Machine tool system, method of operating the machine tool system, and program

Abstract

This invention provides a machine tool system, a method for operating the machine tool system, and a program that enable the robot hand to be retracted in an appropriate direction after abnormal interference occurs. [Solution] The machine tool system comprises a machine tool for processing a workpiece held in a chuck, a robot that transports the workpiece to the chuck using a robot hand, a calculation device that, after detecting the occurrence of abnormal interference with the robot hand or the workpiece moving with the robot hand during the workpiece transfer operation between the robot hand and the chuck, determines the retraction direction in which the robot hand should retract based on the type of robot hand, the open / closed state of the robot hand, and the open / closed state of the chuck, and a robot control device that controls the robot so that the robot hand retracts in the retraction direction.

Description

Technical Field

[0001] The present invention relates to a machine tool system, an operation method for a machine tool system, and a program.

Background Art

[0002] A technique for detecting interference between a machine tool and a robot is known.

[0003] As a related technique, Patent Document 1 discloses an industrial robot. The industrial robot described in Patent Document 1 includes a detection unit that detects interference between a robot hand unit and a target device, a control unit that enables or disables the detection unit according to the operation of the robot hand unit, and a stop unit that stops the robot hand unit when the detection unit detects interference while the detection unit is enabled.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of Invention

Problems to be Solved by the Invention

[0005] An object of the present invention is to provide a machine tool system, an operation method for a machine tool system, and a program that make it possible to retract a robot hand in an appropriate direction after occurrence of abnormal interference.

Means for Solving the Problems

[0006] Embodiments of the present invention relate to the machine tool system, the operation method for a machine tool system, and the program described below.

[0007] (1) A machine tool that machines a workpiece held by a chuck, and A robot that uses a robotic hand to transport the workpiece to the chuck, In a workpiece transfer operation between the robot hand and the chuck, after detecting the occurrence of abnormal interference with the robot hand or the workpiece moving together with the robot hand, a calculation device determines the retraction direction in which the robot hand should retract based on the type of the robot hand, the open / closed state of the robot hand, and the open / closed state of the chuck. A robot control device controls the robot so that the robot hand retracts in the retraction direction, Equipped with Machine tool systems. (2) The robot is equipped with a multi-jointed arm to which the robot hand can be attached, The multi-joint arm can be fitted with a first robot hand capable of gripping the first type of workpiece. The aforementioned articulated arm can be fitted with a second robot hand capable of gripping the second type of workpiece. The aforementioned computing device is capable of executing the algorithm for determining the retraction direction, The aforementioned algorithm is A first algorithm for determining a first retraction direction in which the first robot hand should retract after the occurrence of the abnormal interference is detected during the workpiece transfer operation between the first robot hand and the chuck, A second algorithm determines a second retraction direction in which the second robot hand should retract after the occurrence of the abnormal interference is detected during the workpiece transfer operation between the second robot hand and the chuck. including The machine tool system described in (1) above. (3) The computing device that executes the first algorithm determines the first retraction direction to be a first direction away from the chuck along the rotation axis of the chuck when the first robot hand is in a closed state and the chuck is in an open state, The computing unit that executes the first algorithm determines the first retraction direction to be the first direction away from the chuck along the rotation axis of the chuck when the first robot hand is in the open state and the chuck is in the closed state. The machine tool system described in (2) above. (4) The computing unit that executes the second algorithm determines the second retraction direction to be a first direction away from the chuck along the rotation axis of the chuck when the second robot hand is in a closed state and the chuck is in an open state, The computing unit executing the second algorithm determines the second retraction direction to be a second direction different from the first direction when the second robot hand is in an open state and the chuck is in a closed state. The machine tool system described in (2) above. (5) The workpiece of the first type is a chuck workpiece, The workpiece of the second type is a shaft workpiece. A machine tool system as described in any one of (2) through (4) above. (6) The computing device is capable of performing interference check simulations to check for interference between an interference check area set around the robot hand and at least the elements of the machine tool, The computing device uses the interference check simulation to derive the retreat distance that the robot hand should retreat in the retreat direction, The robot control device controls the robot so that the robot hand moves in the retraction direction by the retraction distance. A machine tool system as described in any one of the above (1) through (5). (7) The robot hand is further provided with a stop button for forcibly stopping its movement, After the stop button is pressed, the computing device executes the interference check simulation. The machine tool system described in (6) above. (8) When defined as a third direction from the gripping region defined by the gripping portion of the robot hand toward the base of the robot hand, the third direction is substantially parallel to the workpiece central axis of the first type of workpiece gripped by the first robot hand, The central axis of the workpiece of the second type of workpiece grasped by the second robot hand is substantially perpendicular to the third direction. A machine tool system as described in any one of (2) through (5) above. (9) The machine tool is equipped with a tailstock, When the second retraction direction is determined to be the second direction, the robot control device controls the robot so that the robot hand retracts in the second direction relative to the second type of workpiece supported by the chuck and the tailstock. The machine tool system described in (4) above. (10) The robot hand further comprises a display that shows the size data of the workpiece to be grasped by the robot hand after the occurrence of the abnormal interference has been detected. A machine tool system as described in any one of the above (1) through (9). (11) In the work transfer operation between the robot hand and the pallet, after the occurrence of the abnormal interference is detected, the computing device determines that the retraction direction is a third direction from the gripping area defined by the gripping portion of the robot hand toward the base of the robot hand, The robot control device controls the robot so that the robot hand retracts in the third direction. A machine tool system as described in any one of the above (1) through (7). (12) The machine tool is A workpiece support device having the chuck and a rotational drive device for rotating the chuck around a first axis, A machining head that holds the tool, A moving device for moving the processing head relative to the workpiece support device, The rotary drive device and the numerical control device that controls the moving device comprising, the robot control device, first data indicating the type of the robot hand, and second data indicating whether the state of the robot hand is an open state or a closed state, are stored, the numerical control device stores third data indicating whether the state of the chuck is an open state or a closed state, the arithmetic device determines the retraction direction of the robot hand based on the first data, the second data, and the third data The machine tool system according to any one of (1) to (11) above. (13) The numerical control device includes the arithmetic device, the arithmetic device determines the retraction direction of the robot hand based on the third data stored by the numerical control device, and the first data and the second data that the numerical control device receives from the robot control device The machine tool system according to (12) above. (14) In a workpiece transfer operation between a robot hand of a robot and a chuck of a machine tool, a step of detecting occurrence of abnormal interference with the robot hand or a workpiece moving together with the robot hand, after the occurrence of the abnormal interference is detected, a step of determining a retraction direction of the robot hand based on the type of the robot hand, the open / closed state of the robot hand, and the open / closed state of the chuck, and a step of retracting the robot hand in the retraction direction, and comprising An operation method of a machine tool system. (15) In a workpiece transfer operation between the robot hand of a robot and the chuck of a machine tool, after detecting the occurrence of abnormal interference with the robot hand or the workpiece moving together with the robot hand, the process of acquiring first data indicating the type of the robot hand, second data indicating whether the state of the robot hand is open or closed, and third data indicating whether the state of the chuck is open or closed, A step of determining the retraction direction of the robot hand based on the first data, the second data, and the third data. A program for causing a machine tool system to execute a method that includes the following. [Effects of the Invention]

[0008] The present invention provides a machine tool system, a method for operating the machine tool system, and a program that enable the robot hand to be retracted in an appropriate direction after abnormal interference occurs. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a schematic perspective view illustrating a machine tool system in the first embodiment. [Figure 2] Figure 2 is a schematic perspective view illustrating the machine tool system in the first embodiment. [Figure 3] Figure 3 is a schematic perspective view illustrating a portion of the machine tool system in the first embodiment. [Figure 4] Figure 4 is a schematic perspective view illustrating a portion of the machine tool system in the first embodiment. [Figure 5] Figure 5 is a schematic perspective view illustrating a portion of the machine tool system in the first embodiment. [Figure 6] Figure 6 is a schematic perspective view illustrating a portion of the machine tool system in the first embodiment. [Figure 7]Figure 7 is a schematic perspective view illustrating a portion of the machine tool system in the first embodiment. [Figure 8] Figure 8 is a schematic perspective view illustrating a portion of the machine tool system in the first embodiment. [Figure 9] Figure 9 is a schematic perspective view illustrating a portion of the machine tool system in the first embodiment. [Figure 10] Figure 10 is a schematic perspective view illustrating a portion of the machine tool system in the first embodiment. [Figure 11] Figure 11 schematically shows how the computing unit determines the retraction direction of the robot hand. [Figure 12] Figure 12 shows a table illustrating the algorithm for determining the retraction direction of the robot hand. [Figure 13] Figure 13 is a schematic perspective view illustrating an example of a first robot hand. [Figure 14] Figure 14 is a schematic perspective view illustrating an example of a second robot hand. [Figure 15] Figure 15 is a schematic front view illustrating a portion of the machine tool system in the first embodiment. [Figure 16] Figure 16 is a schematic diagram showing how the interference check simulation is being performed. [Figure 17] Figure 17 is a schematic diagram showing how the interference check simulation is being performed. [Figure 18] Figure 18 is a schematic front view illustrating a portion of the machine tool system in the first embodiment. [Figure 19] Figure 19 is a schematic diagram showing how the interference check simulation is being performed. [Figure 20] Figure 20 is a schematic front view illustrating a portion of the machine tool system in the first embodiment. [Figure 21] Figure 21 is a schematic diagram showing how the interference check simulation is being performed. [Figure 22] Figure 22 is a schematic cross-sectional view illustrating a portion of the machine tool system in the first embodiment. [Figure 23] Figure 23 schematically shows how the interference check simulation is being performed. [Figure 24] Figure 24 is a schematic front view illustrating a portion of the machine tool system in the first embodiment. [Figure 25] Figure 25 is a schematic perspective view illustrating the machine tool system in the first embodiment. [Figure 26] Figure 26 is a schematic front view illustrating a portion of a machine tool. [Figure 27] Figure 27 is a schematic diagram illustrating how a tool changer can exchange one tool for another. [Figure 28] Figure 28 is a schematic diagram of a numerical control device. [Figure 29] Figure 29 schematically illustrates how the computing unit generates a machine model of a machine tool. [Figure 30] Figure 30 is a schematic diagram of a numerical control device. [Figure 31] Figure 31 is a schematic perspective view illustrating an example of a robot. [Figure 32] Figure 32 is a schematic diagram showing a robot control device. [Figure 33] Figure 33 schematically shows how the computing unit generates a region model of the interference check area. [Figure 34] Figure 34 schematically shows an example in which a robot control system includes a calculation unit that determines the retraction direction of the robot hand. [Figure 35] Figure 35 schematically shows an example in which a computer, separate from the numerical control device and the robot control device, includes a calculation unit that determines the retraction direction of the robot hand. [Figure 36] Figure 36 schematically shows how the computing unit derives the evacuation distance in the evacuation direction. [Figure 37]Figure 37 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 38] Figure 38 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 39] Figure 39 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 40] Figure 40 schematically illustrates how the interference check simulation is performed after the stop button is pressed. [Figure 41] Figure 41 is a schematic diagram illustrating an example of a workpiece transfer operation between a robot hand and a pallet. [Figure 42] Figure 42 shows a table illustrating the algorithm for determining the retraction direction of the robot hand. [Figure 43] Figure 43 is a flowchart showing an example of how the machine tool system operates in the second embodiment. [Figure 44] Figure 44 is a flowchart showing another example of how the machine tool system operates in the second embodiment. [Figure 45] Figure 45 is a schematic diagram showing an example of a non-volatile storage medium on which a program is recorded. [Modes for carrying out the invention]

[0010] The machine tool system 1, the operation method of the machine tool system, and the program PG in the embodiment will be described below with reference to the drawings. In the following description of the embodiment, parts and components having the same function will be denoted by the same reference numeral, and repeated descriptions of parts and components denoted by the same reference numeral will be omitted.

[0011] (First Embodiment) The machine tool system 1 in the first embodiment will be described with reference to Figures 1 to 42. Figures 1 and 2 are schematic perspective views illustrating the machine tool system 1 in the first embodiment. Figures 3 to 10 are schematic perspective views illustrating a portion of the machine tool system 1 in the first embodiment. Figure 11 is a schematic diagram illustrating how the computing unit E1 determines the retraction direction DR of the robot hand. Figure 12 is a diagram illustrating a table for illustrating the algorithm AG that determines the retraction direction of the robot hand. Figure 13 is a schematic perspective view illustrating an example of the first robot hand 81a. Figure 14 is a schematic perspective view illustrating an example of the second robot hand 81b. Figure 15 is a schematic front view illustrating a portion of the machine tool system 1 in the first embodiment. Figures 16 and 17 are schematic diagrams illustrating the execution of the interference check simulation K1. Figure 18 is a schematic front view illustrating a portion of the machine tool system 1 in the first embodiment. Figure 19 is a schematic diagram illustrating the execution of the interference check simulation K1. Figure 20 is a schematic front view illustrating a portion of the machine tool system 1 in the first embodiment. Figure 21 is a schematic diagram illustrating the execution of the interference check simulation K1. Figure 22 is a schematic cross-sectional view illustrating a portion of the machine tool system 1 in the first embodiment. Figure 23 is a schematic diagram illustrating the execution of the interference check simulation K1. Figure 24 is a schematic front view illustrating a portion of the machine tool system 1 in the first embodiment. Figure 25 is a schematic perspective view illustrating the machine tool system 1 in the first embodiment. Figure 26 is a schematic front view illustrating a portion of the machine tool 2. Figure 27 is a schematic diagram illustrating how the tool changer 17 can exchange tool T with another tool. Figure 28 is a schematic diagram illustrating the numerical control device 6. Figure 29 is a schematic diagram illustrating how the arithmetic unit E1 generates the machine model M2 of the machine tool. Figure 30 is a schematic diagram illustrating the numerical control device 6. Figure 31 is a schematic perspective view showing an example of robot 8. Figure 32 is a schematic diagram showing robot control device 9.Figure 33 schematically shows how the calculation unit E1 generates the region model MR of the interference check area. Figure 34 schematically shows an example in which the robot control device 9 includes a calculation unit E1 that determines the retraction direction of the robot hand. Figure 35 schematically shows an example in which a computer 11, provided separately from the numerical control device 6 and the robot control device 9, includes a calculation unit E1 that determines the retraction direction of the robot hand. Figure 36 schematically shows how the calculation unit E1 derives the retraction distance L in the retraction direction DR. Figures 37 to 39 schematically show examples of images displayed on the display E3. Figure 40 schematically shows how the interference check simulation K1 is performed after the stop button is operated. Figure 41 schematically shows an example of a workpiece transfer operation between the robot hand 81 and the pallet PT. Figure 42 is a table for explaining the algorithm AG that determines the retraction direction of the robot hand.

[0012] As illustrated in Figures 1 and 2, the machine tool system 1 in the first embodiment comprises a machine tool 2, a robot 8, a computing device E1, and a robot control device 9.

[0013] Machine tool 2 processes the workpiece W held in the chuck 31.

[0014] Robot 8 uses robot hand 81 to transport workpiece W to chuck 31.

[0015] After detecting the occurrence of abnormal interference, the computing unit E1 determines the retraction direction DR in which the robot hand 81 should retract.

[0016] More specifically, in a workpiece transfer operation between the robot hand 81 and the chuck 31, after detecting an abnormal interference with the robot hand 81 or the workpiece W moving with the robot hand 81, the computing unit E1 determines the retraction direction DR in which the robot hand 81 should retract, based on the type of robot hand 81, the open / closed state of the robot hand 81, and the open / closed state of the chuck 31.

[0017] In this specification, abnormal interference means interference between parts that should not interfere with each other. Therefore, abnormal interference with the robot hand 81 means interference between the robot hand 81 and a part that should not interfere with the robot hand 81. Furthermore, interference with the workpiece W that moves with the robot hand 81 means interference between the workpiece W that moves with the robot hand 81 and a part that should not interfere with the workpiece W.

[0018] In the example shown in Figure 3, abnormal interference occurs with respect to the workpiece W moving with the robot hand 81. More specifically, abnormal interference occurs between the workpiece W moving with the robot hand 81 and the machine tool element EL (more specifically, the jaws 33 of the chuck 31) (see arrow AR1).

[0019] In the example shown in Figure 3, the robot hand 81 is of the first type, specifically the first robot hand 81a, the robot hand 81 is in the closed state, and the chuck 31 is in the open state. In the example shown in Figure 3, after an abnormal interference is detected with respect to the robot hand 81 or the workpiece W moving with the robot hand 81, the computing unit E1 determines the retraction direction DR in the +Z direction, based on the type of robot hand 81, the open / closed state of the robot hand 81, and the open / closed state of the chuck 31. Figure 4 shows the state after the robot hand 81 has retracted in the retraction direction DR (more specifically, the +Z direction).

[0020] In the example shown in Figure 5, abnormal interference occurs with respect to the robot hand 81. More specifically, abnormal interference occurs between the robot hand 81 and the workpiece W (see arrow AR2).

[0021] In the example shown in Figure 5, the robot hand 81 is of the first type, a first robot hand 81a, the robot hand 81 is in the open state, and the chuck 31 is in the closed state. In the example shown in Figure 5, after abnormal interference with the robot hand 81 or the workpiece W moving with the robot hand 81 is detected (more specifically, after abnormal interference with the robot hand 81 is detected), the computing unit E1 determines the retraction direction DR in which the robot hand 81 should retract in the +Z direction, based on the type of robot hand 81, the open / closed state of the robot hand 81, and the open / closed state of the chuck 31. Figure 6 shows the state after the robot hand 81 has retracted in the retraction direction DR (more specifically, the +Z direction).

[0022] In the example shown in Figure 7, abnormal interference occurs with respect to the workpiece W moving with the robot hand 81. More specifically, abnormal interference occurs between the workpiece W moving with the robot hand 81 and the machine tool element EL (more specifically, the jaws 33 of the chuck 31) (see arrow AR3).

[0023] In the example shown in Figure 7, the robot hand 81 is a second type, specifically a second robot hand 81b, the robot hand 81 is in a closed state, and the chuck 31 is in an open state. In the example shown in Figure 7, after an abnormal interference is detected with respect to the robot hand 81 or the workpiece W moving with the robot hand 81, the computing unit E1 determines the retraction direction DR in the +Z direction in which the robot hand 81 should retract, based on the type of robot hand 81, the open / closed state of the robot hand 81, and the open / closed state of the chuck 31. Figure 8 shows the state after the robot hand 81 has retracted in the retraction direction DR (more specifically, the +Z direction).

[0024] In the example shown in Figure 9, abnormal interference occurs with respect to the robot hand 81. More specifically, abnormal interference occurs between the robot hand 81 and the workpiece W (see arrow AR4).

[0025] In the example shown in Figure 9, the robot hand 81 is a second type, specifically a second robot hand 81b, the robot hand 81 is in the open state, and the chuck 31 is in the closed state. In the example shown in Figure 9, after an abnormal interference is detected with respect to the robot hand 81 or the workpiece W moving with the robot hand 81 (more specifically, after an abnormal interference with the robot hand 81 is detected), the computing unit E1 determines the retraction direction DR in which the robot hand 81 should retract in the +X direction, based on the type of robot hand 81, the open / closed state of the robot hand 81, and the open / closed state of the chuck 31. Figure 10 shows the state after the robot hand 81 has retracted in the retraction direction DR (more specifically, in the +X direction).

[0026] The robot control device 9 controls the robot 8 so that the robot hand 81 retracts in the retraction direction DR determined by the computing device E1. In the examples shown in Figures 4, 6, and 8, the robot control device 9 controls the robot 8 so that the robot hand 81 retracts in the +Z direction determined by the computing device E1. In the example shown in Figure 10, the robot control device 9 controls the robot 8 so that the robot hand 81 retracts in the +X direction determined by the computing device E1.

[0027] In the machine tool system 1 of the first embodiment, after detecting abnormal interference with the robot hand 81 or the workpiece W moving with the robot hand 81 during the workpiece transfer operation between the robot hand 81 and the chuck 31, the computing unit E1 determines the retraction direction DR in which the robot hand 81 should be retracted, based on the type of robot hand 81, the open / closed state of the robot hand 81, and the open / closed state of the chuck 31. Thus, the robot control device 9 can retract the robot hand 81 in the appropriate direction.

[0028] (Optional additional configuration) Next, with reference to Figures 1 to 42, optional additional configurations that can be adopted in the machine tool system 1 in the first embodiment will be described.

[0029] In the examples shown in Figures 1 and 2, the robot 8 includes a multi-joint arm 85 to which a robot hand 81 can be attached. As illustrated in Figure 1, a first robot hand 81a capable of gripping a first type workpiece W1 can be attached to the multi-joint arm 85 (more specifically, the end arm 851 of the multi-joint arm 85). Also, as illustrated in Figure 2, a second robot hand 81b capable of gripping a second type workpiece W2 can be attached to the multi-joint arm 85 (more specifically, the end arm 851 of the multi-joint arm 85).

[0030] (Algorithm AG) The computing unit E1 is capable of executing algorithm AG, which determines the retraction direction DR of the robot hand 81. After the occurrence of the above-mentioned abnormal interference is detected during the execution of the workpiece transfer operation between the robot hand 81 and the chuck 31, the computing unit E1 executes the algorithm AG. In the examples shown in Figures 11 and 12, the computing unit E1 executes the algorithm AG to determine the retraction direction DR in which the robot hand 81 should retract, based on the type of robot hand 81 (more specifically, first data DA1 indicating the type of robot hand 81), the open / closed state of the robot hand 81 (more specifically, second data DA2 indicating whether the robot hand 81 is in an open or closed state), and the open / closed state of the chuck 31 (more specifically, third data DA3 indicating whether the chuck 31 is in an open or closed state). In the example shown in Figure 28, the algorithm AG for determining the retraction direction DR of the robot hand 81 is stored in the memory E2 of the machine tool system 1.

[0031] In the example shown in Figure 12, the algorithm AG described above includes a first algorithm AG1 that determines the retraction direction DR in which the first robot hand 81a should retract after the occurrence of the abnormal interference described above is detected during the workpiece transfer operation between the first robot hand 81a and the chuck 31 (more specifically, after the occurrence of the abnormal interference described above is detected while the first robot hand 81a is moving). Hereinafter, the retraction direction in which the first robot hand 81a should retract will be referred to as the "first retraction direction DRa".

[0032] In the example shown in Figure 12, the algorithm AG described above includes a second algorithm AG2 that determines the retraction direction DR in which the second robot hand 81b should retract after the occurrence of the abnormal interference described above is detected during the workpiece transfer operation between the second robot hand 81b and the chuck 31 (more specifically, after the occurrence of the abnormal interference described above is detected while the second robot hand 81b is moving). Hereinafter, the retraction direction in which the second robot hand 81b should retract will be referred to as the "second retraction direction DRb".

[0033] As illustrated in Figures 3 and 12, the computing unit E1 that executes the first algorithm AG1 determines a first retraction direction DRa in which the first robot hand 81a should retract, when the first robot hand 81a is in a closed state and the chuck 31 is in an open state, to be a first direction DR1 that moves away from the chuck 31 along the first axis AX1, which is the rotation axis of the chuck 31.

[0034] As illustrated in Figures 5 and 12, the computing unit E1 that executes the first algorithm AG1 determines a first retraction direction DRa in which the first robot hand 81a should retract, when the first robot hand 81a is in the open state and the chuck 31 is in the closed state, to be a first direction DR1 that moves away from the chuck 31 along the first axis AX1, which is the rotation axis of the chuck 31.

[0035] As illustrated in Figures 7 and 12, the computing unit E1 that executes the second algorithm AG2 determines that when the second robot hand 81b is in a closed state and the chuck 31 is in an open state, the second retraction direction DRb in which the second robot hand 81b should retract is the first direction DR1 which moves away from the chuck 31 along the first axis AX1, which is the rotation axis of the chuck 31.

[0036] As illustrated in Figures 9 and 12, the computing unit E1 that executes the second algorithm AG2 determines a second retraction direction DRb in which the second robot hand 81b should retract, when the second robot hand 81b is in the open state and the chuck 31 is in the closed state, to be a second direction DR2 which is different from the first direction DR1 described above. The second direction DR2 is, for example, a direction substantially perpendicular to the first direction DR1.

[0037] As illustrated in Figures 9 and 12, when the second retraction direction DRb in which the second robot hand 81b should retract is determined to be the second direction DR2, the robot control device 9 may control the robot 8 so that the robot hand 81 retracts in the second direction DR2 relative to the second type of workpiece W2 (more specifically, the shaft workpiece Ws) supported by the chuck 31 and tailstock 18 (see Figure 10).

[0038] In the examples shown in Figures 11 and 12, in both cases where the robot hand 81 is a first type first robot hand 81a and where the robot hand 81 is a second type second robot hand 81b, after the occurrence of the abnormal interference described above is detected, the computing unit E1 can automatically determine the retraction direction DR in which the robot hand 81 should retract using the algorithm AG described above.

[0039] (Robot Hand 81) As illustrated in Figures 13 and 14, the robot hand 81 comprises a gripping section 811 for gripping a workpiece W and a base section 813 for supporting the gripping section 811. In the examples shown in Figures 13 and 14, the gripping section 811 includes a plurality of gripping pieces 811p. In the examples shown in Figures 13 and 14, the robot hand 81 includes a gripping section drive device 815 that moves the gripping section 811 (more specifically, the plurality of gripping pieces 811p) toward the gripping central axis C1. The state of the robot hand 81 is changed from an open state to a closed state by the gripping section drive device 815 moving the plurality of gripping pieces 811p toward the gripping central axis C1. When the state of the robot hand 81 is closed, the gripping section 811 of the robot hand 81 grips the workpiece W. On the other hand, the gripping drive device 815 moves the multiple gripping pieces 811p away from the gripping central axis C1, thereby changing the state of the robot hand 81 from a closed state to an open state. When the state of the robot hand 81 is open, the gripping portion 811 of the robot hand 81 does not grip the workpiece W.

[0040] As illustrated in Figure 13, the robot hand 81 may include a second gripping section 818 for gripping other workpieces, in addition to the gripping section 811 for gripping the workpiece W. In this case, the robot hand 81 can simultaneously grip both an unprocessed workpiece (in other words, an uncut workpiece) and a processed workpiece (in other words, a previously processed workpiece). Alternatively, as illustrated in Figure 14, the robot hand 81 may be capable of gripping only one workpiece. In the example shown in Figure 13, the first robot hand 81a is a robot hand capable of gripping multiple workpieces simultaneously, and in the example shown in Figure 14, the second robot hand 81b is a robot hand capable of gripping only one workpiece. In the example shown in Figure 13, the first robot hand 81a grips a first type workpiece W1 with three gripping pieces 811p. In the example shown in Figure 14, the second robot hand 81b grips a second type workpiece W2 with four gripping pieces 811p.

[0041] As illustrated in Figures 13 and 14, in this specification, the direction from the gripping area defined by the gripping portion 811 of the robot hand 81 (in other words, the area where the workpiece W gripped by the gripping portion 811 is located) toward the base portion 813 of the robot hand 81 is defined as the third direction DR3.

[0042] In the example shown in Figure 13, the gripping center axis C1 of the multiple gripping pieces 811p of the first robot hand 81a (more specifically, the workpiece center axis C2 of the workpiece W gripped by the first robot hand 81a (more specifically, the multiple gripping pieces 811p of the first robot hand 81a)) and the third direction DR3 are substantially parallel. In the example shown in Figure 14, the gripping center axis C1 of the multiple gripping pieces 811p of the second robot hand 81b (more specifically, the workpiece center axis C2 of the workpiece W gripped by the second robot hand 81b (more specifically, the multiple gripping pieces 811p of the second robot hand 81b)) and the third direction DR3 are substantially perpendicular.

[0043] In the example shown in Figure 13, the robot hand 81 (more specifically, the first robot hand 81a) grips a first type workpiece W1. The first type workpiece W1 is, for example, a chuck workpiece Wc.

[0044] In the example shown in Figure 13, the chucked workpiece Wc is a workpiece gripped by the first robot hand 81a such that the central axis of the chucked workpiece Wc is substantially parallel to the third direction DR3 described above. The chucked workpiece Wc is, for example, a workpiece that is cantilevered by the chuck 31 (see Figure 5) when the chucked workpiece Wc is machined by the machine tool 2.

[0045] In the example shown in Figure 14, the robot hand 81 (more specifically, the second robot hand 81b) grasps a second type of workpiece W2. The second type of workpiece W2 is, for example, a shaft workpiece Ws.

[0046] In the example shown in Figure 14, the shaft workpiece Ws is a workpiece that is gripped by the second robot hand 81b such that the longitudinal direction of the shaft workpiece Ws (more specifically, the longitudinal central axis of the shaft workpiece Ws) and the third direction DR3 described above are substantially perpendicular. The shaft workpiece Ws is a workpiece that, for example, when the shaft workpiece Ws is machined by the machine tool 2, has one end supported by the chuck 31 and the other end supported by the tailstock 18 (see Figure 9).

[0047] In the examples shown in Figures 3 to 12, in both cases where the type of workpiece W is a chuck workpiece Wc and where the type of workpiece W is a shaft workpiece Ws, after the occurrence of the above-mentioned abnormal interference is detected, the computing device E1 can automatically determine the retraction direction DR in which the robot hand 81 should retract using the algorithm AG described above.

[0048] (Interference check simulation K1) The computing unit E1 is capable of running interference check simulation K1. In interference check simulation K1, interference between the interference check region R (see Figures 15, 18, 20, and 22) set around the robot hand 81 and at least the elements EL of the machine tool 2 (e.g., the chuck 31) is checked by simulation. More specifically, as illustrated in Figure 16, in interference check simulation K1, interference between the region model MR of the interference check region R and the machine model M2 of the machine tool 2 (e.g., the chuck model M31, which is the shape model of the chuck 31) is checked in the simulation space KS.

[0049] As illustrated in Figure 15, when the robot hand 81 is in a workpiece gripping state, the interference check region R set around the robot hand 81 may include the area surrounding the workpiece W.

[0050] As illustrated in Figure 16, the region model MR is a model in the simulation space KS corresponding to the interference check region R. As illustrated in Figure 16, the machine model M2 is a model in the simulation space KS corresponding to the machine tool 2. As illustrated in Figure 16, the chuck model M31 is a model in the simulation space KS corresponding to the chuck 31.

[0051] The computing unit E1 uses the interference check simulation K1 to derive the retraction distance L (see Figure 15) that the robot hand 81 should retract in the retraction direction DR. More specifically, as illustrated in Figures 15 to 17, the computing unit E1 derives the retraction distance L (see Figure 15) in the retraction direction DR based on the region model MR of the interference check region R and the machine model M2 of the machine tool 2 (for example, the chuck model M31, which is the shape model of the chuck 31).

[0052] For example, the computing unit E1 derives, in the simulation space KS, the distance ML (see Figure 17) that the region model MR should move in the retraction direction DR to resolve interference between the region model MR and the machine model M2, which is derived based on the current state of the robot hand 81 and the machine tool 2. The computing unit E1 also derives the corresponding retraction distance L (see Figure 15) in real space. The aforementioned distance ML (see Figure 17) can be derived, for example, by repeatedly moving the region model MR in the retraction direction DR by a predetermined distance in the simulation space KS until the interference between the region model MR and the machine model M2 is resolved.

[0053] As illustrated in Figure 15, when the type of robot hand 81 is the first robot hand 81a, the state of the robot hand 81 is the closed state, and the state of the chuck 31 is the open state, the computing unit E1 uses interference check simulation K1 to derive the retraction distance L that the first robot hand 81a should retract in the retraction direction DR (more specifically, the first direction DR1) based on the region model MR of the interference check region R (see Figures 16 and 17) and the machine model M2 of the machine tool 2 (see Figures 16 and 17). Hereinafter, the retraction distance L that the first robot hand 81a in the closed state should retract in the retraction direction DR (more specifically, the first direction DR1) will be referred to as the "first retraction distance L1".

[0054] As illustrated in Figure 18, when the type of robot hand 81 is the first robot hand 81a, the state of the robot hand 81 is open, and the state of the chuck 31 is closed, the computing unit E1 uses the interference check simulation K1 to derive the retraction distance L (see Figure 18) that the first robot hand 81a should retract in the retraction direction DR (more specifically, the first direction DR1) based on the region model MR (see Figure 19) of the interference check region R and the machine model M2 of the machine tool 2. Hereinafter, the retraction distance L that the open first robot hand 81a should retract in the retraction direction DR (more specifically, the first direction DR1) will be referred to as the "second retraction distance L2". In the example shown in Figure 19, the machine model M2 is a model that includes both the chuck 31 and the workpiece W held by the chuck 31, but the machine model M2 may be a pure machine model that does not include a model of the workpiece W held by the chuck 31.

[0055] As illustrated in Figure 20, when the type of robot hand 81 is the second robot hand 81b, the state of the robot hand 81 is the closed state, and the state of the chuck 31 is the open state, the computing unit E1 uses the interference check simulation K1 to derive the retraction distance L (see Figure 20) that the second robot hand 81b should retract in the retraction direction DR (more specifically, the first direction DR1) based on the region model MR (see Figure 21) of the interference check region R and the machine model M2 of the machine tool 2. Hereinafter, the retraction distance L that the second robot hand 81b in the closed state should retract in the retraction direction DR (more specifically, the first direction DR1) will be referred to as the "third retraction distance L3".

[0056] As illustrated in Figure 22, when the type of robot hand 81 is the second robot hand 81b, the state of the robot hand 81 is open, and the state of the chuck 31 is closed, the computing unit E1 uses interference check simulation K1 to derive the retraction distance L (see Figure 22) that the second robot hand 81b should retract in the retraction direction DR (more specifically, the second direction DR2) based on the region model MR (see Figure 23) of the interference check region R and the machine model M2 of the machine tool 2. Hereinafter, the retraction distance L that the open second robot hand 81b should retract in the retraction direction DR (more specifically, the second direction DR2) will be referred to as the "fourth retraction distance L4".

[0057] The robot control device 9 controls the robot 8 so that the robot hand 81 moves in the retraction direction DR by a retraction distance L (see Figures 15, 18, 20, and 22).

[0058] As illustrated in Figure 15, when the type of robot hand 81 is the first robot hand 81a, the state of the robot hand 81 is closed, and the state of the chuck 31 is open, the robot control device 9 controls the robot 8 so that the first robot hand 81a moves by a first retraction distance L1 in the retraction direction DR (more specifically, the first direction DR1).

[0059] As illustrated in Figure 18, when the type of robot hand 81 is the first robot hand 81a, the state of the robot hand 81 is open, and the state of the chuck 31 is closed, the robot control device 9 controls the robot 8 so that the first robot hand 81a moves by the second retraction distance L2 in the retraction direction DR (more specifically, the first direction DR1).

[0060] As illustrated in Figure 20, when the type of robot hand 81 is the second robot hand 81b, the state of the robot hand 81 is closed, and the state of the chuck 31 is open, the robot control device 9 controls the robot 8 so that the second robot hand 81b moves by a third retraction distance L3 in the retraction direction DR (more specifically, the first direction DR1).

[0061] As illustrated in Figure 22, when the type of robot hand 81 is the second robot hand 81b, the state of the robot hand 81 is open, and the state of the chuck 31 is closed, the robot control device 9 controls the robot 8 so that the second robot hand 81b moves by a fourth retraction distance L4 in the retraction direction DR (more specifically, the second direction DR2).

[0062] In the examples shown in Figures 15 to 23, the execution of the interference check simulation K1 derives the retraction distance L that the robot hand 81 should move in the retraction direction DR. By moving the robot hand 81 by the retraction distance L in the retraction direction DR, the above-mentioned abnormal interference is effectively resolved.

[0063] (Evacuation position Q2) As illustrated in Figure 24, in this specification, the position that the robot hand 81 should reach by retracting in the retraction direction DR is defined as the retraction position Q2. More specifically, when the position of the robot hand 81 when abnormal interference is detected is defined as the interference detection position Q1, the retraction position Q2 is the position located in the retraction direction DR at a retraction distance L from the interference detection position Q1. For example, in the example shown in Figure 15, the retraction position is the position located in the retraction direction DR (more specifically, the first direction DR1) at a first retraction distance L1 from the interference detection position Q1. In the example shown in Figure 18, the retraction position is the position located in the retraction direction DR (more specifically, the first direction DR1) at a second retraction distance L2 from the interference detection position Q1. In the example shown in Figure 20, the retraction position is the position located in the retraction direction DR (more specifically, the first direction DR1) at a third retraction distance L3 from the interference detection position Q1. In the example shown in Figure 22, the retraction position is located at a fourth retraction distance L4 from the interference detection position Q1 in the retraction direction DR (more specifically, the second direction DR2).

[0064] (Home position Q3) The home position Q3 is a preset position in the machine tool system 1. For example, the home position Q3 is the position where the robot hand 81 rests when the machine tool system 1 is not in operation.

[0065] As illustrated in Figure 25, the robot control device 9 may control the robot 8 so that the robot hand 81 moves linearly in the retraction direction DR from the interference detection position Q1 to the retraction position Q2, and then moves nonlinearly from the retraction position Q2 to the home position Q3. In the examples shown in Figures 4, 6, 8, 15, 18, and 20, the robot control device 9 controls the robot 8 so that the robot hand 81 moves linearly in the first direction DR1 from the interference detection position Q1 to the retraction position Q2. Subsequently, the robot control device 9 controls the robot 8 so that the robot hand 81 moves nonlinearly from the retraction position Q2 to the home position Q3. In the examples shown in Figures 10 and 22, the robot control device 9 controls the robot 8 so that the robot hand 81 moves linearly in the second direction DR2 from the interference detection position Q1 to the retraction position Q2. Subsequently, the robot control device 9 controls the robot 8 so that the robot hand 81 moves nonlinearly from the retraction position Q2 to the home position Q3.

[0066] The interference check simulation K1 described above is performed after the movement of the robot hand 81 stops due to the detection of the occurrence of the abnormal interference described above. The interference check simulation K1 described above may also be performed after the movement of the robot hand 81 is stopped by the operator's instruction. After the movement of the robot hand 81 stops, the robot hand 81 is kept in a stopped state for at least until the retraction direction DR described above is determined. After the movement of the robot hand 81 stops, the robot hand 81 may be kept in a stopped state for at least until the retraction direction DR described above and the retraction distance L described above are derived.

[0067] (Detection of abnormal interference) In the examples shown in Figures 3 and 7, abnormal contact between the robot hand 81, or the workpiece W moving with the robot hand 81, and an object (e.g., the chuck 31 of the machine tool 2) is detected as the occurrence of abnormal interference. Also, in the examples shown in Figures 5 and 9, abnormal contact between the robot hand 81 and an object (e.g., the chuck 31 of the machine tool 2, or the workpiece W held by the chuck 31) is detected as the occurrence of abnormal interference. In these cases, the detection of abnormal interference may be performed by a sensor E5 that detects the occurrence of abnormal torque acting on the joints of the articulated arm 85 (e.g., the occurrence of torque exceeding a threshold, or a sudden fluctuation in torque). Alternatively, the detection of abnormal interference may be performed by a contact sensor.

[0068] In the examples shown in Figures 15, 18, 20, and 22, the entry of an object (e.g., the chuck 31 of the machine tool 2, or the workpiece W) into the interference check area R set around the robot hand 81 is detected as the occurrence of abnormal interference. In the examples shown in Figures 15 and 20, the entry of an object (e.g., the chuck 31 of the machine tool 2) into the interference check area R set around the robot hand 81 (more specifically, the interference check area R set around the robot hand 81 that includes the area around the workpiece W) is detected as the occurrence of abnormal interference. As illustrated in Figures 16, 19, 21, and 23, the computing unit E1 may detect the occurrence of abnormal interference based on the machine model M2 of the machine tool 2 and the region model MR of the interference check area R at the current position of the robot hand.

[0069] (Machine tool 2) In the example shown in Figure 26, the machine tool 2 comprises a workpiece support device 3, a machining head 4, a moving device 5, and a numerical control device 6 (see Figure 25). The machine tool 2 may be a lathe or a multi-tasking machine capable of performing turning and milling operations.

[0070] In the example shown in Figure 26, the workpiece support device 3 includes a chuck 31 that is rotatable around a first axis AX1, a support body 37 that supports the chuck 31 so that it is rotatable around the first axis AX1, and a rotary drive device 38 that rotates the chuck 31 around the first axis AX1.

[0071] In the example shown in Figure 26, the chuck 31 comprises a chuck body 32 and a plurality of jaws 33 attached to the chuck body 32. The chuck 31 may also include a jaw drive device 34 that moves the plurality of jaws 33 between an open position P1 (see Figure 3) and a closed position P2 (see Figure 5). The jaw drive device 34 moves the plurality of jaws 33 toward the first axis AX1, thereby changing the state of the chuck 31 from an open state to a closed state. When the state of the chuck 31 is closed, the chuck 31 (more specifically, the plurality of jaws 33) grips the workpiece W. On the other hand, the jaw drive device 34 moves the plurality of jaws 33 toward the first axis AX1, thereby changing the state of the chuck 31 from a closed state to an open state. When the state of the chuck 31 is open, the chuck 31 (more specifically, the plurality of jaws 33) does not grip the workpiece W.

[0072] The machining head 4 is capable of holding a tool T (e.g., a turning tool T1). The machining head 4 may be capable of selectively holding a first tool (e.g., a turning tool T1) and a second tool (e.g., a milling tool). As illustrated in Figure 27, the machine tool 2 may include a tool changer 17 for changing the tool T (e.g., a turning tool T1) held in the machining head 4 with another tool (e.g., a second tool T2 such as a milling tool).

[0073] As illustrated in Figure 26, the machining head 4 may be equipped with a tool rotating device 48 that rotates the tool (for example, a second tool T2 such as a milling tool) around a second axis AX2 along the longitudinal axis of the tool.

[0074] In the example shown in Figure 26, machining head 4 is a non-turret type machining head. Alternatively, machining head 4 may be a turret type machining head.

[0075] In the example shown in Figure 26, the moving device 5 moves the machining head 4 relative to the workpiece support device 3. The moving device 5 may have a first moving device 51 that moves the machining head 4 in a direction substantially perpendicular to the first axis AX1 (for example, along the X-axis substantially parallel to the vertical). The moving device 5 may have a second moving device 52 that moves the machining head 4 in a direction substantially parallel to the first axis AX1 (more specifically, along the Z-axis substantially parallel to the horizontal). The moving device 5 may also have a third moving device 53 that moves the machining head 4 in a direction substantially perpendicular to the first axis AX1 and along the Y-axis, which is different from the direction along the X-axis. In the example shown in Figure 26, the Y-axis is perpendicular to both the X-axis and the Z-axis.

[0076] The moving device 5 may have a tilting device 57 that changes the orientation of the second axis AX2. The tilting device 57 can tilt the tool held in the machining head 4 around the third axis AX3 which is substantially parallel to the horizontal plane.

[0077] In the example shown in Figure 26, the moving device 5 is capable of moving the machining head 4 in three dimensions. The moving device 5 may also be a device that moves the machining head 4 in two dimensions or one dimension. The moving device 5 may include a workpiece moving device that moves the workpiece W supported by the workpiece support device 3 in a linear manner. The workpiece moving device may also be a device that moves the workpiece W in a direction along the Z-axis.

[0078] The machine tool 2 may include a tailstock 18 that supports the end of the workpiece W (for example, shaft workpiece Ws). The machine tool 2 may also include a tailstock moving device 19 that moves the tailstock 18 in a direction substantially parallel to the first axis AX1.

[0079] In the examples shown in Figures 1 and 2, the machine tool 2 comprises a wall 71 surrounding a processing area, an opening OP formed in the wall 71, and a door 72 for opening and closing the opening OP. The machine tool 2 may also include a door moving device 73 for moving the door 72. The robot hand 81 is movable across the opening OP. More specifically, the robot control device 9 can move the robot hand 81, which is gripping a workpiece W, from outside the machine tool 2 through the opening OP into the machine tool 2 so that the workpiece W is loaded into the machine tool 2. The robot control device 9 can also move the robot hand 81, which is gripping a workpiece W, from inside the machine tool 2 through the opening OP to outside the machine tool 2 so that the workpiece W is unloaded from the machine tool 2.

[0080] In the example shown in Figure 28, the numerical control device 6 can control the rotary drive device 38 and the moving devices 5 (e.g., the first moving device 51, the second moving device 52, the third moving device 53, the tilting device 57, etc.). Additionally, the numerical control device 6 may be able to control the claw drive device 34. Additionally, the numerical control device 6 may be able to control the tailstock moving device 19. Alternatively, or additionally, the numerical control device 6 may be able to control the tool rotating device 48 and / or the door moving device 73. Alternatively, or additionally, the numerical control device 6 may be able to control the tool changing device 17.

[0081] In the example shown in Figure 28, the numerical control device 6 comprises an arithmetic unit (hereinafter referred to as "first arithmetic unit 61"), a memory (hereinafter referred to as "first memory 62"), a display (hereinafter referred to as "first display 63"), an input device (hereinafter referred to as "first input device 64"), and a communication circuit (hereinafter referred to as "first communication circuit 66").

[0082] As illustrated in Figure 28, the first arithmetic unit 61 includes at least one processor 61a (e.g., at least one CPU). The numerical control device 6 (more specifically, the first arithmetic unit 61) generates a first group of control commands SA by executing a machining program PM. The machine tool 2 operates based on the first group of control commands SA generated when the machining program PM is executed by the numerical control device 6 (more specifically, the first arithmetic unit 61). More specifically, the first communication circuit 66 transmits the first group of control commands SA to a plurality of controlled devices such as the moving device 5 and the rotary drive device 38, and the plurality of controlled devices that receive the first group of control commands SA operate based on the first group of control commands SA. In this way, the workpiece W held in the chuck 31 is machined by a tool (e.g., a turning tool T1, etc.) held in the machining head 4 based on the first group of control commands SA generated by the numerical control device 6.

[0083] The first memory 62 is a storage medium (more specifically, a non-temporary computer-readable storage medium) that can be read by the first arithmetic unit 61. The first memory 62 may be, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, or flash memory, or it may be a magnetic disk or other type of memory.

[0084] The first memory 62 stores the program and various data. In the example shown in Figure 28, the numerical control device 6 (more specifically, the first memory 62) stores third data DA3 indicating whether the chuck 31 is in an open or closed state. When the chuck 31 is in an open state, it can receive a workpiece from the robot hand 81. When the chuck 31 is in a closed state, it grips the workpiece W.

[0085] In the example shown in Figure 28, the first memory 62 stores jaw shape data DT1 indicating the shape of the jaws 33 attached to the chuck body 32, first angle data DT2 indicating the rotational angle position of the chuck 31 around the first axis AX1, and so on. In the example shown in Figure 29, the arithmetic unit E1 (for example, the first arithmetic unit 61 of the numerical control device 6) can execute a first process U1 that generates a machine model M2 of the machine tool 2 corresponding to the current state of the machine tool 2, based on at least third data DA3 indicating whether the state of the chuck 31 is open or closed, and jaw shape data DT1. The machine model M2 may be generated based on at least the third data DA3, jaw shape data DT1, and first angle data DT2 described above.

[0086] The first memory 62 may be distributed across multiple locations. For example, memory for storing data may be provided separately from memory for storing programs. The first memory 62 may include cloud storage accessible via a network.

[0087] In the example shown in Figure 30, the first input device 64 includes a touch panel 64a on the first display 63. In other words, the first display 63 is a display with a touch panel. However, the first input device 64 is not limited to the touch panel 64a on the first display 63. For example, the first input device 64 may include a button 64b, a switch, a lever, a pointing device such as a mouse, and / or a keyboard.

[0088] In the example shown in Figure 28, the first arithmetic unit 61, the first memory 62, the first display 63, the first input device 64, and the first communication circuit 66 are connected to each other via a bus 67.

[0089] (Multi-jointed arm 85) In the example shown in Figure 31, the articulated arm 85 comprises multiple arms, including an end-effector arm 851 to which a robot hand 81 is attached, and multiple joints connecting the multiple arms. Multiple robot hands, including a first robot hand 81a and a second robot hand 81b, can be selectively attached to the end-effector arm 851. In other words, a robot hand selected from among the multiple robot hands 81 is attached to the end-effector arm 851.

[0090] The end arm 851 may include a mounting portion 851a to which the robot hand 81 is attached, a first support portion 851b that supports the mounting portion 851a so that it can rotate around a first pivot axis AT1, and a first motor MT1 that rotates the mounting portion 851a around the first pivot axis AT1 relative to the first support portion 851b.

[0091] In the example shown in Figure 31, the articulated arm 85 includes a first arm 852 that supports the end arm 851. The first arm 852 and the end arm 851 are connected via a first joint 861. The articulated arm 85 includes a second motor MT2 that drives the first joint 861. When the first joint 861 is driven by the second motor MT2, the end arm 851 is tilted relative to the first arm 852 around a first tilt axis AC1.

[0092] The first arm 852 may include a first portion 852a connected to a first joint 861, a second support portion 852b that supports the first portion 852a so as to be rotatable around a second pivot axis AT2, and a third motor MT3 that rotates the first portion 852a relative to the second support portion 852b around the second pivot axis AT2.

[0093] In the example shown in Figure 31, the articulated arm 85 includes a second arm 853 that supports a first arm 852. The second arm 853 and the first arm 852 are connected via a second joint 862. The articulated arm 85 includes a fourth motor MT4 that drives the second joint 862. When the second joint 862 is driven by the fourth motor MT4, the first arm 852 is tilted relative to the second arm 853 around the second tilt axis AC2.

[0094] In the example shown in Figure 31, the articulated arm 85 includes a third joint 863 that tilts the second arm 853 around a third tilt axis AC3, and a third support portion 854 that supports the third joint 863 so that it can rotate around a third pivot axis AT3. The articulated arm 85 also includes a fifth motor MT5 that drives the third joint 863, and a sixth motor MT6 that rotates the second arm 853 relative to the third support portion 854 around the third pivot axis AT3.

[0095] In the example shown in Figure 31, the articulated arm 85 has at least six degrees of freedom.

[0096] (Robot control device 9) In the example shown in Figure 32, the robot control device 9 can control the articulated arm 85 (more specifically, the multiple motors MT of the articulated arm 85) and the robot hand 81 (more specifically, the gripping unit drive device 815).

[0097] In the example shown in Figure 32, the robot control device 9 includes an arithmetic unit (hereinafter referred to as "second arithmetic unit 91"), a memory (hereinafter referred to as "second memory 92"), a display (hereinafter referred to as "second display 93"), an input device (hereinafter referred to as "second input device 94"), and a communication circuit (hereinafter referred to as "second communication circuit 96").

[0098] As illustrated in Figure 32, the second arithmetic unit 91 includes at least one processor 91a (e.g., at least one CPU). The robot control device 9 (more specifically, the second arithmetic unit 91) generates a second group of control commands SB by executing a robot control program (hereinafter referred to as the "second program PG2"). The robot 8 operates based on the second group of control commands SB generated when the second program PG2 is executed by the robot control device 9 (more specifically, the second arithmetic unit 91). More specifically, the second communication circuit 96 transmits the second group of control commands SB to the robot 8 (e.g., the articulated arm 85 and the robot hand 81), and the robot 8, upon receiving the second group of control commands SB, operates based on the second group of control commands SB. Thus, based on the second group of control commands SB generated by the robot control device 9, the robot 8 loads the workpiece W into the machine tool 2. Also, based on other second group of control commands SB generated by the robot control device 9, the robot 8 unloads the workpiece W from the machine tool 2.

[0099] The second memory 92 is a storage medium (more specifically, a non-temporary computer-readable storage medium) that can be read by the second arithmetic unit 91. The second memory 92 may be, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, or flash memory, or it may be a magnetic disk or other type of memory.

[0100] The second memory 92 may be distributed across multiple locations. For example, memory for storing data may be provided separately from memory for storing programs. The second memory 92 may include cloud storage accessible via a network.

[0101] In the example shown in Figure 32, the second arithmetic unit 91, the second memory 92, the second display 93, the second input device 94 (e.g., touch panel 94a, button 94b, etc.), and the second communication circuit 96 are connected to each other via a bus 97.

[0102] The second memory 92 stores the second program PG2 and various data. In the example shown in Figure 32, the robot control device 9 (more specifically, the second memory 92) stores first data DA1 indicating the type of robot hand 81 attached to the articulated arm 85, and second data DA2 indicating whether the state of the robot hand 81 is open or closed. When the state of the robot hand 81 is open, the robot hand 81 can receive a workpiece from the chuck 31. When the state of the robot hand 81 is closed, the robot hand 81 grips the workpiece W.

[0103] In the example shown in Figure 32, the second memory 92 stores multiple angle data DE1 indicating the tilt angle position around each tilt axis of the articulated arm 85 and the rotation angle position around each rotation axis of the articulated arm 85. The second memory 92, and / or the first memory 62 described above, may also store workpiece shape data DE2 indicating the shape of the workpiece W to be transported by the robot hand 81.

[0104] In the example shown in Figure 33, the calculation unit E1 (for example, the first calculation unit 61 of the numerical control device 6) executes a second process U2 that generates the region model MR corresponding to the current state of the robot 8, based on at least the first data DA1, the second data DA2, and the multiple angle data DE1. When the robot hand 81 is gripping the workpiece W, the calculation unit E1 (for example, the first calculation unit 61 of the numerical control device 6) executes a second process U2 that generates the region model MR corresponding to the current state of the robot 8, based on at least the first data DA1, the second data DA2, the multiple angle data DE1, and the workpiece shape data DE2.

[0105] (Relationship between the arithmetic unit E1, the numerical control unit 6, and the robot control unit 9) As illustrated in Figure 28, the above-mentioned arithmetic unit E1 may be included in the numerical control unit 6. More specifically, the first arithmetic unit 61 of the numerical control unit 6 may function as the arithmetic unit E1 that determines the retraction direction DR in which the robot hand 81 should retract. Alternatively, as illustrated in Figure 34, the above-mentioned arithmetic unit E1 may be included in the robot control unit 9. More specifically, the second arithmetic unit 91 of the robot control unit 9 may function as the arithmetic unit E1 that determines the retraction direction DR in which the robot hand 81 should retract. Further alternatively, as illustrated in Figure 35, the above-mentioned arithmetic unit E1 may be included in a computer 11 provided separately from the numerical control unit 6 and the robot control unit 9. More specifically, the arithmetic unit 111 of the computer 11 provided separately from the numerical control unit 6 and the robot control unit 9 may function as the arithmetic unit E1 that determines the retraction direction DR in which the robot hand 81 should retract. Alternatively, multiple computers, including the numerical control unit 6 and the robot control unit 9, may cooperate to function as the arithmetic unit E1 that determines the retraction direction DR in which the robot hand 81 should retract.

[0106] As illustrated in Figure 11, the computing unit E1 executes a third process U3 to determine the retraction direction DR in which the robot hand 81 should retract, based on the first data DA1, the second data DA2, and the third data DA3 described above. The retraction direction data DD1 indicating the determined retraction direction DR is stored in memory E2 (see Figures 28, 34, or 35).

[0107] As illustrated in Figure 28, when the above-mentioned arithmetic unit E1 is included in the numerical control device 6, the arithmetic unit E1 determines the retraction direction DR in which the robot hand 81 should retract, based on the above-mentioned third data DA3 stored in the numerical control device 6 (more specifically, the first memory 62), and the above-mentioned first data DA1 and second data DA2 that the numerical control device 6 receives from the robot control device 9. The retraction direction data DD1 indicating the determined retraction direction DR is stored in the first memory 62.

[0108] As illustrated in Figure 34, when the above-mentioned arithmetic unit E1 is included in the robot control device 9, the arithmetic unit E1 determines the retraction direction DR in which the robot hand 81 should retract, based on the above-mentioned third data DA3 received by the robot control device 9 from the numerical control device 6, and the above-mentioned first data DA1 and second data DA2 stored in the robot control device 9 (more specifically, the second memory 92). The retraction direction data DD1 indicating the determined retraction direction DR is stored in the second memory 92.

[0109] As illustrated in Figure 35, if the above-mentioned arithmetic unit E1 is included in a computer 11 that is separate from the numerical control device 6 and the robot control device 9, the arithmetic unit E1 determines the retraction direction DR in which the robot hand 81 should retract, based on the above-mentioned third data DA3 that the computer 11 receives from the numerical control device 6 and the above-mentioned first data DA1 and second data DA2 that the computer 11 receives from the robot control device 9. The retraction direction data DD1 indicating the determined retraction direction DR is stored in the memory 112 of the computer 11.

[0110] (Fourth process U4) The arithmetic unit E1 (for example, the first arithmetic unit 61 of the numerical control device 6, the second arithmetic unit 91 of the robot control device 9, or the arithmetic unit 111 of the computer 11) executes an interference check simulation K1 based on the current state of the machine tool 2, the current state of the robot hand 81, and the determined retraction direction DR, and then executes a fourth process U4 to derive the retraction distance L that the robot hand 81 should retract in the retraction direction DR based on the interference check simulation K1. For example, as illustrated in Figure 36, the arithmetic unit E1 (for example, the first arithmetic unit 61 of the numerical control device 6, the second arithmetic unit 91 of the robot control device 9, or the arithmetic unit 111 of the computer 11) executes a fourth process U4 to derive the retraction distance L that the robot hand 81 should retract in the retraction direction DR based on the machine model M2 of the machine tool 2 generated by the execution of the first process U1, the region model MR generated by the execution of the second process U2, and the retraction direction DR determined by the execution of the third process U3. The evacuation distance data DD2, which represents the derived evacuation distance L, is stored in memory E2 (see Figures 28, 34, or 35).

[0111] (Image displayed on display E3) In the example shown in Figure 25, the machine tool system 1 comprises a calculation unit E1, a display E3, and an input device E4. As illustrated in Figure 37, after the occurrence of the abnormal interference described above is detected, the calculation unit E1 may display a first image IM1 (e.g., a first icon IM1-1) on the display E3 (e.g., the first display 63 of the numerical control device 6, the second display 93 of the robot control device 9, or the display 113 of the computer 11) to accept the start of a series of processes until the robot hand 81 is returned to the home position Q3.

[0112] As illustrated in Figure 38, in response to the detection of the above-mentioned abnormal interference, or in response to the input of an instruction to start the execution of a series of processes until the robot hand 81 is returned to the home position Q3 via the input device E4 (for example, in response to the first icon IM1-1 being clicked or tapped), the arithmetic unit E1 may display the size data of the workpiece W to be grasped by the robot hand 81 (more specifically, numerical data indicating the size of the workpiece W to be grasped by the robot hand 81) on the display E3 (for example, the first display 63 of the numerical control device 6, the second display 93 of the robot control device 9, or the display 113 of the computer 11). By displaying the size data of the workpiece W to be grasped by the robot hand 81 on the display E3, the operator can confirm whether or not the workpiece W has been mistakenly selected. If the workpiece W has been mistakenly selected, a discrepancy may occur between the interference check simulation K1 and the actual situation. When the size data of the workpiece W to be grasped by the robot hand 81 is displayed on the display E3, the occurrence of such a discrepancy is prevented or suppressed.

[0113] As illustrated in Figure 39, the computing unit E1 may display a second image IM2 on a display E3 (for example, the first display 63 of the numerical control unit 6, the second display 93 of the robot control unit 9, or the display 113 of the computer 11) that accepts an instruction to execute a process to return the robot hand 81 to the home position Q3. In response to the second image IM2 being tapped or clicked, or in response to the second image IM2 being tapped or clicked and then a hard button being operated, the robot control unit 9 controls the robot 8 so that the robot hand 81 moves from the interference detection position Q1, via the retracted position Q2, to the home position Q3.

[0114] (Stop button E6) As illustrated in Figure 30, the machine tool system 1 may be equipped with a stop button E6 for forcibly stopping the movement of the robot hand 81. The stop button E6 may be provided on the numerical control device 6, on the robot control device 9, or on a device separate from the numerical control device 6 and the robot control device 9.

[0115] After the stop button E6 is pressed, the computing unit E1 may execute the interference check simulation K1 described above. Furthermore, the execution of the interference check simulation K1 may detect the occurrence of the abnormal interference described above.

[0116] The processing performed by the computing unit E1 after the occurrence of the abnormal interference described above may be the same whether the occurrence of the abnormal interference described above is detected after the stop button E6 is pressed or without the stop button E6 being pressed. For example, if the occurrence of the abnormal interference described above is detected after the stop button E6 is pressed, the computing unit E1 may determine the retraction direction DR in which the robot hand 81 should retract, based on the type of robot hand 81, the open / closed state of the robot hand 81, and the open / closed state of the chuck 31.

[0117] As illustrated in Figure 40, if the occurrence of the abnormal interference described above is not detected by the execution of the interference check simulation K1 after the stop button E6 is operated, the computing unit E1 may consider the current position of the robot hand 81 to be the retracted position Q2 described above.

[0118] (Workpiece transfer operation between robot hand 81 and pallet PT) As illustrated in Figure 41, in a work transfer operation between the robot hand 81 and the pallet PT, after detecting an abnormal interference with the robot hand 81 or the workpiece W moving with the robot hand 81 (more specifically, after detecting an abnormal interference between the robot hand 81 or the workpiece W moving with the robot hand 81 and an object), the computing unit E1 may decide that the retraction direction in which the robot hand 81 should retract is the third direction DR3 described above (more specifically, the vertically upward direction). More specifically, in a work transfer operation between the robot hand 81 and the pallet PT, after detecting an abnormal interference with the robot hand 81 or the workpiece W moving with the robot hand 81, the computing unit E1 may decide that the retraction direction in which the robot hand 81 should retract is the third direction DR3 described above, regardless of the type of robot hand 81, the open / closed state of the robot hand 81, and the open / closed state of the chuck 31. The robot control device 9 may also control the robot 8 so that the robot hand 81 retracts in the third direction DR3.

[0119] In the example shown in Figure 42, the algorithm AG for determining the retraction direction DR of the robot hand 81 includes a third algorithm AG3 that, after the occurrence of the aforementioned abnormal interference is detected during the work transfer operation between the robot hand 81 and the pallet PT (more specifically, after the occurrence of the aforementioned abnormal interference is detected while the robot hand 81 is moving), determines the retraction direction DR in which the robot hand 81 should retract to the third direction DR3 (more specifically, the vertically upward direction).

[0120] In the example shown in Figure 42, the computing unit E1 executes the first algorithm AG1 described above as the algorithm AG for determining the retraction direction DR of the robot hand 81 when the type of robot hand 81 is the first robot hand 81a and the robot hand 81 is located inside the machine tool 2. In the example shown in Figure 42, the computing unit E1 executes the second algorithm AG2 described above as the algorithm AG for determining the retraction direction DR of the robot hand 81 when the type of robot hand 81 is the second robot hand 81b and the robot hand 81 is located inside the machine tool 2. In the example shown in Figure 42, the computing unit E1 executes the third algorithm AG3 described above as the algorithm AG for determining the retraction direction DR of the robot hand 81 when the robot hand 81 is located outside the machine tool 2.

[0121] (Second embodiment) The operation method of the machine tool system in the second embodiment will be described with reference to Figures 1 to 44. Figure 43 is a flowchart showing an example of the operation method of the machine tool system in the second embodiment. Figure 44 is a flowchart showing another example of the operation method of the machine tool system in the second embodiment.

[0122] The second embodiment will primarily describe the differences from the first embodiment. On the other hand, the second embodiment will omit repetitive explanations of matters already described in the first embodiment. Therefore, it goes without saying that even if not explicitly explained in the second embodiment, matters already described in the first embodiment can be applied to the second embodiment. Furthermore, matters described in the second embodiment can also be adopted in the first embodiment.

[0123] The operation method of the machine tool system in the second embodiment may be performed using the machine tool system 1 in the first embodiment, or using other machine tool systems. Since the machine tool system 1 has already been described in the first embodiment, a repeated explanation of the machine tool system 1 will be omitted.

[0124] As illustrated in Figures 3, 5, 7, 9, 15, 18, 20, 22, and 43, abnormal interference is detected in the first step ST1. The first step ST1 is a detection step. In the detection step (first step ST1), abnormal interference is detected between the robot hand 81 of the robot 8 and the chuck 31 of the machine tool 2 during the workpiece transfer operation, specifically between the robot hand 81 or the workpiece W moving with the robot hand 81. More specifically, this abnormal interference is abnormal interference between the robot hand 81 or the workpiece W moving with the robot hand 81 and an object.

[0125] The abnormal interference may be abnormal contact between the robot hand 81, or the workpiece W moving with the robot hand 81, and an object (e.g., the chuck 31 of the machine tool 2). Alternatively, or additionally, the abnormal interference may be the entry of an object (e.g., the chuck 31 of the machine tool 2) into an interference check area R set up around the robot hand 81.

[0126] The detection of the abnormal interference is performed while the robot hand 81 is moving. Additionally, the detection of the abnormal interference may be performed after the movement of the robot hand 81 is forcibly stopped by operating the stop button E6.

[0127] The operation method of the machine tool system in the second embodiment includes a loading step of loading a workpiece W into the machine tool 2 using a robot hand 81, and the loading step may include the workpiece transfer operation described above. In this case, the workpiece transfer operation includes the operation of transferring the workpiece W from the robot hand 81 to the chuck 31. More specifically, the workpiece transfer operation includes (1) changing the state of the robot hand 81 from a first open state to a first closed state so that the workpiece W is grasped by the robot hand 81 of the robot 8, (2) transporting the workpiece W to the chuck 31 of the machine tool 2 by moving the robot hand 81, (3) changing the state of the chuck 31 from a second open state to a second closed state so that the workpiece W is grasped by both the robot hand 81 and the chuck 31, and (4) changing the state of the robot hand 81 from the first closed state described above to the first open state described above so that the grip of the workpiece W by the robot hand 81 is released.

[0128] The operation method of the machine tool system in the second embodiment includes an unloading step of unloading the workpiece W from the machine tool 2 using the robot hand 81, and the unloading step may include the workpiece transfer operation described above. In this case, the workpiece transfer operation includes the operation of transferring the workpiece W from the chuck 31 to the robot hand 81. More specifically, the workpiece transfer operation includes (1) moving the robot hand 81 of the robot 8 toward the workpiece W held by the chuck 31 of the machine tool 2, (2) changing the state of the robot hand 81 from a first open state to a first closed state so that the workpiece W is held by both the chuck 31 and the robot hand 81, (3) changing the state of the chuck 31 from a second closed state to a second open state so that the grip of the workpiece W by the chuck 31 is released, and (4) transporting the workpiece W to the outside of the machine tool 2 by moving the robot hand 81.

[0129] As illustrated in Figures 11, 12, 42, and 43, the retraction direction DR of the robot hand 81 is determined in the second step ST2. The second step ST2 is the retraction direction determination step. The retraction direction determination step (second step ST2) is performed after the occurrence of the abnormal interference described above is detected. In the retraction direction determination step (second step ST2), the retraction direction DR of the robot hand 81 is determined based on the type of robot hand 81, the open / closed state of the robot hand 81, and the open / closed state of the chuck 31.

[0130] As illustrated in Figures 4, 6, 8, 10, 24, and 43, in the third step ST3, the robot hand 81 is retracted in the retraction direction DR determined in the retraction direction determination step. The third step ST3 is a retraction step. The retraction step (third step ST3) is performed after the retraction direction DR of the robot hand 81 has been determined.

[0131] In the operation method of the machine tool system in the second embodiment, after abnormal interference is detected during the execution of a workpiece transfer operation between the robot hand 81 and the chuck 31, the retraction direction DR of the robot hand 81 is determined based on the type of robot hand 81, the open / closed state of the robot hand 81, and the open / closed state of the chuck 31. Thus, the robot hand 81 can be retracted in an appropriate direction.

[0132] (Optional additional configuration) Next, with reference to Figures 1 to 44, optional additional configurations that can be adopted in the operation method of the machine tool system in the second embodiment will be described.

[0133] (Robot 8) As illustrated in Figures 1 and 2, the robot 8 includes an articulated arm 85 to which robot hands 81 (e.g., a first robot hand 81a, a second robot hand 81b, and other robot hands) can be attached. In the example shown in Figure 1, the first robot hand 81a grips a first type of workpiece W1 (more specifically, a chuck workpiece Wc). In the example shown in Figure 2, the second robot hand 81b grips a second type of workpiece W2 (more specifically, a shaft workpiece Ws). The robot 8, robot hands 81, the first robot hand 81a, the second robot hand 81b, and the articulated arm 85 have been described in the first embodiment, so a repetitive description of these configurations will be omitted.

[0134] (Machine tool 2) As illustrated in Figure 26, the machine tool 2 includes a workpiece support device 3 having a chuck 31 for gripping a workpiece W and a rotary drive device 38 for rotating the chuck 31 around a first axis AX1, a machining head 4 capable of holding a tool T, a moving device 5 for moving the machining head 4 relative to the workpiece support device 3, and a numerical control device 6 that controls at least the rotary drive device 38 and the moving device 5. The machine tool 2, workpiece support device 3, machining head 4, moving device 5, and numerical control device 6 have already been described in the first embodiment, so a repetitive description of these components will be omitted.

[0135] (Display of the first image IM1) As illustrated in Figure 37, the operation method of the machine tool system in the second embodiment may include a step of displaying a first image IM1 (e.g., first icon IM1-1) on a display E3 (e.g., first display 63 of the numerical control device 6) (hereinafter referred to as the "first display step") which accepts the start of the execution of a series of processes from the detection of the occurrence of the abnormal interference described above until the robot hand 81 is returned to the home position Q3.

[0136] (Displaying the size data of work W) As illustrated in Figure 38, the operation method of the machine tool system in the second embodiment may include a step of displaying size data of the workpiece W to be grasped by the robot hand 81 (more specifically, numerical data indicating the size of the workpiece W to be grasped by the robot hand 81) on the display E3 (for example, the first display 63 of the numerical control device 6) (hereinafter referred to as the "second display step") after the occurrence of the above-mentioned abnormal interference is detected (more specifically, after an instruction to start the execution of a series of processes until the robot hand 81 is returned to the home position Q3 is input via the input device E4). By displaying the size data of the workpiece W to be grasped by the robot hand 81 on the display E3, the operator can confirm whether or not the workpiece W has been mistakenly selected.

[0137] (Evacuation direction determination process) As illustrated in Figures 11, 12, and 42, the operation method of the machine tool system in the second embodiment (more specifically, the retraction direction determination step described above) may include executing an algorithm AG for determining the retraction direction DR of the robot hand 81. The algorithm AG is executed by a computing device E1 (for example, the first computing device 61 of the numerical control device 6, the second computing device 91 of the robot control device 9, or the computing device 111 of the computer 11).

[0138] The algorithm AG described above may include a first algorithm AG1 which determines a first retraction direction DRa in which the first robot hand 81a should retract after detecting the occurrence of the above-mentioned abnormal interference during a workpiece transfer operation between the first robot hand 81a and the chuck 31, and a second algorithm AG2 which determines a second retraction direction DRb in which the second robot hand 81b should retract after detecting the occurrence of the above-mentioned abnormal interference during a workpiece transfer operation between the second robot hand 81b and the chuck 31.

[0139] Additionally, the algorithm AG described above may include a third algorithm AG3 that, after detecting the occurrence of the abnormal interference described above during the work transfer operation between the robot hand 81 and the pallet PT, determines the retraction direction DR in which the robot hand 81 should retract to be the third direction DR3 described above (more specifically, the vertically upward direction).

[0140] In the examples shown in Figures 12 and 42, the method of operating the machine tool system in the second embodiment (more specifically, the retraction direction determination step described above) comprises: (1) the step of acquiring first data DA1 indicating the type of robot hand 81, second data DA2 indicating whether the state of the robot hand 81 is open or closed, and third data DA3 indicating whether the state of the chuck 31 is open or closed; and (2) the step of the calculation unit E1 determining the retraction direction DR of the robot hand 81 based on the first data DA1, the second data DA2, and the third data DA3.

[0141] In the example shown in Figure 42, the method of operating the machine tool system in the second embodiment (more specifically, the retraction direction determination step described above) comprises: (1) the step of acquiring fourth data indicating whether the robot hand 81 is located inside the machine tool 2, first data DA1 indicating the type of robot hand 81, second data DA2 indicating whether the state of the robot hand 81 is open or closed, and third data DA3 indicating whether the state of the chuck 31 is open or closed; and (2) the step of the calculation unit E1 determining the retraction direction DR of the robot hand 81 based on the fourth data, first data DA1, second data DA2, and third data DA3 described above.

[0142] If the robot hand 81 is located outside the machine tool 2, the third algorithm AG3 described above is executed. More specifically, if the robot hand 81 is located outside the machine tool 2, the retraction direction DR in which the robot hand 81 should retract is determined to be the third direction DR3 (more specifically, the vertically upward direction).

[0143] If the robot hand 81 is located inside the machine tool 2 and the type of robot hand 81 is the first robot hand 81a, the first algorithm AG1 described above is executed. More specifically, if the robot hand 81 is located inside the machine tool 2 and the type of robot hand 81 is the first robot hand 81a, the retraction direction DR in which the robot hand 81 should retract is determined to be the first direction DR1 (more specifically, the +Z direction).

[0144] If the robot hand 81 is located inside the machine tool 2 and the type of robot hand 81 is the second robot hand 81b, the second algorithm AG2 described above is executed. More specifically, if the robot hand 81 is located inside the machine tool 2, the type of robot hand 81 is the second robot hand 81b, the state of the robot hand 81 is closed (more specifically, the state in which the robot hand 81 is gripping the workpiece W), and the state of the chuck 31 is open (more specifically, the state in which the chuck 31 is not gripping the workpiece W), then the retraction direction DR in which the robot hand 81 should retract is determined to be the first direction DR1 (more specifically, the +Z direction). Furthermore, if the robot hand 81 is located inside the machine tool 2, the type of robot hand 81 is the second robot hand 81b, the state of the robot hand 81 is open (more specifically, the state in which the robot hand 81 is not gripping the workpiece W), and the state of the chuck 31 is closed (more specifically, the state in which the chuck 31 is gripping the workpiece W), then the retraction direction DR in which the robot hand 81 should retract is determined to be the second direction DR2 (more specifically, the +X direction).

[0145] The retraction direction determination step (second step ST2) may be performed by the numerical control device 6 of the machine tool 2. In this case, the numerical control device 6 determines the retraction direction DR in which the robot hand 81 should retract, based on the third data DA3 (i.e., the third data DA3 indicating whether the state of the chuck 31 is open or closed) stored in the first memory 62 of the numerical control device 6, the first data DA1 (i.e., the first data DA1 indicating the type of robot hand 81) received from the robot control device 9, and the second data DA2 (i.e., the second data DA2 indicating whether the state of the robot hand 81 is open or closed) received from the robot control device 9.

[0146] Alternatively, the retraction direction determination step (second step ST2) may be performed by the robot control device 9. In this case, the robot control device 9 determines the retraction direction DR in which the robot hand 81 should retract, based on the first data DA1 and the second data DA2 described above, which are stored in the second memory 92 of the robot control device 9, and the third data DA3 described above, which is received from the numerical control device 6 of the machine tool 2.

[0147] Alternatively, the retraction direction determination step (second step ST2) may be performed by a computer 11, which is provided separately from the numerical control device 6 and the robot control device 9. In this case, the computer 11 determines the retraction direction DR in which the robot hand 81 should retract, based on the first data DA1 and the second data DA2 received from the robot control device 9, and the third data DA3 received from the numerical control device 6 of the machine tool 2.

[0148] (Evacuation distance derivation process) As illustrated in Figure 44, after the retraction direction determination step (second step ST2), in the third step ST103, the retraction distance L at which the robot hand 81 should retract in the retraction direction DR may be derived. The third step ST103 is the retraction distance derivation step. The retraction distance derivation step may be performed by the arithmetic unit E1 executing the distance derivation algorithm AH stored in memory E2.

[0149] In the examples shown in Figures 15 to 23, the retraction distance derivation step (third step ST103) includes performing an interference check simulation K1 to check for interference between the interference check area R set around the robot hand 81 and at least the element EL of the machine tool 2, and using the interference check simulation K1 to derive the retraction distance L that the robot hand 81 should retract in the retraction direction DR.

[0150] More specifically, the retraction distance derivation step (third step ST103) includes using interference check simulation K1 to derive the retraction distance L (see Figures 15, 18, 20, and 22) over which the robot hand 81 should retract in the retraction direction DR, based on the region model MR of the interference check region R and the machine model M2 of the machine tool 2 (for example, the chuck model M31, which is the shape model of the chuck 31). More specifically, the retraction distance derivation step (third step ST103) includes deriving the distance ML (see Figures 17, 19, 21, and 23) that the region model MR should move in the retraction direction DR to resolve interference between the region model MR and the machine model M2, which is derived based on the current state of the robot hand 81 and the machine tool 2, in the simulation space KS, and deriving the corresponding retraction distance L (see Figures 15, 18, 20, and 22) in real space.

[0151] The aforementioned movement distance ML (see Figures 17, 19, 21, and 23) can be derived, for example, by repeatedly moving the domain model MR in the retraction direction DR by a predetermined distance in the simulation space KS until the interference between the domain model MR and the machine model M2 is resolved.

[0152] Since the interference check simulation K1 has already been described in the first embodiment, a repeated explanation of the interference check simulation K1 will be omitted.

[0153] The retraction distance calculation step (third step ST103) is performed by the numerical control device 6 of the machine tool 2. Alternatively, the retraction distance calculation step (third step ST103) may be performed by the robot control device 9. Further alternatively, the retraction distance calculation step (third step ST103) may be performed by a computer 11 provided separately from the numerical control device 6 and the robot control device 9.

[0154] (Display of the second image IM2) As illustrated in Figure 39, the operation method of the machine tool system in the second embodiment may include a step of displaying a second image IM2, which receives an instruction to execute a process to return the robot hand 81 to the home position Q3, on a display E3 (for example, the first display 63 of the numerical control device 6) (hereinafter referred to as the "third display step").

[0155] As illustrated in Figure 44, after the aforementioned retraction direction DR is determined and the aforementioned retraction distance L is derived, in the fourth step ST104, the robot hand 81 is moved to the home position Q3. The fourth step ST104 is the process of moving to the home position.

[0156] As illustrated in Figure 25, the process of moving to the home position (fourth step ST104) includes moving the robot hand 81 from the interference detection position Q1 (in other words, the position of the robot hand 81 when the occurrence of the abnormal interference described above is detected) to the home position Q3, via the retraction position Q2.

[0157] The step of moving to the home position (fourth step ST104) is performed, for example, after the execution of the retraction distance derivation step (third step ST103). More specifically, the step of moving to the home position (fourth step ST104) is performed in response to the tapping or clicking of the second image IM2 (see Figure 39), or in response to the tapping or clicking of the second image IM2 followed by the operation of a hard button.

[0158] The process of moving to the home position (fourth step ST104) may include (1) transmitting data including the above-mentioned retraction direction DR and the above-mentioned retraction distance L to the robot control device 9, and (2) the robot control device 9, upon receiving the data, moving the robot hand 81 from the interference detection position Q1 (in other words, the position of the robot hand 81 when the occurrence of the above-mentioned abnormal interference is detected) to the home position Q3 via the retraction position Q2. When the numerical control device 6 determines the above-mentioned retraction direction DR and derives the above-mentioned retraction distance L, the data including the above-mentioned retraction direction DR and the above-mentioned retraction distance L is transmitted from the numerical control device 6 to the robot control device 9.

[0159] In the example shown in Figure 44, the robot hand 81 can be retracted in the appropriate direction, and the robot hand 81 can be efficiently returned from the interference detection position Q1, via the retraction position Q2, to the home position Q3.

[0160] (Program PG) The program PG in this embodiment is a program that causes the machine tool system 1 (more specifically, the computing device E1 of the machine tool system 1) to execute a method comprising: (1) in a work transfer operation between the robot hand 81 of the robot 8 and the chuck 31 of the machine tool 2, after detecting the occurrence of abnormal interference with the robot hand 81 or the workpiece W moving together with the robot hand 81, acquiring first data DA1 indicating the type of robot hand 81, second data DA2 indicating whether the state of the robot hand 81 is open or closed, and third data DA3 indicating whether the state of the chuck 31 is open or closed; and (2) determining the retraction direction DR of the robot hand 81 based on the first data DA1, the second data DA2, and the third data DA3.

[0161] In this embodiment, the program PG may cause the machine tool system 1 (more specifically, the calculation unit E1 of the machine tool system 1) to perform the step of deriving the retraction distance L that the robot hand 81 should retract in the retraction direction DR using the interference check simulation K1 (more specifically, the retraction distance derivation step (third step ST103) described above).

[0162] In the embodiment, the program PG may cause the machine tool system 1 to perform the step of moving the robot hand 81 to the home position Q3 (more specifically, the step of moving to the home position described above (fourth step ST104)). More specifically, the program PG in the embodiment may cause the machine tool system 1 to perform the following steps: (1) transmit data including the retraction direction DR and the retraction distance L described above to the robot control device 9; and (2) based on the data, cause the robot control device 9 to move the robot hand 81 from the interference detection position Q1 (in other words, the position of the robot hand 81 when the occurrence of the abnormal interference described above is detected) to the home position Q3 via the retraction position Q2.

[0163] In this embodiment, the program PG may cause the machine tool system 1 to execute the first process U1 described above, the second process U2 described above, the third process U3 described above, and the fourth process U4 described above. Since the first process U1, the second process U2, the third process U3, and the fourth process U4 have already been explained, a repetitive explanation of these processes will be omitted.

[0164] In this embodiment, the program PG may be divided into multiple subprograms.

[0165] The program PG may include the algorithm AG described above for determining the retraction direction DR of the robot hand 81. The program PG may also include the distance derivation algorithm AH described above for deriving the retraction distance L from the interference detection position Q1 to the retraction position Q2.

[0166] In this embodiment, the program PG may be stored in a distributed manner between the first memory 62 of the numerical control device 6 and the second memory 92 of the robot control device 9. For example, the program PG in this embodiment may include (1) a first program PG1 that derives data including the retraction direction DR and the retraction distance L mentioned above, and (2) a second program PG2 that causes the machine tool system 1 to perform the following steps based on the data: moving the robot hand 81 from the interference detection position Q1, via the retraction position Q2, to the home position Q3. Alternatively, the first program PG1 may be stored in the first memory 62 of the numerical control device 6, and the second program PG2 may be stored in the second memory 92 of the robot control device 9.

[0167] The memory E2 mentioned in the first embodiment (e.g., the first memory 62, the second memory 92, and / or the memory 112 of the computer 11) may be a non-volatile storage medium (more specifically, a non-temporary computer-readable storage medium) on which the above-mentioned program PG is recorded. The non-volatile storage medium on which the above-mentioned program PG is recorded may be a portable storage medium E20, as illustrated in Figure 45.

[0168] In this embodiment, the program PG, when executed by the machine tool system 1, produces the same effects as the operation method of the machine tool system 1 in the first embodiment or the machine tool system in the second embodiment.

[0169] The present invention is not limited to the embodiments or modifications described above, and it is clear that each embodiment or modification can be appropriately modified or changed within the scope of the technical concept of the present invention. Furthermore, the various technologies used in each embodiment or modification can be applied to other embodiments or other modifications, as long as no technical inconsistencies arise. In addition, any optional additional configurations in each embodiment or modification can be omitted as appropriate. [Explanation of symbols]

[0170] 1...Machine tool system, 2...Machine tool, 3...Workpiece support device, 4...Machining head, 5...Moving device, 6...Numerical control device, 8...Robot, 9...Robot control device, 11...Computer, 17...Tool changer, 18...Tailstock, 19...Tailstock moving device, 31...Chuck, 32...Chuck body, 33...Jaws, 34...Jaw drive device, 37...Support, 38...Rotation drive device, 48...Tool rotation device, 51...First moving device, 52...Second moving device, 53...Third moving device, 57...Tilting device, 61...First arithmetic unit, 61a...Processor, 62...First memory, 63...First display, 64...First input device, 64a...Touch panel, 64b...Button, 66...First communication circuit, 67...Bus, 71...Wall, 72...Door, 73...Door moving device, 81...Robot hand, 81a...First robot hand, 81b...Second robot hand, 85...Articulated arm, 91...Second arithmetic unit, 91a...Processor, 92...Second memory, 93...Second display, 94...Second input device, 94a...Touch panel, 94b...Button, 96...Second communication circuit, 97...Bus, 111...Arithmetic unit, 112...Memory, 113...Display, 811...Gripping unit, 811p...Gripping piece, 813 ...base, 815...gripping part drive device, 818...second gripping part, 851...tip arm, 851a...mounting part, 851b...first support part, 852...first arm, 852a...first part, 852b...second support part, 853...second arm, 854...third support part, 861...first joint, 862...second joint, 863...third joint, AC1...first tilting axis, AC2...second tilting axis, AC3...third tilting axis, AG...algorithm, AG1...first algorithm, AG2...second algorithm, AG3...third algorithm, AH...distance derivation algorithm, AT1...first pivot axis, AT2...second pivot axis, AT 3...Third pivot axis, AX1...First axis, AX2...Second axis, AX3...Third axis, C1...Gripping center axis, C2...Workpiece center axis, DA1...First data, DA2...Second data, DA3...Third data, DD1...Retraction direction data, DD2...Retraction distance data, DE1...Multiple angle data, DE2...Workpiece shape data, DR...Retraction direction, DR1...First direction, DR2...Second direction, DR3...Third direction, DRa...First retraction direction, DRb...Second retraction direction, DT1...Claw shape data, DT2...First angle data, E1...Calculation unit, E2...Memory, E20...Portable storage medium, E3...Display,E4…Input device, E5…Sensor, E6…Stop button, EL…Machine tool element, IM1…First image, IM1-1…First icon, IM2…Second image, K1…Interference check simulation, KS…Simulation space, L…Retraction distance, L1…First retraction distance, L2…Second retraction distance, L3…Third retraction distance, L4…Fourth retraction distance, M2…Machine model, M31…Chuck model, ML…Travel distance, MR…Region model, MT…Motor, MT1…First motor, MT2…Second motor, MT3…Third motor, MT4…Fourth motor, MT5…Fifth motor, MT6…Sixth motor T, OP...Opening, P1...Open position, P2...Closed position, PG...Program, PG1...First program, PG2...Second program, PM...Machining program, PT...Palette, Q1...Interference detection position, Q2...Retracted position, Q3...Home position, R...Interference check area, SA...Control command for group 1, SB...Control command for group 2, T...Tool, T1...Turning tool, T2...Second tool, U1...First process, U2...Second process, U3...Third process, U4...Fourth process, W...Workpiece, W1...First type workpiece, W2...Second type workpiece, Wc...Chuck workpiece, Ws...Shaft workpiece,

Claims

1. A machine tool that processes a workpiece held in a chuck, A robot that uses a robotic hand to transport the workpiece to the chuck, In a workpiece transfer operation between the robot hand and the chuck, after detecting the occurrence of abnormal interference with the robot hand or the workpiece moving together with the robot hand, a calculation device determines the retraction direction in which the robot hand should retract based on the type of the robot hand, the open / closed state of the robot hand, and the open / closed state of the chuck. A robot control device controls the robot so that the robot hand retracts in the retraction direction, Equipped with Machine tool systems.

2. The robot is equipped with a multi-jointed arm to which the robot hand can be attached, The multi-joint arm can be fitted with a first robot hand capable of gripping the first type of workpiece. A second robot hand capable of gripping the second type of workpiece can be attached to the aforementioned articulated arm. The aforementioned computing device is capable of executing the algorithm for determining the retraction direction, The aforementioned algorithm is A first algorithm for determining a first retraction direction in which the first robot hand should retract after the occurrence of the abnormal interference is detected during the workpiece transfer operation between the first robot hand and the chuck, A second algorithm determines a second retraction direction in which the second robot hand should retract after the occurrence of the abnormal interference is detected during the workpiece transfer operation between the second robot hand and the chuck. including The machine tool system according to claim 1.

3. The computing device that executes the first algorithm determines the first retraction direction to be a first direction away from the chuck along the rotation axis of the chuck when the first robot hand is in a closed state and the chuck is in an open state. The computing device that executes the first algorithm determines the first retraction direction to be the first direction away from the chuck along the rotation axis of the chuck when the first robot hand is in an open state and the chuck is in a closed state. The machine tool system according to claim 2.

4. The computing device executing the second algorithm determines the second retraction direction to be a first direction away from the chuck along the rotation axis of the chuck when the second robot hand is in a closed state and the chuck is in an open state. The computing device executing the second algorithm determines the second retraction direction to be a second direction different from the first direction when the second robot hand is in an open state and the chuck is in a closed state. The machine tool system according to claim 2.

5. The workpiece of the first type is a chuck workpiece, The workpiece of the second type is a shaft workpiece. The machine tool system according to claim 2.

6. The computing device is capable of performing interference check simulations to check for interference between an interference check area set around the robot hand and at least the elements of the machine tool. The computing device uses the interference check simulation to derive the retreat distance that the robot hand should retreat in the retreat direction, The robot control device controls the robot so that the robot hand moves in the retraction direction by the retraction distance. A machine tool system according to any one of claims 1 to 5.

7. The robot hand is further equipped with a stop button to forcibly stop its movement. After the stop button is pressed, the computing device executes the interference check simulation. The machine tool system according to claim 6.

8. When defined as the third direction extending from the gripping region defined by the gripping portion of the robot hand toward the base of the robot hand, the third direction is substantially parallel to the workpiece central axis of the first type of workpiece gripped by the first robot hand. The central axis of the workpiece of the second type of workpiece grasped by the second robot hand is substantially perpendicular to the third direction. The machine tool system according to any one of claims 2 to 5.

9. The aforementioned machine tool is equipped with a tailstock, When the second retraction direction is determined to be the second direction, the robot control device controls the robot so that the robot hand retracts in the second direction relative to the second type of workpiece supported by the chuck and the tailstock. The machine tool system according to claim 4.

10. The system further comprises a display that shows the size data of the workpiece to be grasped by the robot hand after the occurrence of the abnormal interference has been detected. A machine tool system according to any one of claims 1 to 5.

11. In the workpiece transfer operation between the robot hand and the pallet, after the occurrence of the abnormal interference is detected, the computing device determines that the retraction direction is a third direction from the gripping area defined by the gripping portion of the robot hand toward the base of the robot hand. The robot control device controls the robot so that the robot hand retracts in the third direction. A machine tool system according to any one of claims 1 to 5.

12. The aforementioned machine tool is A workpiece support device having the chuck and a rotational drive device for rotating the chuck around a first axis, A machining head that holds the tool, A moving device for moving the processing head relative to the workpiece support device, The rotary drive device and the numerical control device that controls the moving device Equipped with, The robot control device is First data indicating the type of the robot hand, The second data indicates whether the state of the robot hand is open or closed. Remember this, The numerical control device stores third data indicating whether the chuck is in an open or closed state. The calculation device determines the retraction direction of the robot hand based on the first data, the second data, and the third data. A machine tool system according to any one of claims 1 to 5.

13. The numerical control device includes the arithmetic unit, The calculation device determines the retraction direction of the robot hand based on the third data stored in the numerical control device and the first and second data received by the numerical control device from the robot control device. The machine tool system according to claim 12.

14. A step of detecting the occurrence of abnormal interference with the robot hand or the workpiece moving together with the robot hand during a workpiece transfer operation between the robot hand and the chuck of a machine tool, After the occurrence of the abnormal interference is detected, a step is taken to determine the retraction direction of the robot hand based on the type of robot hand, the open / closed state of the robot hand, and the open / closed state of the chuck. The process of retracting the robot hand in the retraction direction Equipped with The operation method of a machine tool system.

15. In a workpiece transfer operation between a robot's robot hand and a machine tool's chuck, after detecting the occurrence of abnormal interference with the robot hand or the workpiece moving together with the robot hand, the process of acquiring first data indicating the type of the robot hand, second data indicating whether the state of the robot hand is open or closed, and third data indicating whether the state of the chuck is open or closed, A step of determining the retraction direction of the robot hand based on the first data, the second data, and the third data. A program for causing a machine tool system to execute a method that includes the following.

Images