Machine tool system, operation method for machine tool system, and program

Abstract

A machine tool system, a method for operating the machine tool system, and a program are provided that enable a robot hand to retreat in an appropriate direction after abnormal interference occurs. [Solution] The machine tool system comprises a machine tool that processes a workpiece held in a chuck, a robot that uses a robot hand to transport the workpiece to the chuck, a computing device that determines the direction in which the robot hand should retreat based on the type of robot hand, the open / closed state of the robot hand, and the open / closed state of the chuck after abnormal interference with the robot hand or a workpiece moving together with the robot hand is detected during the workpiece transfer operation between the robot hand and the chuck, and a robot control device that controls the robot so that the robot hand retreats in the retreat direction.

Description

[Technical Field]

[0001] The present invention relates to a machine tool system, an operating method for the machine tool system, and a program. [Background technology]

[0002] 2. Description of the Related Art Techniques for detecting interference between a machine tool and a robot are known.

[0003] As a related technique, an industrial robot is disclosed in Patent Document 1. The industrial robot described in Patent Document 1 includes a detection means for detecting interference between a robot hand unit and a target device, a control means for enabling or disabling the detection means depending on the operation of the robot hand unit, and a stop means for stopping the robot hand unit when the detection means detects interference when the detection means is enabled. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 61-203293 Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a machine tool system, a method of operating the machine tool system, and a program that enable a robot hand to be retracted in an appropriate direction after abnormal interference occurs. [Means for solving the problem]

[0006] An embodiment of the present invention relates to a machine tool system, an operating method of the machine tool system, and a program as described below.

[0007] (1) a machine tool that processes a workpiece held by a chuck; a robot that transports the workpiece to the chuck using a robot hand; a computing device that determines a retraction direction in which the robot hand should retract, based on the type of the robot hand, the open / close state of the robot hand, and the open / close state of the chuck, after 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; a robot control device that controls the robot so that the robot hand retreats in the retreat direction; Equipped with Machine tool systems. (2) The robot includes an articulated arm to which the robot hand can be attached, a first robot hand capable of grasping the first type of workpiece can be attached to the articulated arm; a second robot hand capable of grasping the second type of workpiece can be attached to the articulated arm; the computing device is capable of executing an algorithm for determining the evacuation direction; The algorithm is: a first algorithm that determines 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 for determining 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; Contains The machine tool system according to (1) above. (3) the computing device that executes the first algorithm determines, when the first robot hand is in a closed state and the chuck is in an open state, the first retraction direction to be a first direction away from the chuck along a rotation axis of the chuck; 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 (2) above. (4) the computing device 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 device that executes 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 (2) above. (5) The first type of workpiece is a chuck workpiece, The second type of workpiece is a shaft workpiece. A machine tool system according to any one of (2) to (4) above. (6) The arithmetic unit is capable of executing an interference check simulation to check for interference between an interference check region set around the robot hand and at least an element of the machine tool; the arithmetic device derives a retraction distance by which the robot hand should retract in the retraction direction using the interference check simulation; 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 (1) to (5) above. (7) A stop button is further provided to forcibly stop the movement of the robot hand, After the stop button is operated, the arithmetic unit executes the interference check simulation. The machine tool system according to (6) above. (8) When a third direction is defined as a direction from a gripping area defined by a gripping portion of the robot hand toward a base of the robot hand, the third direction is substantially parallel to a workpiece central axis of the first type of workpiece gripped by the first robot hand, The central axis of the second type of workpiece gripped by the second robot hand is substantially perpendicular to the third direction. A machine tool system according to any one of (2) to (5) above. (9) The machine tool includes 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 (4) above. (10) The method further comprises a display that displays size data of the workpiece to be grasped by the robot hand after the occurrence of the abnormal interference is detected. A machine tool system according to any one of (1) to (9) above. (11) After the occurrence of the abnormal interference is detected during the workpiece transfer operation between the robot hand and the pallet, the arithmetic device determines that the retraction direction is a third direction from a gripping area defined by a gripping portion of the robot hand toward a base of the robot hand, The robot control device controls the robot so that the robot hand retreats in the third direction. A machine tool system according to any one of (1) to (7) above. (12) The machine tool is a workpiece supporting device having the chuck and a rotation drive device that rotates the chuck around a first axis; a machining head for holding a tool; a moving device that moves the processing head relative to the workpiece supporting device; a numerical control device that controls the rotation drive device and the movement device; Equipped with The robot control device First data indicating the type of the robot hand; second data indicating whether the state of the robot hand is in an open state or a closed state; Remember, 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 retreat 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 (1) to (11) above. (13) The numerical control device includes the arithmetic unit, The arithmetic unit determines the retraction direction of the robot hand based on the third data stored in the numerical control device and the first data and the second data received by the numerical control device from the robot control device. The machine tool system according to (12) above. (14) a step of detecting occurrence of abnormal interference with the robot hand or a workpiece moving together with the robot hand during a workpiece transfer operation between the robot hand and a chuck of a machine tool; 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 after the occurrence of the abnormal interference is detected; a step of retracting the robot hand in the retraction direction; Equipped with A method for operating a machine tool system. (15) In a workpiece transfer operation between a robot hand of a robot and a chuck of a machine tool, after detecting the occurrence of abnormal interference with the robot hand or a workpiece moving together with the robot hand, a 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; determining a retreat 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 comprising the steps of: [Effects of the Invention]

[0008] The present invention can provide a machine tool system, a method of operating a machine tool system, and a program that enable a robot hand to retreat in an appropriate direction after abnormal interference occurs. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic perspective view showing a machine tool system according to a first embodiment. [Figure 2] FIG. 2 is a schematic perspective view illustrating the machine tool system according to the first embodiment. [Figure 3] FIG. 3 is a schematic perspective view showing a part of the machine tool system according to the first embodiment. [Figure 4] FIG. 4 is a schematic perspective view showing a part of the machine tool system according to the first embodiment. [Figure 5] FIG. 5 is a schematic perspective view showing a part of the machine tool system according to the first embodiment. [Figure 6] FIG. 6 is a schematic perspective view showing a part of the machine tool system according to the first embodiment. [Figure 7]FIG. 7 is a schematic perspective view showing a part of the machine tool system according to the first embodiment. [Figure 8] FIG. 8 is a schematic perspective view showing a part of the machine tool system according to the first embodiment. [Figure 9] FIG. 9 is a schematic perspective view showing a part of the machine tool system according to the first embodiment. [Figure 10] FIG. 10 is a schematic perspective view showing a part of the machine tool system according to the first embodiment. [Figure 11] FIG. 11 is a diagram schematically showing how the arithmetic device determines the retreat direction of the robot hand. [Figure 12] FIG. 12 is a diagram showing a table for explaining an algorithm for determining the retraction direction of the robot hand. [Figure 13] FIG. 13 is a schematic perspective view illustrating an example of a first robot hand. [Figure 14] FIG. 14 is a schematic perspective view illustrating an example of a second robot hand. [Figure 15] FIG. 15 is a schematic front view showing a part of the machine tool system according to the first embodiment. [Figure 16] FIG. 16 is a diagram schematically showing how an interference check simulation is being executed. [Figure 17] FIG. 17 is a diagram schematically showing how an interference check simulation is being executed. [Figure 18] FIG. 18 is a schematic front view showing a part of the machine tool system according to the first embodiment. [Figure 19] FIG. 19 is a diagram schematically showing how an interference check simulation is being executed. [Figure 20] FIG. 20 is a schematic front view showing a part of the machine tool system according to the first embodiment. [Figure 21] FIG. 21 is a diagram schematically showing how an interference check simulation is being executed. [Figure 22] FIG. 22 is a schematic cross-sectional view showing a part of the machine tool system according to the first embodiment. [Figure 23] FIG. 23 is a diagram schematically showing how an interference check simulation is being executed. [Figure 24] FIG. 24 is a schematic front view showing a part of the machine tool system according to the first embodiment. [Figure 25] FIG. 25 is a schematic perspective view illustrating a machine tool system according to the first embodiment. [Figure 26] FIG. 26 is a schematic front view showing a part of a machine tool. [Figure 27] FIG. 27 is a diagram schematically illustrating a state in which the tool changer is capable of exchanging a tool with another tool. [Figure 28] FIG. 28 is a diagram schematically illustrating a numerical control device. [Figure 29] FIG. 29 is a diagram schematically showing how the arithmetic device generates a machine model of a machine tool. [Figure 30] FIG. 30 is a diagram schematically illustrating a numerical control device. [Figure 31] FIG. 31 is a schematic perspective view showing an example of a robot. [Figure 32] FIG. 32 is a diagram schematically illustrating a robot control device. [Figure 33] FIG. 33 is a diagram schematically showing how the calculation device generates an area model of the interference check area. [Figure 34] FIG. 34 is a diagram schematically illustrating an example in which the robot control device includes a calculation device that determines the retraction direction of the robot hand. [Figure 35] FIG. 35 is a diagram schematically showing an example in which a computer provided separately from the numerical control device and the robot control device includes an arithmetic unit that determines the retraction direction of the robot hand. [Figure 36] FIG. 36 is a diagram schematically showing how the calculation device derives the retraction distance in the retraction direction. [Figure 37]FIG. 37 is a diagram schematically illustrating an example of an image displayed on the display. [Figure 38] FIG. 38 is a diagram schematically illustrating an example of an image displayed on the display. [Figure 39] FIG. 39 is a diagram schematically illustrating an example of an image displayed on the display. [Figure 40] FIG. 40 is a diagram schematically showing how an interference check simulation is performed after the stop button is operated. [Figure 41] FIG. 41 is a diagram schematically showing an example of a workpiece transfer operation between a robot hand and a pallet. [Figure 42] FIG. 42 is a diagram showing a table for explaining an algorithm for determining the retraction direction of the robot hand. [Figure 43] FIG. 43 is a flowchart showing an example of an operation method of the machine tool system in the second embodiment. [Figure 44] FIG. 44 is a flowchart showing another example of the operation method of the machine tool system in the second embodiment. [Figure 45] FIG. 45 is a diagram schematically illustrating an example of a nonvolatile storage medium on which a program is recorded. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, a machine tool system 1, an operation method of the machine tool system, and a program PG according to an embodiment will be described with reference to the drawings. In the following description of the embodiment, parts and members having the same functions are given the same reference numerals, and repeated description of parts and members given the same reference numerals will be omitted.

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

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

[0013] The machine tool 2 processes a workpiece W held by a chuck 31 .

[0014] The robot 8 transports the workpiece W to the chuck 31 using the robot hand 81 .

[0015] After the occurrence of abnormal interference is detected, the calculation device E1 determines the retraction direction DR in which the robot hand 81 should retract.

[0016] More specifically, after abnormal interference with the robot hand 81 or the workpiece W moving together with the robot hand 81 is detected during the workpiece transfer operation between the robot hand 81 and the chuck 31, the calculation device E1 determines the retreat direction DR in which the robot hand 81 should retreat 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 together with the robot hand 81 means interference between the workpiece W that moves together with the robot hand 81 and a part that should not interfere with the workpiece W.

[0018] 3, abnormal interference occurs with the workpiece W that moves together with the robot hand 81. More specifically, abnormal interference occurs between the workpiece W that moves together with the robot hand 81 and an element EL of the machine tool (more specifically, the jaws 33 of the chuck 31) (see arrow AR1).

[0019] 3, the type of the robot hand 81 is a first robot hand 81a of a first type, the state of the robot hand 81 is a closed state, and the state of the chuck 31 is an open state. In the example shown in Fig. 3, after the occurrence of abnormal interference with the robot hand 81 or the workpiece W moving together with the robot hand 81 is detected, the calculation device E1 determines the retraction direction DR in which the robot hand 81 should retract, to be the +Z direction, based on the type of the robot hand 81, the open / closed state of the robot hand 81, and the open / closed state of the chuck 31. Fig. 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 Fig. 5, abnormal interference occurs with the robot hand 81. More specifically, abnormal interference occurs between the robot hand 81 and the workpiece W (see arrow AR2).

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

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

[0023] 7, the type of the robot hand 81 is a second robot hand 81b of the second type, the state of the robot hand 81 is a closed state, and the state of the chuck 31 is an open state. In the example shown in Fig. 7, after the occurrence of abnormal interference with the robot hand 81 or the workpiece W moving together with the robot hand 81 is detected, the calculation device E1 determines the retraction direction DR in which the robot hand 81 should retract, to be the +Z direction, based on the type of the robot hand 81, the open / closed state of the robot hand 81, and the open / closed state of the chuck 31. Fig. 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 Fig. 9, abnormal interference occurs with the robot hand 81. More specifically, abnormal interference occurs between the robot hand 81 and the workpiece W (see arrow AR4).

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

[0026] The robot control device 9 controls the robot 8 so that the robot hand 81 retreats in the retreat direction DR determined by the arithmetic device E1. In the examples shown in FIGS. 4, 6, and 8, the robot control device 9 controls the robot 8 so that the robot hand 81 retreats in the +Z direction determined by the arithmetic device E1. In the example shown in FIG. 10, the robot control device 9 controls the robot 8 so that the robot hand 81 retreats in the +X direction determined by the arithmetic device E1.

[0027] In the machine tool system 1 of the first embodiment, after detecting the occurrence of abnormal interference with the robot hand 81 or the workpiece W moving together with the robot hand 81 during the workpiece transfer operation between the robot hand 81 and the chuck 31, the calculation device 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. Therefore, the robot control device 9 can retract the robot hand 81 in an appropriate direction.

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

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

[0030] (Algorithm AG) The arithmetic device E1 is capable of executing an algorithm AG for determining a retraction direction DR of the robot hand 81. After the occurrence of the abnormal interference described above is detected during the execution of a workpiece transfer operation between the robot hand 81 and the chuck 31, the arithmetic device E1 executes the algorithm AG. In the examples shown in FIGS. 11 and 12, the arithmetic device E1 executes the algorithm AG to determine the retraction direction DR in which the robot hand 81 should retract, based on the type of the robot hand 81 (more specifically, first data DA1 indicating the type of the robot hand 81), the open / closed state of the robot hand 81 (more specifically, second data DA2 indicating whether the state of the robot hand 81 is open or closed), and the open / closed state of the chuck 31 (more specifically, third data DA3 indicating whether the state of the chuck 31 is open or closed). In the example shown in FIG. 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] 12, the algorithm AG includes a first algorithm AG1 that determines a 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 is referred to as the "first retraction direction DRa."

[0032] 12, the algorithm AG includes a second algorithm AG2 that determines a 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 is referred to as the "second retraction direction DRb."

[0033] As illustrated in Figures 3 and 12, the calculation device E1 executing the first algorithm AG1 determines the 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 the first direction DR1 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 calculation device E1 executing the first algorithm AG1 determines the first retraction direction DRa in which the first robot hand 81a should retract when the first robot hand 81a is in an open state and the chuck 31 is in a closed state to be the first direction DR1 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 calculation device E1 executing the second algorithm AG2 determines the second retraction direction DRb in which the second robot hand 81b should retract when the second robot hand 81b is in a closed state and the chuck 31 is in an open state to be the first direction DR1 away from the chuck 31 along the first axis AX1, which is the rotation axis of the chuck 31.

[0036] 9 and 12, when the second robot hand 81b is in the open state and the chuck 31 is in the closed state, the calculation device E1 that executes the second algorithm AG2 determines the second retraction direction DRb in which the second robot hand 81b should retract to be a second direction DR2 different from the first direction DR1. The second direction DR2 is, for example, a direction that is 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 workpiece W2 (more specifically, the shaft workpiece Ws) supported by the chuck 31 and the tailstock 18 (see Figure 10).

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

[0039] (Robot Hand 81) 13 and 14, the robot hand 81 includes a gripper 811 that grips the workpiece W and a base 813 that supports the gripper 811. In the example shown in FIGS. 13 and 14, the gripper 811 includes a plurality of gripping pieces 811p. In the example shown in FIGS. 13 and 14, the robot hand 81 includes a gripper drive device 815 that moves the gripper 811 (more specifically, the plurality of gripping pieces 811p) in a direction toward the gripping central axis C1. The gripper drive device 815 moves the plurality of gripping pieces 811p in a direction toward the gripping central axis C1, thereby changing the state of the robot hand 81 from an open state to a closed state. When the robot hand 81 is in the closed state, the gripper 811 of the robot hand 81 grips the workpiece W. On the other hand, the gripper driving device 815 moves the multiple gripping pieces 811p in a direction away from the gripping central axis C1, thereby changing the state of the robot hand 81 from the closed state to the open state. When the robot hand 81 is in the open state, the gripper 811 of the robot hand 81 does not grip the workpiece W.

[0040] As illustrated in FIG. 13, the robot hand 81 may include a gripper 811 for gripping the workpiece W, as well as a second gripper 818 for gripping another workpiece. In this case, the robot hand 81 can simultaneously grip a workpiece before machining (i.e., an unmachined workpiece) and a machined workpiece (i.e., a machined workpiece). Alternatively, as illustrated in FIG. 14, the robot hand 81 may be capable of gripping only one workpiece. In the example illustrated in FIG. 13, the first robot hand 81a is a robot hand capable of gripping multiple workpieces simultaneously, and in the example illustrated in FIG. 14, the second robot hand 81b is a robot hand capable of gripping only one workpiece. In the example illustrated in FIG. 13, the first robot hand 81a grips the first-type workpiece W1 with three gripping pieces 811p. In the example illustrated in FIG. 14, the second robot hand 81b grips the 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 813 of the robot hand 81 is defined as the third direction DR3.

[0042] In the example shown in FIG. 13, the gripping central axis C1 of the multiple gripping pieces 811p of the first robot hand 81a (more specifically, the workpiece central 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)) is substantially parallel to the third direction DR3. In the example shown in FIG. 14, the gripping central axis C1 of the multiple gripping pieces 811p of the second robot hand 81b (more specifically, the workpiece central 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)) is substantially perpendicular to the third direction DR3.

[0043] 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] 13, the chuck workpiece Wc is a workpiece that is gripped by the first robot hand 81a so that the central axis of the chuck workpiece Wc and the above-mentioned third direction DR3 are substantially parallel to each other. The chuck workpiece Wc is a workpiece that is cantilevered by the chuck 31 (see FIG. 5) when the chuck workpiece Wc is machined by the machine tool 2, for example.

[0045] 14, the robot hand 81 (more specifically, the second robot hand 81b) grips a second type workpiece W2. The second type workpiece W2 is, for example, a shaft workpiece Ws.

[0046] 14, the shaft workpiece Ws is a workpiece that is grasped by the second robot hand 81b so that the longitudinal direction of the shaft workpiece Ws (more specifically, the longitudinal central axis of the shaft workpiece Ws) is substantially perpendicular to the above-mentioned third direction DR3. The shaft workpiece Ws is a workpiece in which, for example, one end of the shaft workpiece Ws is supported by the chuck 31 and the other end of the shaft workpiece Ws is supported by the tailstock 18 (see FIG. 9) when the shaft workpiece Ws is machined by the machine tool 2.

[0047] In the examples shown in Figures 3 to 12, after the occurrence of the above-mentioned abnormal interference is detected 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, the calculation device E1 can automatically determine the retraction direction DR in which the robot hand 81 should retract using the above-mentioned algorithm AG.

[0048] (Interference check simulation K1) The arithmetic device E1 is capable of executing an interference check simulation K1. In the interference check simulation K1, interference between an interference check region R (see FIGS. 15, 18, 20, and 22) set around the robot hand 81 and at least an element EL (e.g., chuck 31) of the machine tool 2 is checked by simulation. More specifically, as illustrated in FIG. 16, in the interference check simulation K1, interference between an area model MR of the interference check region R and a machine model M2 of the machine tool 2 (e.g., chuck model M31, which is a shape model of the chuck 31) is checked in a simulation space KS.

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

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

[0051] The calculation device E1 uses the interference check simulation K1 to derive a retraction distance L (see FIG. 15) by which the robot hand 81 should retract in the retraction direction DR. More specifically, as illustrated in FIGS. 15 to 17, the calculation device E1 derives the retraction distance L (see FIG. 15) in the retraction direction DR based on an area model MR of the interference check area R and a machine model M2 of the machine tool 2 (for example, a chuck model M31 which is a shape model of the chuck 31).

[0052] For example, the calculation device E1 derives, in the simulation space KS, a movement distance ML (see FIG. 17) by which the area model MR should move in the retraction direction DR in order to resolve the interference state between the area model MR and the machine model M2, which is derived based on the current state of the robot hand 81 and the current state of the machine tool 2. The calculation device E1 also derives a retraction distance L (see FIG. 15) in the real space that corresponds to the movement distance ML. The above-mentioned movement distance ML (see FIG. 17) can be derived, for example, by repeatedly moving the area model MR in the retraction direction DR by a predetermined distance in the simulation space KS until the interference state between the area model MR and the machine model M2 is resolved.

[0053] 15, when the type of robot hand 81 is a first robot hand 81a, the state of the robot hand 81 is closed, and the state of the chuck 31 is open, the calculation device E1 uses an interference check simulation K1 to derive a retraction distance L by which the first robot hand 81a should retract in the retraction direction DR (more specifically, the first direction DR1) based on an area model MR (see FIGS. 16 and 17) of the interference check area R and a machine model M2 (see FIGS. 16 and 17) of the machine tool 2. Hereinafter, the retraction distance L by which 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] 18, when the type of the robot hand 81 is a first robot hand 81a, the state of the robot hand 81 is open, and the state of the chuck 31 is closed, the calculation device E1 uses an interference check simulation K1 to derive a retraction distance L (see FIG. 18) by which the first robot hand 81a should retract in the retraction direction DR (more specifically, the first direction DR1) based on an area model MR (see FIG. 19) of the interference check area R and a machine model M2 of the machine tool 2. Hereinafter, the retraction distance L by which the first robot hand 81a in the open state should retract in the retraction direction DR (more specifically, the first direction DR1) will be referred to as the "second retraction distance L2." Note that in the example shown in FIG. 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 also be a purely machine model that does not include a model of the workpiece W held by the chuck 31.

[0055] 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 calculation device E1 uses an interference check simulation K1 to derive a retraction distance L (see FIG. 20) by which the second robot hand 81b should retract in the retraction direction DR (more specifically, the first direction DR1) based on an area model MR (see FIG. 21) of the interference check area R and a machine model M2 of the machine tool 2. Hereinafter, the retraction distance L by which 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] 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 calculation device E1 uses the interference check simulation K1 to derive a retraction distance L (see FIG. 22) by which the second robot hand 81b should retract in the retraction direction DR (more specifically, the second direction DR2) based on the area model MR (see FIG. 23) of the interference check area R and the machine model M2 of the machine tool 2. Hereinafter, the retraction distance L by which the second robot hand 81b in the open state 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 the retraction distance L (see FIGS. 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 in the retraction direction DR (more specifically, the first direction DR1) by the first retraction distance L1.

[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 in the retraction direction DR (more specifically, the first direction DR1) by the second retraction distance L2.

[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 in the retraction direction DR (more specifically, in the first direction DR1) by the third retraction distance L3.

[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 in the retraction direction DR (more specifically, the second direction DR2) by the fourth retraction distance L4.

[0062] 15 to 23, the execution of the interference check simulation K1 derives a retraction distance L for the robot hand 81 to retract in the retraction direction DR. By moving the robot hand 81 in the retraction direction DR by the retraction distance L, the abnormal interference described above is suitably resolved.

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

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

[0065] As illustrated in FIG. 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 non-linearly from the retraction position Q2 to the home position Q3. In the examples illustrated in FIGS. 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. The robot control device 9 then controls the robot 8 so that the robot hand 81 moves non-linearly from the retraction position Q2 to the home position Q3. In the examples illustrated in FIGS. 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. The robot control device 9 then controls the robot 8 so that the robot hand 81 moves non-linearly from the retraction position Q2 to the home position Q3.

[0066] The above-mentioned interference check simulation K1 is executed after the movement of the robot hand 81 is stopped due to the detection of the occurrence of the above-mentioned abnormal interference. The above-mentioned interference check simulation K1 may be executed after the movement of the robot hand 81 is stopped by an instruction from an operator. After the movement of the robot hand 81 is stopped, the robot hand 81 is maintained in a stopped state at least until the above-mentioned retraction direction DR is determined. After the movement of the robot hand 81 is stopped, the robot hand 81 may be maintained in a stopped state at least until the above-mentioned retraction direction DR and the above-mentioned retraction distance L are derived.

[0067] (Detection of abnormal interference occurrence) In the examples shown in FIGS. 3 and 7, abnormal contact between the robot hand 81 or the workpiece W moving together with the robot hand 81 and an object (for example, the chuck 31 of the machine tool 2) is detected as the occurrence of abnormal interference. In the examples shown in FIGS. 5 and 9, abnormal contact between the robot hand 81 and an object (for example, 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 occurrence of abnormal interference may be detected by a sensor E5 that detects the occurrence of abnormal torque acting on a joint of the articulated arm 85 (for example, the occurrence of torque exceeding a threshold value or a sudden change in torque). Alternatively, the occurrence of abnormal interference may be detected by a contact sensor.

[0068] 15, 18, 20, and 22, the occurrence of abnormal interference is detected when an object (e.g., the chuck 31 of the machine tool 2 or the workpiece W) enters the interference check area R set around the robot hand 81. In the example shown in FIGS. 15 and 20, the occurrence of abnormal interference is detected when an object (e.g., the chuck 31 of the machine tool 2) enters the interference check area R set around the robot hand 81 (more specifically, the interference check area R set around the robot hand 81 including the peripheral area of ​​the workpiece W). As illustrated in FIGS. 16, 19, 21, and 23, the calculation device E1 may detect the occurrence of abnormal interference based on the machine model M2 of the machine tool 2 and the area model MR of the interference check area R at the current position of the robot hand.

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

[0070] In the example shown in Figure 26, the work 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 rotation drive device 38 that rotates the chuck 31 around the first axis AX1.

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

[0072] The machining head 4 can hold 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 FIG. 27, the machine tool 2 may be provided with a tool changer 17 that changes the tool T (e.g., a turning tool T1) held by the machining head 4 to another tool (e.g., a second tool T2 such as a milling tool).

[0073] As illustrated in FIG. 26, the machining head 4 may be provided with a tool rotation device 48 that rotates a tool (e.g., a second tool T2 such as a mill tool) around a second axis AX2 along the longitudinal axis of the tool.

[0074] 26, the machining head 4 is a non-turret type machining head. Alternatively, the machining head 4 may be a turret type machining head.

[0075] In the example shown in FIG. 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, a direction along the X-axis that is substantially parallel to the vertical direction). 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, a direction along the Z-axis that is substantially parallel to the horizontal direction). The moving device 5 may also have a third moving device 53 that moves the machining head 4 in a direction along a Y-axis that is substantially perpendicular to the first axis AX1 and different from the direction along the X-axis. In the example shown in FIG. 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 by the machining head 4 about a third axis AX3 that is substantially parallel to the horizontal plane.

[0077] In the example shown in Fig. 26, the moving device 5 is capable of moving the machining head 4 three-dimensionally. The moving device 5 may be a device that moves the machining head 4 two-dimensionally or one-dimensionally. The moving device 5 may be equipped with a work moving device that linearly moves the workpiece W supported by the workpiece support device 3. The work moving device may 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 an end of the workpiece W (for example, a 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 example shown in FIGS. 1 and 2 , the machine tool 2 includes a wall 71 surrounding a machining area, an opening OP formed in the wall 71, and a door 72 that opens and closes the opening OP. The machine tool 2 may also include a door moving device 73 that moves 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 holding the workpiece W from the outside of the machine tool 2 through the opening OP to the inside of the machine tool 2 so that the workpiece W can be carried into the machine tool 2. The robot control device 9 can also move the robot hand 81 holding the workpiece W from the inside of the machine tool 2 through the opening OP to the outside of the machine tool 2 so that the workpiece W can be carried out from the machine tool 2.

[0080] In the example shown in FIG. 28 , the numerical control device 6 is capable of controlling the rotation drive device 38 and the movement devices 5 (e.g., the first movement device 51, the second movement device 52, the third movement device 53, the tilting device 57, etc.). Additionally, the numerical control device 6 may be capable of controlling the jaw drive device 34. Additionally, the numerical control device 6 may be capable of controlling the tailstock movement device 19. Alternatively, or additionally, the numerical control device 6 may be capable of controlling the tool rotation device 48 and / or the door movement device 73. Alternatively, or additionally, the numerical control device 6 may be capable of controlling the tool changer 17.

[0081] In the example shown in FIG. 28, the numerical control device 6 includes 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 FIG. 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 the machining program PM. The machine tool 2 operates based on the first group of control commands SA generated by the numerical control device 6 (more specifically, the first arithmetic unit 61) executing the machining program PM. More specifically, the first communication circuit 66 transmits the first group of control commands SA to multiple control target devices such as the moving device 5 and the rotary drive device 38, and the multiple control target 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) 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-transitory computer-readable storage medium) that can be read by the first computing device 61. The first memory 62 may be, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, or flash memory, a magnetic disk, or any other type of memory.

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

[0085] 28, first memory 62 stores jaw shape data DT1 indicating the shape of jaws 33 attached to chuck body 32, first angle data DT2 indicating the rotational angle position of chuck 31 about first axis AX1, etc. In the example shown in FIG. 29, calculation device E1 (e.g., first calculation device 61 of numerical control device 6) is capable of executing first process U1 of generating a machine model M2 of machine tool 2 corresponding to the current state of machine tool 2 based on at least third data DA3 indicating whether the state of chuck 31 is open or closed, and jaw shape data DT1. Machine model M2 may be generated based on at least the above-mentioned third data DA3, jaw shape data DT1, and first angle data DT2.

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

[0087] 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. Note that 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 FIG. 28, a first arithmetic unit 61, a first memory 62, a first display 63, a first input device 64, and a first communication circuit 66 are connected to one another via a bus 67.

[0089] (articulated arm 85) 31, the articulated arm 85 includes a plurality of arms including a distal arm 851 to which the robot hand 81 is attached, and a plurality of joints that connect the plurality of arms. A plurality of robot hands including a first robot hand 81a and a second robot hand 81b can be selectively attached to the distal arm 851. In other words, a robot hand selected from the plurality of robot hands 81 is attached to the distal arm 851.

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

[0091] 31 , the articulated arm 85 includes a first arm 852 that supports a distal arm 851. The first arm 852 and the distal 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 distal arm 851 is tilted around a first tilting axis AC1 relative to the first arm 852.

[0092] The first arm 852 may include a first portion 852a connected to the first joint 861, a second support portion 852b supporting the first portion 852a so that the first portion 852a can rotate around a second rotation axis AT2, and a third motor MT3 rotating the first portion 852a around the second rotation axis AT2 relative to the second support portion 852b.

[0093] 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 around a second tilting axis AC2 relative to the second arm 853.

[0094] 31 , the articulated arm 85 includes a third joint 863 that tilts the second arm 853 about a third tilt axis AC3, and a third support portion 854 that supports the third joint 863 so that the third joint 863 can rotate about a third rotation 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 about the third rotation axis AT3 relative to the third support portion 854.

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

[0096] (Robot Control Device 9) In the example shown in FIG. 32, the robot control device 9 can control the multi-joint arm 85 (more specifically, the multiple motors MT of the multi-joint arm 85) and the robot hand 81 (more specifically, the gripper driving device 815).

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

[0098] As illustrated in FIG. 32, the second arithmetic device 91 includes at least one processor 91a (e.g., at least one CPU). The robot control device 9 (more specifically, the second arithmetic device 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 by the robot control device 9 (more specifically, the second arithmetic device 91) executing the second program PG2. 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 that receives the second group of control commands SB operates based on the second group of control commands SB. In this way, the robot 8 carries in the workpiece W to the machine tool 2 based on the second group of control commands SB generated by the robot control device 9. Furthermore, the robot 8 carries out the workpiece W from the machine tool 2 based on another second group of control commands SB generated by the robot control device 9.

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

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

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

[0102] 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] 32, the second memory 92 stores a plurality of 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 above-mentioned first memory 62 may store workpiece shape data DE2 indicating the shape of the workpiece W transported by the robot hand 81.

[0104] 33, the above-mentioned arithmetic device E1 (for example, the first arithmetic device 61 of the numerical control device 6) executes the second process U2 to generate the above-mentioned area model MR corresponding to the current state of the robot 8 based on at least the above-mentioned first data DA1, the above-mentioned second data DA2, and the above-mentioned plurality of angle data DE1. When the robot hand 81 is holding a workpiece W, the above-mentioned arithmetic device E1 (for example, the first arithmetic device 61 of the numerical control device 6) executes the second process U2 to generate the above-mentioned area model MR corresponding to the current state of the robot 8 based on at least the above-mentioned first data DA1, the above-mentioned second data DA2, the above-mentioned plurality of angle data DE1, and the above-mentioned 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 FIG. 28 , the above-mentioned arithmetic unit E1 may be included in the numerical control device 6. More specifically, the first arithmetic unit 61 of the numerical control device 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 FIG. 34 , the above-mentioned arithmetic unit E1 may be included in the robot control device 9. More specifically, the second arithmetic unit 91 of the robot control device 9 may function as the arithmetic unit E1 that determines the retraction direction DR in which the robot hand 81 should retract. Still alternatively, as illustrated in FIG. 35 , the above-mentioned arithmetic unit E1 may be included in a computer 11 provided separately from the numerical control device 6 and the robot control device 9. More specifically, the arithmetic unit 111 of the computer 11 provided separately from the numerical control device 6 and the robot control device 9 may function as the arithmetic unit E1 that determines the retraction direction DR in which the robot hand 81 should retract. Furthermore, multiple computers including the numerical control device 6 and the robot control device 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] 11, the calculation device 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. Retraction direction data DD1 indicating the determined retraction direction DR is stored in the memory E2 (see FIG. 28, FIG. 34, or FIG. 35).

[0107] 28, when the above-mentioned arithmetic device E1 is included in the numerical control device 6, the arithmetic device 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. Retraction direction data DD1 indicating the determined retraction direction DR is stored in the first memory 62.

[0108] 34, when the above-mentioned arithmetic device E1 is included in the robot control device 9, the arithmetic device E1 determines the retraction direction DR in which the robot hand 81 should retract, based on the above-mentioned third data DA3 that the robot control device 9 receives 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). Retraction direction data DD1 indicating the determined retraction direction DR is stored in the second memory 92.

[0109] 35 , when the above-mentioned arithmetic device E1 is included in a computer 11 provided separately from the numerical control device 6 and the robot control device 9, the arithmetic device 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. 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 status of the machine tool 2, the current status of the robot hand 81, and the determined retraction direction DR, and executes a fourth process U4 to derive a retraction distance L by which the robot hand 81 should retract in the retraction direction DR based on the interference check simulation K1. For example, as illustrated in FIG. 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 a retraction distance L by which the robot hand 81 should retract in the retraction direction DR based on the machine model M2 of the machine tool 2 generated by executing the first process U1, the area model MR generated by executing the second process U2, and the retraction direction DR determined by executing the third process U3. The retraction distance data DD2 indicating the derived retraction distance L is stored in the memory E2 (see FIG. 28, FIG. 34, or FIG. 35).

[0111] (Image displayed on display E3) 25, the machine tool system 1 includes a calculation device E1, a display E3, and an input device E4. As illustrated in Fig. 37, after the occurrence of the abnormal interference described above is detected, the calculation device E1 may display, 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), a first image IM1 (for example, a first icon IM1-1) that accepts the start of execution of a series of processes until the robot hand 81 is returned to the home position Q3.

[0112] As illustrated in FIG. 38 , in response to detection of the occurrence of the abnormal interference described above, or in response to input via the input device E4 of an instruction to start execution of a series of processes until the robot hand 81 returns to the home position Q3 (for example, in response to clicking or tapping on the first icon IM1-1 described above), the arithmetic device E1 may display 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 check whether the workpiece W has been mixed up. If the workpiece W has been mixed up, 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] 39, the arithmetic device E1 may display a second image IM2, which accepts an instruction to execute a process to return the robot hand 81 to the home position Q3, 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). In response to tapping or clicking on the second image IM2, or in response to tapping or clicking on the second image IM2 and then operating a hard button, the robot control device 9 controls the robot 8 so that the robot hand 81 moves from the collision detection position Q1 to the home position Q3 via the evacuation position Q2.

[0114] (Stop button E6) 30 , the machine tool system 1 may include a stop button E6 that forcibly stops the movement of the robot hand 81. The stop button E6 may be provided in the numerical control device 6, the robot control device 9, or a device separate from the numerical control device 6 and the robot control device 9.

[0115] After the stop button E6 is operated, the calculation device E1 may execute the above-mentioned interference check simulation K1. Furthermore, the execution of the interference check simulation K1 may detect the occurrence of the above-mentioned abnormal interference.

[0116] The processing executed by the arithmetic device E1 after the occurrence of the abnormal interference described above may be the same between a case where the occurrence of the abnormal interference described above is detected after the stop button E6 is pressed and a case where the occurrence of the abnormal interference described above is detected without the stop button E6 being pressed. For example, when the occurrence of the abnormal interference described above is detected after the stop button E6 is pressed, the arithmetic device 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, after the stop button E6 is operated, if the above-mentioned interference check simulation K1 is executed and no abnormal interference is detected, the calculation device E1 may consider the current position of the robot hand 81 to be the above-mentioned evacuation position Q2.

[0118] (Workpiece transfer operation between the robot hand 81 and the pallet PT) 41 , during a workpiece transfer operation between the robot hand 81 and the pallet PT, after abnormal interference with the robot hand 81 or a workpiece W moving together with the robot hand 81 is detected (more specifically, after abnormal interference between the robot hand 81 or a workpiece W moving together with the robot hand 81 and an object is detected), the calculation device E1 may determine that the retraction direction in which the robot hand 81 should retract is the above-mentioned third direction DR3 (more specifically, the vertically upward direction). More specifically, during a workpiece transfer operation between the robot hand 81 and the pallet PT, after abnormal interference with the robot hand 81 or a workpiece W moving together with the robot hand 81 is detected, the calculation device E1 may determine that the retraction direction in which the robot hand 81 should retract is the above-mentioned third direction DR3, 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. Furthermore, the robot control device 9 may control the robot 8 so that the robot hand 81 retracts in the third direction DR3.

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

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

[0121] (Second embodiment) An 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] In the second embodiment, differences from the first embodiment will be mainly described. On the other hand, in the second embodiment, repeated descriptions of matters already described in the first embodiment will be omitted. Therefore, it goes without saying that matters already described in the first embodiment can be applied to the second embodiment even if they are not explicitly described in 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 may be performed using another machine tool system. Since the machine tool system 1 has already been described in the first embodiment, repeated description of the machine tool system 1 will be omitted.

[0124] As illustrated in Figures 3, 5, 7, 9, 15, 18, 20, 22, and 43, the occurrence of abnormal interference is detected in a first step ST1. The first step ST1 is a detection step. In the detection step (first step ST1), the occurrence of abnormal interference with the robot hand 81 or the workpiece W moving together with the robot hand 81 is detected during a workpiece transfer operation between the robot hand 81 of the robot 8 and the chuck 31 of the machine tool 2. More specifically, the abnormal interference is abnormal interference between the robot hand 81 or the workpiece W moving together 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 together with the robot hand 81 and an object (for example, the chuck 31 of the machine tool 2). Alternatively, or additionally, the abnormal interference may be entry of an object (for example, the chuck 31 of the machine tool 2) into an interference check area R set around the robot hand 81.

[0126] The occurrence of the abnormal interference is detected during the movement of the robot hand 81. Additionally, the occurrence of the abnormal interference may be detected after the movement of the robot hand 81 is forcibly stopped by operating the stop button E6.

[0127] The method of operating the machine tool system in the second embodiment includes a carry-in step of carrying in a workpiece W into the machine tool 2 using the robot hand 81, and the carry-in step may include the workpiece transfer operation described above. In this case, the workpiece transfer operation includes an 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 gripped 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 gripped 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 robot hand 81 releases its grip on the workpiece W.

[0128] The method of operating the machine tool system in the second embodiment includes a carry-out step of using the robot hand 81 to carry out the workpiece W from the machine tool 2, and the carry-out step may include the workpiece transfer operation described above. In this case, the workpiece transfer operation includes an 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 chuck 31 releases the grip of the workpiece W; and (4) transporting the workpiece W outside the machine tool 2 by moving the robot hand 81.

[0129] As illustrated in Figures 11, 12, 42, and 43, in the second step ST2, the retraction direction DR of the robot hand 81 is determined. The second step ST2 is a retraction direction determination step. The retraction direction determination step (second step ST2) is executed 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 the 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 a 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 is determined.

[0131] In the operating method of the machine tool system in the second embodiment, after the occurrence of 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 the robot hand 81, the open / closed state of the robot hand 81, and the open / closed state of the chuck 31. Therefore, the robot hand 81 can be retracted in an appropriate direction.

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

[0133] (Robot 8) As illustrated in FIGS. 1 and 2, the robot 8 includes an articulated arm 85 to which a robot hand 81 (e.g., a first robot hand 81a, a second robot hand 81b, or another robot hand) can be attached. In the example illustrated in FIG. 1, the first robot hand 81a grips a first type of workpiece W1 (more specifically, a chuck workpiece Wc). In the example illustrated in FIG. 2, the second robot hand 81b grips a second type of workpiece W2 (more specifically, a shaft workpiece Ws). The robot 8, the robot hand 81, the first robot hand 81a, the second robot hand 81b, and the articulated arm 85 have already been described in the first embodiment, and therefore, a repeated description of their configuration will be omitted.

[0134] (Machine tool 2) 26, the machine tool 2 includes a workpiece support device 3 having a chuck 31 that grips a workpiece W and a rotation drive device 38 that rotates the chuck 31 about a first axis AX1, a machining head 4 that can hold a tool T, a movement device 5 that moves the machining head 4 relative to the workpiece support device 3, and a numerical control device 6 that controls at least the rotation drive device 38 and the movement device 5. The machine tool 2, workpiece support device 3, machining head 4, movement device 5, and numerical control device 6 have already been described in the first embodiment, so repeated description of these configurations will be omitted.

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

[0136] (Display of workpiece W size data) 38, the operating method of the machine tool system in the second embodiment may include a step (hereinafter referred to as a "second display 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) after the occurrence of the abnormal interference described above is detected (more specifically, after an instruction to start execution of a series of processes up to returning the robot hand 81 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 check whether the workpiece W has been mixed up, etc.

[0137] (Evacuation direction determination process) 11, 12, and 42, the operation method of the machine tool system in the second embodiment (more specifically, the above-mentioned retraction direction determination step) may include executing an algorithm AG for determining the retraction direction DR of the robot hand 81. The algorithm AG is executed by an 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).

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

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

[0140] In the examples shown in Figures 12 and 42, the operating method of the machine tool system in the second embodiment (more specifically, the above-mentioned retraction direction determination process) includes: (1) a process 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) a process in which the calculation device E1 determines 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 FIG. 42, the operating method of the machine tool system in the second embodiment (more specifically, the above-mentioned retraction direction determination process) includes: (1) a process of acquiring fourth data indicating whether the robot hand 81 is located inside the machine tool 2, first data DA1 indicating the type of the 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) a process in which the calculation device E1 determines the retraction direction DR of the robot hand 81 based on the above-mentioned fourth data, the first data DA1, the second data DA2, and the third data DA3.

[0142] The above-described third algorithm AG3 is executed when the robot hand 81 is located outside the machine tool 2. More specifically, when 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] When the robot hand 81 is located inside the machine tool 2 and the type of the robot hand 81 is the first robot hand 81a, the above-described first algorithm AG1 is executed. More specifically, when the robot hand 81 is located inside the machine tool 2 and the type of the 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] When the robot hand 81 is located inside the machine tool 2 and the type of the robot hand 81 is the second robot hand 81b, the above-described second algorithm AG2 is executed. More specifically, when the robot hand 81 is located inside the machine tool 2, the type of the robot hand 81 is the second robot hand 81b, the state of the robot hand 81 is the closed state (more specifically, the state in which the robot hand 81 grips the workpiece W), and the state of the chuck 31 is the open state (more specifically, the state in which the chuck 31 does not grip the workpiece W), 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, when the robot hand 81 is located inside the machine tool 2, the type of the robot hand 81 is the second robot hand 81b, the state of the robot hand 81 is in an open state (more specifically, a state in which the robot hand 81 is not gripping the workpiece W), and the state of the chuck 31 is in a closed state (more specifically, a state in which the chuck 31 is gripping the workpiece W), 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 executed 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 above-mentioned third data DA3 stored in the first memory 62 of the numerical control device 6 (i.e., the third data DA3 indicating whether the state of the chuck 31 is open or closed), the above-mentioned first data DA1 received from the robot control device 9 (i.e., the first data DA1 indicating the type of the robot hand 81), and the above-mentioned second data DA2 received from the robot control device 9 (i.e., the second data DA2 indicating whether the state of the robot hand 81 is open or closed).

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

[0147] Alternatively, the retraction direction determination step (second step ST2) may be executed by a computer 11 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 above-mentioned first data DA1 and the above-mentioned second data DA2 received from the robot control device 9, and the above-mentioned third data DA3 received from the numerical control device 6 of the machine tool 2.

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

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

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

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

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

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

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

[0155] 44, after the above-mentioned retraction direction DR is determined and the above-mentioned retraction distance L is derived, the robot hand 81 is moved to the home position Q3 in a fourth step ST104. The fourth step ST104 is a step 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 above-mentioned abnormal interference was detected) to the home position Q3 via the evacuation position Q2.

[0157] The moving to the home position step (fourth step ST104) is executed, for example, after the execution of the retraction distance deriving step (third step ST103). More specifically, the moving to the home position step (fourth step ST104) is executed in response to tapping or clicking the above-mentioned second image IM2 (see FIG. 39), or in response to tapping or clicking the second image IM2 and then operating a hard button.

[0158] The step 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 receiving the data moves 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 was 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 an appropriate direction, and the robot hand 81 can be efficiently returned from the interference detection position Q1 to the home position Q3 via the retraction position Q2.

[0160] (Program PG) The program PG in the embodiment is a program for causing the machine tool system 1 (more specifically, the arithmetic device E1 of the machine tool system 1) to execute a method comprising the steps of: (1) acquiring first data DA1 indicating the type of the 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 after abnormal interference with the robot hand 81 or the workpiece W moving together with the robot hand 81 is detected during a workpiece transfer operation between the robot hand 81 of the robot 8 and the chuck 31 of the machine tool 2; 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] The program PG in the embodiment may use an interference check simulation K1 to cause the machine tool system 1 (more specifically, the calculation device E1 of the machine tool system 1) to execute a process of deriving the retraction distance L by which the robot hand 81 should retract in the retraction direction DR (more specifically, the retraction distance derivation process (third step ST103))

[0162] The program PG in the embodiment may cause the machine tool system 1 to execute the step of moving the robot hand 81 to the home position Q3 (more specifically, the above-mentioned step of moving to the home position (fourth step ST104)). More specifically, the program PG in the embodiment may cause the machine tool system 1 to execute the following steps: (1) a step of transmitting data including the above-mentioned retraction direction DR and the above-mentioned retraction distance L to the robot control device 9; and (2) a step of causing 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 above-mentioned abnormal interference was detected) to the home position Q3 via the retraction position Q2 based on the data.

[0163] The program PG in the embodiment may cause the machine tool system 1 to execute the above-mentioned first process U1, may cause the machine tool system 1 to execute the above-mentioned second process U2, may cause the machine tool system 1 to execute the above-mentioned third process U3, or may cause the machine tool system 1 to execute the above-mentioned fourth process U4. The first process U1, second process U2, third process U3, and fourth process U4 have already been explained, so repeated explanations of these processes will be omitted.

[0164] The program PG in the embodiment may be divided into multiple subprograms.

[0165] The program PG may include the above-mentioned algorithm AG that determines the retraction direction DR of the robot hand 81. The program PG may also include the above-mentioned distance derivation algorithm AH that derives the retraction distance L from the collision detection position Q1 to the retraction position Q2.

[0166] The program PG in the embodiment may be stored in a distributed manner in 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 the embodiment may include: (1) a first program PG1 that derives data including the above-mentioned retraction direction DR and the above-mentioned retraction distance L; and (2) a second program PG2 that causes the machine tool system 1 to execute the following steps: (a) causing the robot control device 9 to move the robot hand 81 from the interference detection position Q1 to the home position Q3 via the retraction position Q2 based on the data. 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-transitory 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 exemplified in FIG. 45.

[0168] When the program PG in the embodiment is executed by the machine tool system 1, it achieves the same effects as the machine tool system 1 in the first embodiment or the operating method of the machine tool system in the second embodiment.

[0169] The present invention is not limited to the above-described embodiments or modifications, 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, various techniques used in each embodiment or modification can be applied to other embodiments or modifications as long as no technical contradiction occurs. Furthermore, 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...movement 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...jaw, 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 portion, 811p...gripping piece, 813 ...base, 815...gripping section drive device, 818...second gripping section, 851...tip arm, 851a...mounting section, 851b...first support section, 852...first arm, 852a...first section, 852b...second support section, 853...second arm, 854...third support section, 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 rotation axis, AT2...second rotation axis, AT 3...third rotation 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...jaw shape data, DT2...first angle data, E1...computing device, 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...area model, MT...motor, MT1...first motor, MT2...second motor, MT3...third motor, MT4...fourth motor, MT5...fifth motor, MT6...sixth motor TA, OP...opening, P1...open position, P2...closed position, PG...program, PG1...first program, PG2...second program, PM...machining program, PT...pallet, Q1...interference detection position, Q2...retraction position, Q3...home position, R...interference check area, SA...first group control command, SB...second group control command, 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 by the chuck; a robot that transports the workpiece to the chuck using a robot hand; a computing device that determines a retraction direction in which the robot hand should retract, based on the type of the robot hand, the open / close state of the robot hand, and the open / close state of the chuck, after 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; a robot control device that controls the robot so that the robot hand retreats in the retreat direction; Equipped with Machine tool systems.

2. the robot includes an articulated arm to which the robot hand can be attached, a first robot hand capable of gripping the first type of workpiece can be attached to the articulated arm; a second robot hand capable of gripping the second type of workpiece can be attached to the articulated arm; the computing device is capable of executing an algorithm for determining the evacuation direction; The algorithm is: a first algorithm that determines 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 for determining 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; Contains The machine tool system according to claim 1 .

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

6. the arithmetic unit is capable of executing an interference check simulation to check for interference between an interference check region set around the robot hand and at least an element of the machine tool; the arithmetic device derives a retraction distance by which the robot hand should retract in the retraction direction using the interference check simulation; 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. a stop button for forcibly stopping the movement of the robot hand; After the stop button is operated, the arithmetic unit executes the interference check simulation. The machine tool system according to claim 6.

8. when a third direction is defined as a direction from a gripping area defined by a gripping portion of the robot hand toward a base portion of the robot hand, a workpiece central axis of the first type of workpiece gripped by the first robot hand and the third direction are substantially parallel to each other, The central axis of the second type of workpiece gripped by the second robot hand is substantially perpendicular to the third direction. A machine tool system according to any one of claims 2 to 5.

9. the machine tool includes 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 robot further includes a display that displays size data of the workpiece to be gripped by the robot hand after the occurrence of the abnormal interference is detected. A machine tool system according to any one of claims 1 to 5.

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

12. The machine tool comprises: a workpiece supporting device having the chuck and a rotation drive device that rotates the chuck around a first axis; a machining head for holding a tool; a moving device that moves the processing head relative to the workpiece supporting device; a numerical control device that controls the rotation drive device and the movement device; Equipped with The robot control device First data indicating the type of the robot hand; second data indicating whether the state of the robot hand is in an open state or a closed state; Remember, the numerical control device stores third data indicating whether the state of the chuck is an open state or a closed state; The arithmetic unit 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 arithmetic unit determines the retraction direction of the robot hand based on the third data stored in the numerical control device and the first data and the 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 occurrence of abnormal interference with the robot hand or a workpiece moving together with the robot hand during a workpiece transfer operation between the robot hand of a robot and a chuck of a machine tool; 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 after the occurrence of the abnormal interference is detected; a step of retracting the robot hand in the retraction direction; Equipped with A method for operating a machine tool system.

15. a step 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, after detecting occurrence of abnormal interference with the robot hand or a workpiece moving together with the robot hand during a workpiece transfer operation between a robot hand of a robot and a chuck of a machine tool; determining a 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 comprising the steps of:

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