e., within range R2, the first detection unit 61 and the second detection unit 62 detect the piston 91. When the piston 91 is within range R2, the hand 96 is in a state that is neither gripping, non-gripping, nor idle, i.e., a transient state.

[0095] Figure 17 is a table showing the relationship between the range in which the piston 91 is located, the detection results of the first detection unit 61 and the second detection unit 62, and the state of the hand 96. In Figure 17, "On" is displayed when the first detection unit 61 and the second detection unit 62 detect the piston 91, and "Off" is displayed when the first detection unit 61 and the second detection unit 62 do not detect the piston 91.

[0096] As shown in Figure 17, when the first detection unit 61 is off and the second detection unit 62 is on, it can be determined that the hand 96 is not gripping. When the first detection unit 61 is on and the second detection unit 62 is off, it can be determined that the hand 96 is gripping. When both the first detection unit 61 and the second detection unit 62 are off, it can be determined that the hand 96 is not vibrating.

[0097] In other words, taking into account the stroke distance of the piston 91 and the detection width of the first detection unit 61 and the second detection unit 62, the first detection unit 61 and the second detection unit 62 are positioned in the cylinder 90 such that when the hand 96 is not gripping, the first detection unit 61 is turned off and the second detection unit 62 is turned on; when the hand 96 is gripping, the first detection unit 61 is turned on and the second detection unit 62 is turned off; and when the hand 96 is free, both the first detection unit 61 and the second detection unit 62 are turned off.

[0098] Furthermore, when the first detection unit 61 and the second detection unit 62 are ON, it can be determined that the hand 96 is in a transient state, changing from a gripping state to a non-gripping state or from a non-gripping state to a gripping state. The time the hand 96 is in a transient state is short, and it usually immediately returns to either a gripping state or a non-gripping state.

[0099] Figure 18 is a block diagram showing the control device 60, motors 6f, 9a, 8c, first detection unit 61, second detection unit 62, solenoid valve 63, notification unit 64, and operation unit 66. The control unit 60a receives detection results from the first detection unit 61 and second detection unit 62, etc., via the input / output I / F 60d. The auxiliary storage unit 60c stores arm identification numbers that identify each arm of 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 transport. Note that tool identification numbers are not stored for the arm identification numbers of empty arms. The tool identification number is an example of information that identifies a tool, and tools may also be identified by characters. The arm identification number is an example of information that identifies an arm, and arms may also be identified by characters.

[0100] 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.

[0101] 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.

[0102] Figure 19 is a flowchart illustrating the recovery process. The following explanation will mainly describe the processes in steps S31 to S34 of Figure 19. Steps S11 to S23 in Figure 19 are the same as the processes in steps S11 to S23 of Figure 13, and a detailed explanation will be omitted. In step S14, if it is determined that the stop information indicates that the second process was being executed at the time of the stop (S14: YES), the control unit 60a determines whether a signal has been input indicating that the gripping state of the tool on the pod 9f matches the detection results of the first detection unit 61 and the second detection unit 62 (S31). The detection results of the first detection unit 61 and the second detection unit 62 are displayed on the display screen. The operator visually checks the gripping state of the tool on the pod 9f and also checks the detection results displayed on the display screen. If the gripping state of the tool on the pod 9f matches the detection results, the operator operates the operation unit 66 to input information indicating that the gripping state of the tool on the pod 9f matches the detection results. The control unit 60a receives a signal from the operation unit 66 indicating that the gripping state of the tool on the pod 9f matches the detection result. If the gripping state of the tool on the pod 9f does not match the detection result, the operator operates the operation unit 66 and inputs information indicating that the gripping state of the tool on the pod 9f does not match the detection result. If the control unit 60a determines that a signal indicating that the gripping state of the tool matches the detection result has been input (S31: YES), the control unit 60a determines whether the pod 9f is gripping the tool T1 based on the detection results of the first detection unit 61 and the second detection unit 62 (S32).

[0103] If it is determined that pod 9f is gripping tool T1 (S32: YES), the control unit 60a executes steps S18 and S19 and terminates the recovery process. If it is determined that pod 9f is not gripping tool T1 (S32: NO), the control unit 60a executes step S19 and terminates the recovery process. If pod 9f is not gripping tool T1, the operation to return tool T1 to the first magazine 6 is unnecessary, so step S18 is omitted.

[0104] In step S31, if it is determined that no signal indicating a match between the tool gripping state and the detection result has been input (S31: NO), that is, if a signal indicating a mismatch between the tool gripping state and the detection result has been input, the control unit 60a terminates the recovery process. If the presence or absence of stored tool identification number does not match the detection result, there is a possibility that an abnormality has occurred, such as tool T1 falling off or tool T1 being gripped at an angle. In this case, manual recovery operation is preferable to automatic recovery operation. The control unit 60a may also activate the notification unit 64. For example, it may display on the display screen that the recovery process has been completed and that manual recovery operation is recommended, or it may activate a lamp, buzzer, etc. The processes in steps S32, S18, and S19 constitute the fifth recovery process. Furthermore, when performing automated driving without human visual inspection, in steps S31 and S33, it may be determined whether the presence or absence of a tool identification number for the arm identification number of the replacement position arm 6c is stored and whether the detection results of the first detection unit 61 and the second detection unit 62 match, and in steps S32 and S34, it may be determined whether or not the tool identification number is stored. If the tool identification number is stored, the pod 9f should be gripping the tool T1, and if the tool identification number is not stored, the pod 9f should not be gripping the tool T1. For example, if the tool falls out or the tool is incomplete in the pod 9f, the presence or absence of a stored tool identification number and the detection results of the first detection unit 61 and the second detection unit 62 will not match.

[0105] In step S15, if it is determined that the stop information does not indicate that the third process was being executed at the time of the stop (S15: NO), the control unit 60a determines whether a signal has been input indicating that the gripping state of the tool of the pod 9f matches the detection results of the first detection unit 61 and the second detection unit 62 (S33). If it is determined that a signal has been input indicating that the gripping state of the tool matches the detection result (S33: YES), the control unit 60a determines whether the pod 9f is gripping the tool T2 based on the detection results of the first detection unit 61 and the second detection unit 62 (S34).

[0106] If it is determined that pod 9f is gripping tool T2 (S34: YES), the control unit 60a executes steps S16 and S17 and terminates the recovery process. If it is determined that pod 9f is not gripping tool T2 (S34: NO), the control unit 60a executes step S17 and terminates the recovery process. If pod 9f is not gripping tool T2, the operation to move tool T2 to the first magazine 6 is unnecessary, so step S16 is omitted.

[0107] In step S33, if it is determined that no signal indicating a match between the tool gripping state and the detection result has been input (S33: NO), that is, if a signal indicating a mismatch between the tool gripping state and the detection result has been input, the control unit 60a terminates the recovery process. If the presence or absence of stored tool identification number does not match the detection result, an abnormality may have occurred, such as tool T2 falling off or tool T2 being gripped at an angle. In this case, manual recovery is preferable to automatic recovery. The control unit 60a may also activate the notification unit 64. For example, it may display on the display screen that the recovery process has been completed and that manual recovery is recommended, or it may activate a lamp, buzzer, etc. The processes in steps S34, S16, and S17 constitute the sixth recovery process.

[0108] (Embodiment 3) The present invention will be described below based on drawings showing a machine tool according to Embodiment 3. In the configuration of Embodiment 3, components similar to those in Embodiments 1 or 2 will be denoted by the same reference numerals, and their detailed descriptions will be omitted. Figure 20 is a flowchart illustrating the recovery process. The recovery process of Embodiment 3 is similar to the process shown in Figures 13 and 19, except that steps S41 and S42 are performed instead of steps S21 and S22. The following description will mainly focus on steps S41 and S42.

[0109] In step S15, if the control unit 60a determines that the stop information indicates that the third process was being executed at the time of the stop (S15: YES), the control unit 60a positions the arm 8b of the second magazine 8 that stores the tool T2 at the second replacement position P2 (S41). The control unit 60a positions the pod 9f at the second gripping position, i.e., the pod 9f grips the tool T2, and moves the pod 9f from the second gripping position K2 to the first gripping position K1 (S42). i.e., the tool T2 is stored in the arm 6b. The control unit 60a executes step S23 and terminates the recovery process. As the control unit 60a completes the third and fourth processes through the processes in steps S41 and S42, when the transport process is restarted, the control unit 60a can execute the transport process from the first process without manual recovery operation.

[0110] (Embodiment 4) The present invention will be described below based on drawings showing a machine tool according to Embodiment 4. Among the configurations of Embodiment 4, the same reference numerals are used for configurations similar to those in Embodiments 1 to 3, and their detailed descriptions are omitted. Figure 21 is a flowchart illustrating the recovery process. In step S13, if it is determined that the stop information indicates that the first process was being executed at the time of the stop (S13: YES), the control unit 60a displays the operation procedure for positioning the tool T1 at the first replacement position P1 in the first magazine 6 on the display screen (S51). The control unit 60a determines whether or not it has received a signal from the operation unit 66 indicating that an operation in accordance with the operation procedure has been performed (S52). If it is determined that it has not received a signal indicating that an operation in accordance with the operation procedure has been performed (S52: NO), the control unit 60a returns to step S52. If it is determined that it has received a signal indicating that an operation in accordance with the operation procedure has been performed (S52: YES), the control unit 60a executes step S20 and terminates the recovery process.

[0111] Before executing step S18, the control unit 60a displays the operating procedure for executing steps S18 and S19 on the display screen. If it receives a signal indicating that an operation has been performed in accordance with the procedure, it executes steps S18 and S19 and terminates the recovery process. Before executing step S21, the control unit 60a displays the operating procedure for executing steps S21 to S23 on the display screen. If it receives a signal indicating that an operation has been performed in accordance with the procedure, it executes steps S21 to S23 and terminates the recovery process. Before executing step S16, the control unit 60a displays the operating procedure for executing steps S16 and S17 on the display screen. If it receives a signal indicating that an operation has been performed in accordance with the procedure, it executes steps S16 and S17 and terminates the recovery process. For example, an operator can visually check the status of the machine tool and then operate it according to the operating procedure.

[0112] 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]

[0113] 6 First Magazine 6a Disc 6b Arm 6c Replacement position arm 6d cover 6f motor 7 Second Magazine 8 Second Magazine 8a Wheel 8b Arm 8c motor 8d Replacement position arm 9. Tool conveying device 9a motor 9b Ball screw 9c nut 9d orbit 9e Slider 9f Pod 9g connection part 50 tools 51 Tool transport route 52 Cover 52a aperture 60 Control device 60a Control Unit 60b Main memory 60c Auxiliary storage unit 60d Input / Output Interface 61 First detection unit 62 Second detection unit 63 Solenoid valve 64 Hochi Department 65 Storage medium 66 Operation section

Claims

1. A control device for controlling a first magazine in which tools are stored, a second magazine in which tools are stored, and a tool transport device capable of transporting tools between the first magazine and the second magazine, If an abnormality occurs during the execution of a command to transport a tool from one of the first magazine and the second magazine to the other, a stop process is performed to stop the first magazine, the second magazine, and the tool transport device. A storage process for storing information indicating the state of the first magazine, the second magazine, and the tool transport device when stopped, A recovery process is performed to restore the first magazine, the second magazine, and the tool transport device in accordance with the aforementioned information. A control device that performs this operation.

2. The aforementioned first magazine has a plurality of first storage compartments in which tools are stored, The aforementioned second magazine has a plurality of second storage compartments for storing tools, The tool transport device transports 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 aforementioned instruction is, With the empty second storage unit positioned at the second replacement position, 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, which includes transporting 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, which includes transporting the tool from the second replacement position to the first replacement position. Including instructions, If the information indicates that the first process was in progress, the recovery process is a first recovery process that positions one of the first storage units at the first replacement position. The control device according to claim 1.

3. 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, The recovery process is a second recovery process that, if the information indicates that the second process was in progress, performs the following actions: moving the gripping part to the first gripping position and moving the gripping part to the non-interference position. The control device according to claim 2.

4. The recovery process, if the information indicates that the third process was in progress, is a third recovery process which involves positioning the second storage unit at the second replacement position, moving the gripping unit from the second gripping position to the first gripping position, and moving the gripping unit to the non-interference position. The control device according to claim 3.

5. The recovery process is a fourth recovery process that, if the information indicates that the fourth process was in progress, performs the following actions: moving the gripping part to the first gripping position and moving the gripping part to the non-interference position. The control device according to claim 3.

6. 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, The recovery process is a fifth recovery process which, if the information indicates that the second process was being executed and the gripping part is gripping a tool, performs the movement of the gripping part to the first gripping position and the movement of the gripping part to the non-interference position, and if the information indicates that the second process was being executed and the gripping part is not gripping a tool, performs the movement of the gripping part to the non-interference position. The control device according to claim 2.

7. The recovery process is a sixth recovery process which, if the information indicates that the fourth process was being executed and the gripping part is gripping a tool, performs the movement of the gripping part to the first gripping position and the movement of the gripping part to the non-interference position, and if the information indicates that the fourth process was being executed and the gripping part is not gripping a tool, performs the movement of the gripping part to the non-interference position. The control device according to claim 6.

8. The system outputs a signal that displays the operating procedure for performing the aforementioned recovery process. If the operations described in the above procedure are performed, the recovery process will be executed. The control device according to any one of claims 1 to 7.

9. If a system malfunction occurs, if a malfunction occurs in the servo drive system and tool transport cannot be continued, or if a power outage occurs, the aforementioned stop process will be executed. The control device according to any one of claims 1 to 7.

10. A first magazine having multiple first storage compartments for storing tools, A second magazine having multiple second storage compartments for storing tools, A tool transport device capable of transporting tools between the first magazine and the second magazine, A control device that controls the first magazine, the second magazine, and the tool transport device. Equipped with, The control device is If an abnormality occurs during the execution of a command to transport a tool from one of the first magazine and the second magazine to the other, the first magazine, the second magazine, and the tool transport device shall be stopped. The system stores information indicating the state of the first magazine, the second magazine, and the tool transport device when they are stopped. Based on the aforementioned information, the first magazine, the second magazine, and the tool transport device are restored. Machine tools.

11. A control method for controlling 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 the first magazine and the second magazine, If an abnormality occurs during the execution of a command to transport a tool from one of the first magazine and the second magazine to the other, the first magazine, the second magazine, and the tool transport device shall be stopped. The system stores information indicating the state of the first magazine, the second magazine, and the tool transport device when they are stopped. Based on the aforementioned information, the first magazine, the second magazine, and the tool transport device are restored. Control method.

12. 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 the first magazine and the second magazine, The control device, If an abnormality occurs during the execution of a command to transport a tool from one of the first magazine and the second magazine to the other, the first magazine, the second magazine, and the tool transport device shall be stopped. The system stores information indicating the state of the first magazine, the second magazine, and the tool transport device when they are stopped. Based on the aforementioned information, the first magazine, the second magazine, and the tool transport device are restored. A computer program that executes a process.

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