Robot systems, machine tool systems, and programs

Abstract

A robot system, a machine tool system, and a program are provided that can improve the efficiency of setup work. [Solution] The robot system comprises a robot having a plurality of robot hands, each having a claw support that supports a work gripping claw so that the position can be adjusted, a hand support to which each of the plurality of robot hands can be attached, and a moving device that moves the hand support, a memory that stores the robot's operation schedule, a calculation device that derives the appropriate position of the work gripping claw relative to the claw support of at least one of the plurality of robot hands based on the operation schedule, a display that displays the appropriate position, and a robot control device that controls the robot so that the robot hand attached to the hand support is replaced with another robot hand based on the operation schedule.

Description

[Technical Field]

[0001] The present invention relates to a robot system, a machine tool system, and a program. [Background technology]

[0002] 2. Description of the Related Art A robot system having a plurality of interchangeable robot hands is known.

[0003] As a related technique, Patent Document 1 discloses a robot device. In the robot device described in Patent Document 1, assembly work is performed by selectively exchanging multiple hands. Each of the multiple hands is equipped with a selection switch for selectively setting the hand's identification number. The robot device also includes control means. Based on information about the identification number set by the selection switch, the control means determines whether the correct hand is attached to perform the next assembly work. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 5-318239 Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a robot system, a machine tool system, and a program that can improve the efficiency of setup work. [Means for solving the problem]

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

[0007] (1) A plurality of robot hands, each having a jaw support that supports a workpiece gripping jaw so that the position thereof can be adjusted; a robot having a hand support to which each of a plurality of robot hands can be attached, and a movement device that moves the hand support; a memory that stores an operation schedule of the robot; a computing device that derives an appropriate position of a workpiece gripping claw of at least one robot hand among the plurality of robot hands relative to a claw support body based on the operation schedule; a display that displays the correct position; a robot control device that controls the robot so that the robot hand attached to the hand support is replaced with another robot hand based on the operation schedule; Equipped with Robot system. (2) When the robot hand supported by the hand support among the plurality of robot hands is defined as an in-use hand and the robot hands other than the in-use hand among the plurality of robot hands are defined as standby hands, the robot system further comprises a stocker for storing the standby hands. The robot system according to (1) above. (3) The robot control device controls the robot so that the transfer of the in-use hand from the hand support to the stocker and the transfer of the standby hand from the stocker to the hand support are automatically performed based on the operation schedule. The robot system according to (2) above. (4) The calculation device extracts, based on the operation schedule, a first robot hand and a second robot hand to be used when the operation schedule is executed from among the plurality of robot hands; The computing device a first proper position of the workpiece gripping claws of the first robot hand relative to the extracted claw support body of the first robot hand; a second appropriate position of the workpiece gripping claw of the second robot hand relative to the extracted claw support body of the second robot hand; Derive The display displays the first appropriate position and the second appropriate position before the automatic operation of the robot based on the operation schedule starts. A robot system according to any one of (1) to (3) above. (5) The operation schedule includes a first operation schedule instructing the transportation of a first workpiece, the plurality of robot hands includes a first robot hand that grips the first workpiece, the calculation device derives a first optimum position of the workpiece gripping claws of the first robot hand relative to a claw support body of the first robot hand based on a size of the first workpiece; The display displays the first proper position. A robot system according to any one of (1) to (3) above. (6) The operation schedule includes a second operation schedule instructing the transportation of a second workpiece, the plurality of robot hands includes a second robot hand that grips the second workpiece, the calculation device derives a second optimum position of the workpiece gripping claws of the second robot hand relative to a claw support body of the second robot hand based on the size of the second workpiece; The display displays the second proper position. The robot system according to (5) above. (7) The display is capable of displaying an order editing image for editing the operation schedule, In the order editing image, the conveyance order of the plurality of types of workpieces including the first workpiece and the second workpiece can be specified. The robot system according to (6) above. (8) The display is capable of displaying an order editing image for editing the operation schedule, The order editing image includes a position input field for specifying positions of the plurality of first workpieces on a pallet. The robot system according to (5) or (6) above. (9) The operation schedule includes a first operation schedule instructing the transportation of a first workpiece, the plurality of robot hands includes a first robot hand that grips the first workpiece, The first robot hand a first gripping jaw for gripping the first workpiece before machining; a second gripping jaw for gripping the first workpiece after processing; Including, the calculation device derives a first gripping jaw proper position of the first gripping jaw with respect to a first jaw support body of the first robot hand based on a size of the first workpiece before machining; the calculation device derives a second gripping jaw proper position of the second gripping jaw with respect to a second jaw support body of the first robot hand based on a size of the first workpiece after machining, The display displays the first gripping jaw proper position and the second gripping jaw proper position. A robot system according to any one of (1) to (3) above. (10) At least one of the plurality of robot hands is a double-hand type robot hand capable of simultaneously gripping two workpieces, At least one other of the plurality of robot hands is a single-hand type robot hand capable of gripping only one workpiece. A robot system according to any one of (1) to (9) above. (11) The calculation device derives the size of the workpiece gripping jaws to be attached to the jaw support body based on the operation schedule, The display displays the size of the workpiece gripping jaws. A robot system according to any one of (1) to (10) above. (12) The plurality of robot hands includes a first robot hand, the operation schedule includes a plurality of transport orders for transporting a plurality of types of workpieces using the first robot hand, When an order to be executed first among the plurality of transport orders is defined as a first order, the arithmetic device derives a first optimum position of the workpiece gripping claws of the first robot hand relative to a claw support body of the first robot hand based on a size of the workpiece specified by the first order; The display displays the first proper position. A robot system according to any one of (1) to (3) above. (13) When the order to be executed second among the plurality of orders is defined as a second order, the calculation device derives another appropriate position of the workpiece gripping jaws of the first robot hand relative to the jaw support body of the first robot hand based on the size of the workpiece specified by the second order, After the first order is executed and before the second order is executed, the display displays the other appropriate position. The robot system according to (12) above. (14) A machine tool for machining a workpiece; a plurality of robot hands, each having a jaw support that supports a workpiece gripping jaw so that the position of the workpiece gripping jaw can be adjusted; a robot having a hand support to which each of a plurality of robot hands can be attached, and a movement device that moves the hand support; a memory that stores an operation schedule of the robot; a computing device that derives an appropriate position of a workpiece gripping claw of at least one robot hand among the plurality of robot hands relative to a claw support body based on the operation schedule; a display that displays the correct position; a robot control device that controls the robot so that the workpiece is carried into the machine tool, the machined workpiece is carried out from the machine tool, the robot hand is removed from the hand support, and another robot hand is attached to the hand support, based on the operation schedule; and Equipped with Machine tool systems. (15) A process of deriving an appropriate position of a workpiece gripping claw of at least one robot hand among a plurality of robot hands including the first robot hand and the second robot hand relative to a claw support, based on an operation schedule including operating a robot such that a first workpiece is transported using a first robot hand attached to a hand support, the first robot hand attached to the hand support is replaced with a second robot hand, and a second workpiece is transported using the second robot hand attached to the hand support; displaying the appropriate position on a display; A program for causing at least one computer to execute a setup support method comprising the steps of: [Effects of the Invention]

[0008] The present invention can provide a robot system, a machine tool system, and a program that can improve the efficiency of setup work. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram schematically illustrating a robot system according to the first embodiment. [Figure 2] FIG. 2 is an enlarged view of a portion of FIG. [Figure 3] FIG. 3 is a diagram schematically illustrating a robot system according to the first embodiment. [Figure 4] FIG. 4 is a diagram schematically showing how the position of the workpiece gripping jaws is adjusted to the first proper position. [Figure 5] FIG. 5 is an enlarged view of a portion of FIG. [Figure 6] FIG. 6 is a diagram schematically showing how the position of the workpiece gripping jaws is adjusted to the second proper position. [Figure 7] FIG. 7 is an enlarged view of a portion of FIG. [Figure 8] FIG. 8 is a diagram schematically illustrating how the robot hand is replaced. [Figure 9] FIG. 9 is a diagram schematically showing a machine tool system according to the first embodiment. [Figure 10] FIG. 10 is a schematic perspective view showing a stocker. [Figure 11] FIG. 11 is a diagram showing a schematic diagram of how the robot hand is automatically replaced. [Figure 12] FIG. 12 is a diagram schematically illustrating the first robot hand. [Figure 13] FIG. 13 is a diagram schematically illustrating the second robot hand. [Figure 14] FIG. 14 is a diagram illustrating an example of a computer. [Figure 15] FIG. 15 is a diagram schematically illustrating the first robot hand. [Figure 16] FIG. 16 is a diagram schematically illustrating the second robot hand. [Figure 17] FIG. 17 is a diagram schematically illustrating a state in which the third robot hand is attached to the hand support. [Figure 18] FIG. 18 is a diagram schematically illustrating a robot system according to the second embodiment. [Figure 19] FIG. 19 is a diagram schematically showing a machine tool system according to the second embodiment. [Figure 20] FIG. 20 is an enlarged view of a portion of the stocker. [Figure 21] FIG. 21 is a diagram illustrating an example of a computer. [Figure 22] FIG. 22 is a diagram schematically illustrating an example of an image displayed on the display. [Figure 23] FIG. 23 is a diagram schematically illustrating an example of an image displayed on the display. [Figure 24] FIG. 24 is a diagram schematically illustrating an example of an image displayed on the display. [Figure 25] FIG. 25 is a diagram schematically illustrating an example of an image displayed on the display. [Figure 26]FIG. 26 is a diagram schematically illustrating an example of an image displayed on the display. [Figure 27] FIG. 27 is a diagram schematically illustrating an example of an image displayed on the display. [Figure 28] FIG. 28 is an enlarged view of a portion of the image in FIG. [Figure 29] FIG. 29 is a diagram schematically illustrating an example of an image displayed on the display. [Figure 30] FIG. 30 is a diagram schematically illustrating an example of an image displayed on the display. [Figure 31] FIG. 31 is a diagram schematically showing a part of a machine tool system according to the second embodiment. [Figure 32] FIG. 32 is a diagram schematically showing a machine tool system according to the second embodiment. [Figure 33] FIG. 33 is an enlarged view of a part of the machine tool system according to the second embodiment. [Figure 34] FIG. 34 is a diagram schematically showing a numerical control device. [Figure 35] FIG. 35 is a diagram for explaining the connection between the hand support and the robot hand. [Figure 36] FIG. 36 is a diagram schematically illustrating a robot control device. [Figure 37] FIG. 37 is a diagram schematically illustrating a robot control device. [Figure 38] FIG. 38 is a diagram showing a schematic diagram of another computer communicably connected to the robot control device. [Figure 39] FIG. 39 is a flowchart showing an example of a setup support method for a robot system. [Figure 40] FIG. 40 is a table that schematically shows an example of data stored in the memory. [Figure 41] FIG. 41 is a diagram schematically illustrating an example of an image displayed on a display. [Figure 42] FIG. 42 is a flowchart showing an example of the adjustment instruction display process. [Figure 43] FIG. 43 is a diagram schematically illustrating an example of an image displayed on the display. [Figure 44] FIG. 44 is a diagram schematically illustrating an example of a nonvolatile storage medium on which a program is recorded. DETAILED DESCRIPTION OF THE INVENTION

[0010] The robot system 1, the machine tool system 100, and the program PG in the embodiment will be described below with reference to the drawings. In the following description of the embodiment, parts and members having the same functions are denoted by the same reference numerals, and repeated description of parts and members denoted by the same reference numerals will be omitted.

[0011] (First embodiment) A robot system 1A, a machine tool system 100A, and a program PG according to the first embodiment will be described with reference to FIGS. 1 to 17. FIG. 1 is a diagram schematically illustrating the robot system 1A according to the first embodiment. FIG. 2 is a diagram showing an enlarged view of a portion of FIG. 1. FIG. 3 is a diagram schematically illustrating the robot system 1A according to the first embodiment. FIG. 4 is a diagram schematically illustrating a state in which the position of the workpiece gripping jaw 27a is adjusted to a first optimum position. FIG. 5 is a diagram showing an enlarged view of a portion of FIG. 4. FIG. 6 is a diagram showing a state in which the position of the workpiece gripping jaw 27b is adjusted to a second optimum position. FIG. 7 is a diagram showing an enlarged view of a portion of FIG. 6. FIG. 8 is a diagram schematically illustrating a state in which the robot hand 2 is replaced. FIG. 9 is a diagram schematically illustrating the machine tool system 100A according to the first embodiment. FIG. 10 is a schematic perspective view showing a stocker 11. FIG. 11 is a diagram schematically illustrating a state in which the robot hand 2 is automatically replaced. FIG. 12 is a diagram schematically showing a first robot hand 2a. FIG. 13 is a diagram schematically showing a second robot hand 2b. FIG. 14 is a diagram schematically showing an example of a computer E. FIG. 15 is a diagram schematically showing a first robot hand 2a. FIG. 16 is a diagram schematically showing a second robot hand 2b. FIG. 17 is a diagram schematically showing a state in which a third robot hand 2c is attached to a hand support 31.

[0012] As illustrated in FIG. 1, the robot system 1A in the first embodiment includes a plurality of robot hands 2, a robot 3, a memory E1, a computing device E2, a display E3, and a robot control device 9.

[0013] As illustrated in FIG. 2, each of the plurality of robot hands 2 has a claw support 21 that supports a workpiece gripping claw 27 so that the position thereof can be adjusted.

[0014] 2, the multiple robot hands 2 include a first robot hand 2a and a second robot hand 2b. The first robot hand 2a has workpiece gripping jaws 27a and a jaw support 21a that supports the workpiece gripping jaws 27a so that the position thereof can be adjusted. The second robot hand 2b has workpiece gripping jaws 27b and a jaw support 21b that supports the workpiece gripping jaws 27b so that the position thereof can be adjusted.

[0015] As illustrated in FIG. 1, the robot 3 has a hand support 31 to which each of the multiple robot hands 2 can be attached, and a movement device 36 that moves the hand support 31.

[0016] As illustrated in FIG. 3, the memory E1 stores an operation schedule SC for the robot 3.

[0017] The operation schedule SC may include a first operation schedule SC1 for transporting a workpiece of a first size (hereinafter referred to as the "first workpiece") using the first robot hand 2a, and a second operation schedule SC2 for transporting a workpiece of a second size (hereinafter referred to as the "second workpiece") using the second robot hand 2b.

[0018] As illustrated in Figure 3, the calculation device E2 derives the appropriate position AD of the workpiece gripping claws 27 relative to the claw support body 21 of at least one robot hand among the multiple robot hands 2 based on the operation schedule SC (more specifically, based on the operation schedule SC stored in memory E1).

[0019] As illustrated in Fig. 3, the calculation device E2 may derive an appropriate position (hereinafter referred to as "first appropriate position AD1") of the workpiece gripping jaws 27a relative to the jaw support body 21a of the first robot hand 2a based on an operation schedule SC (e.g., first operation schedule SC1). As illustrated in Fig. 3, the calculation device E2 may derive an appropriate position (hereinafter referred to as "second appropriate position AD2") of the workpiece gripping jaws 27b relative to the jaw support body 21b of the second robot hand 2b based on an operation schedule SC (e.g., second operation schedule SC2).

[0020] As illustrated in FIG. 3, the display E3 displays the derived proper positions AD (for example, the first proper position AD1 and / or the second proper position AD2).

[0021] The operator changes the position of the workpiece gripping jaws 27 based on the appropriate position AD (for example, the first appropriate position AD1 and / or the second appropriate position AD2) displayed on the display E3.

[0022] 3 and 4, the operator may change the position of the workpiece gripping jaws 27a based on a first optimum position AD1 of the workpiece gripping jaws 27a relative to the jaw support body 21a of the first robot hand 2a, which is displayed on the display E3. In the example shown in FIG. 4, by operating the first operating member 28a, the position of the workpiece gripping jaws 27a relative to the jaw support body 21a of the first robot hand 2a can be changed from the position before the change (see dashed arrow AR1) to the first optimum position AD1 (see dashed arrow AR2). In FIG. 4, the position indicated by the dashed arrow AR2 is the position corresponding to the first optimum position "S1" displayed on the display E3 (see FIG. 3).

[0023] The first operating member 28a may be a member that can be operated by an operator without using a tool. In the example shown in FIG. 5, the position of the workpiece gripping jaws 27a relative to the jaw support body 21a of the first robot hand 2a can be changed by performing a combination of an operation of moving the first operating member 28a in the longitudinal direction of the first operating member 28a and an operation of moving the first operating member 28a in a direction perpendicular to the longitudinal direction of the first operating member 28a (see dashed arrow AR3). Alternatively, the first operating member 28a may be a member that is operated using a tool. As illustrated in FIG. 5, the first proper position "S1" displayed on the display E3 (see FIG. 3) may indicate the first proper position s1 of the first operating member 28a.

[0024] 3 and 4, the first robot hand 2a is a hand currently attached to the robot 3. In this case, the operator changes the position of the workpiece gripping jaws 27a relative to the jaw support body 21a of the first robot hand 2a currently attached to the robot 3 to the first appropriate position AD1. Alternatively, the first robot hand 2a may be a hand that has been detached from the robot 3. In this case, the operator changes the position of the workpiece gripping jaws 27a relative to the jaw support body 21a of the first robot hand 2a that has been detached from the robot 3 to the first appropriate position AD1.

[0025] 3 and 6, the operator may change the position of the workpiece gripping jaws 27b based on a second optimum position AD2 of the workpiece gripping jaws 27b relative to the jaw support body 21b of the second robot hand 2b, which is displayed on the display E3. In the example shown in FIG. 6, by operating the second operating member 28b, the position of the workpiece gripping jaws 27b relative to the jaw support body 21b of the second robot hand 2b can be changed from the position before the change (see dashed arrow AR4) to the second optimum position AD2 (see dashed arrow AR5). In FIG. 6, the position indicated by the dashed arrow AR5 is the position corresponding to the second optimum position "S4" displayed on the display E3 (see FIG. 3).

[0026] The second operating member 28b may be a member that can be operated by an operator without using a tool. In the example shown in FIG. 7, the position of the workpiece gripping jaws 27b relative to the jaw support body 21b of the second robot hand 2b can be changed by performing a combination of an operation of moving the second operating member 28b in the longitudinal direction of the second operating member 28b and an operation of moving the second operating member 28b in a direction perpendicular to the longitudinal direction of the second operating member 28b (see dashed arrow AR6). Alternatively, the second operating member 28b may be a member that is operated using a tool. As illustrated in FIG. 7, the second correct position "S4" displayed on the display E3 (see FIG. 3) may indicate the second correct position s4 of the second operating member 28b.

[0027] 3 and 6, the second robot hand 2b is a hand that has been detached from the robot 3. In this case, the operator changes the position of the workpiece gripping jaws 27b relative to the jaw support body 21b of the second robot hand 2b that has been detached from the robot 3 to the second appropriate position AD2. Alternatively, the second robot hand 2b may be a hand that is currently attached to the robot 3. In this case, the operator changes the position of the workpiece gripping jaws 27b relative to the jaw support body 21b of the second robot hand 2b that is currently attached to the robot 3 to the second appropriate position AD2.

[0028] As illustrated in FIG. 8, the robot control device 9 controls the robot 3 based on the operation schedule SC (more specifically, based on the operation schedule SC stored in memory E1) so that the robot hand attached to the hand support 31 (e.g., the first robot hand 2a) is replaced with another robot hand 2 (e.g., the second robot hand 2b).

[0029] In the example shown in FIG. 8, the robot control device 9 controls the robot 3 based on the operation schedule SC (more specifically, based on the operation schedule SC stored in memory E1) to remove a robot hand from the hand support 31 (for example, remove the first robot hand 2a from the hand support 31) and attach another robot hand to the hand support 31 (for example, attach the second robot hand 2b to the hand support 31).

[0030] In the robot system 1A of the first embodiment, the calculation device E2 derives the appropriate position AD of the workpiece gripping jaws 27 based on the operation schedule SC, and the appropriate position AD is displayed on the display E3. This improves the efficiency of the setup work related to the position adjustment of the workpiece gripping jaws. For example, the setup work related to the position adjustment of the workpiece gripping jaws can be performed efficiently regardless of the operator's level of experience.

[0031] Furthermore, since both the derivation of the appropriate position AD of the work gripping claws 27 and the replacement of the robot hand are performed based on the operation schedule SC, the setup work related to the position adjustment of the work gripping claws and the replacement of the robot hand can be performed efficiently.

[0032] As illustrated in FIG. 9, the machine tool system 100A in the first embodiment includes a machine tool 7 that processes a workpiece, in addition to the robot system 1A in the first embodiment (more specifically, in addition to the above-mentioned multiple robot hands 2, robot 3, memory E1, computing device E2, display E3, and robot control device 9).

[0033] Based on the operation schedule SC (more specifically, based on the operation schedule SC stored in memory E1), the robot control device 9 controls the robot 3 so that (1) the workpiece is loaded into the machine tool 7, (2) the machined workpiece is unloaded from the machine tool 7, (3) a robot hand is removed from the hand support 31 (for example, the first robot hand 2a is removed from the hand support 31), and (4) another robot hand is attached to the hand support 31 (for example, the second robot hand 2b is attached to the hand support 31).

[0034] The machine tool system 100A in the first embodiment has the same effects as the robot system 1A in the first embodiment.

[0035] Furthermore, in the machine tool system 100A of the first embodiment, the derivation of the appropriate position AD of the work gripping jaws 27, the loading of the workpiece into the machine tool 7, the unloading of the machined workpiece from the machine tool 7, and the replacement of the robot hand are performed based on the operation schedule SC, so that the setup work related to adjusting the position of the work gripping jaws, the loading of the workpiece into the machine tool 7, the unloading of the machined workpiece from the machine tool 7, and the replacement of the robot hand can be performed efficiently.

[0036] (Optional configuration) Next, optional additional configurations that can be employed in the robot system 1A in the first embodiment and the machine tool system 100A in the first embodiment will be described with reference to FIGS.

[0037] (Stocker 11) In this specification, of the multiple robot hands 2, a robot hand supported by a hand support 31 is defined as an in-use hand 2U (see FIG. 2), and of the multiple robot hands 2, a robot hand other than the in-use hand 2U is defined as a standby hand 2W (see FIG. 2). As illustrated in FIG. 10, the robot system 1A in the first embodiment (or the machine tool system 100A in the first embodiment) may be provided with a stocker 11 that stores the standby hand 2W.

[0038] When the robot system 1A includes the stocker 11, the standby hand 2W is stored appropriately. Also, the standby hand 2W is prevented from being unintentionally changed in position.

[0039] (Automatic exchange of robot hand 2) 11, the robot control device 9 executes automatic exchange of the robot hand 2 based on the operation schedule SC. More specifically, the robot control device 9 controls the robot 3 so that the removal of a robot hand from the hand support 31 (more specifically, the removal of the hand in use 2U from the hand support 31) and the attachment of another robot hand to the hand support 31 (more specifically, the attachment of the standby hand 2W to the hand support 31) are automatically performed based on the operation schedule SC (see dashed arrow AR7 in FIG. 11).

[0040] 11, the robot 3 can directly approach the standby hand 2W stored in the stocker 11 (more specifically, can directly contact the standby hand 2W stored in the stocker 11). In the example shown in Fig. 11, the robot control device 9 controls the robot 3 so that the transfer of the in-use hand 2U from the hand support 31 to the stocker 11 and the transfer of the standby hand 2W from the stocker 11 to the hand support 31 are automatically performed based on the operation schedule SC.

[0041] (Preparation work before robot 3 starts operating automatically) 3, the calculation device E2 may extract, based on an operation schedule SC of the robot 3, a first robot hand 2a from among the multiple robot hands 2 to be used when the operation schedule is executed. The calculation device E2 may also derive a first optimum position AD1 of the workpiece gripping jaws 27a of the first robot hand 2a relative to the jaw support body 21a of the extracted first robot hand 2a. The display E3 may also display the first optimum position AD1 on the display E3 before automatic operation of the robot 3 based on the operation schedule is started.

[0042] In this case, the operator can efficiently perform setup work before the robot 3 starts operating automatically without making any mistakes.

[0043] 3, the calculation device E2 may extract, based on an operation schedule SC of the robot 3, a first robot hand 2a and a second robot hand 2b to be used when the operation schedule is executed from among the multiple robot hands 2. The calculation device E2 may also derive a first optimum position AD1 of the workpiece gripping jaws 27a of the first robot hand 2a relative to the extracted jaw support body 21a of the first robot hand 2a, and a second optimum position AD2 of the workpiece gripping jaws 27b of the second robot hand 2b relative to the extracted jaw support body 21b of the second robot hand 2b. The display E3 may also display the first optimum position AD1 and the second optimum position AD2 on the display E3 before automatic operation of the robot 3 based on the operation schedule is started.

[0044] In this case, the operator can efficiently perform setup work before the robot 3 starts operating automatically without making any mistakes.

[0045] (First appropriate position AD1) In the example shown in FIG. 3, the operation schedule SC includes a first operation schedule SC1 that instructs the transport of a first workpiece W1. In the example shown in FIG. 12, the multiple robot hands 2 include a first robot hand 2a that grips a first workpiece W1. As illustrated in FIG. 12, the appropriate position of the workpiece gripping claws 27a of the first robot hand 2a relative to the claw support body 21a of the first robot hand 2a is defined as a first appropriate position AD1 (see dashed arrow AR2). In the example shown in FIG. 3, the calculation device E2 derives the first appropriate position AD1 based on the size Q1 of the first workpiece W1. Furthermore, the display E3 displays the first appropriate position AD1.

[0046] In the example shown in FIG. 3, a first optimum position AD1 is derived based on the size Q1 of the first workpiece W1, and the first optimum position AD1 is displayed on the display E3. Therefore, regardless of the operator's level of experience, the workpiece gripping jaws 27a can be repositioned to a position appropriate for the size of the first workpiece W1. Furthermore, the robot control device 9 can instruct the robot 3 to transport the first workpiece W1 based on the operation schedule SC (more specifically, based on the first operation schedule SC1). Furthermore, the robot 3 can optimally transport the first workpiece W1 using the workpiece gripping jaws 27a positioned at the first optimum position AD1.

[0047] (Second appropriate position AD2) In the example shown in FIG. 3, the operation schedule SC includes a second operation schedule SC2 that instructs the transport of the second workpiece W2. In the example shown in FIG. 13, the multiple robot hands 2 include a second robot hand 2b that grips the second workpiece W2. As illustrated in FIG. 13, the appropriate position of the workpiece gripping claws 27b of the second robot hand 2b relative to the claw support body 21b of the second robot hand 2b is defined as a second appropriate position AD2 (see dashed arrow AR5). In the example shown in FIG. 3, the calculation device E2 derives the second appropriate position AD2 based on the size Q2 of the second workpiece W2. Furthermore, the display E3 displays the second appropriate position AD2.

[0048] In the example shown in Fig. 3, the second optimum position AD2 is derived based on the size Q2 of the second workpiece W2, and the second optimum position AD2 is displayed on the display E3. Therefore, regardless of the operator's level of experience, the workpiece gripping jaws 27b can be repositioned to a position appropriate for the size of the second workpiece W2. Furthermore, the robot control device 9 can instruct the robot 3 to transport the second workpiece W2 based on the operation schedule SC (more specifically, based on the second operation schedule SC2). Furthermore, the robot 3 can preferably transport the second workpiece W2 using the workpiece gripping jaws 27b positioned at the second optimum position AD2.

[0049] 3, the display E3 simultaneously displays the first correct position AD1 and the second correct position AD2. Alternatively, the display E3 may sequentially display the first correct position AD1 and the second correct position AD2.

[0050] When the first appropriate position AD1 and the second appropriate position AD2 are displayed simultaneously or sequentially, the operator can change the position of the workpiece gripping claws 27a of the first robot hand 2a to the first appropriate position AD1, and can change the position of the workpiece gripping claws 27b of the second robot hand 2b to the second appropriate position AD2, while checking the first appropriate position AD1 and the second appropriate position AD2 displayed on the display E3.

[0051] (First gripping jaw proper position AD11 and second gripping jaw proper position AD12) In the example shown in FIG. 14, the operation schedule SC includes a first operation schedule SC1 that instructs the transport of the first workpiece. In the example shown in FIG. 15, the multiple robot hands 2 include a first robot hand 2a that grips the first workpiece W1. The first robot hand 2a also includes a first gripping claw 271a that grips the first workpiece W1-1 before processing, and a second gripping claw 276a that grips the first workpiece W1-2 after processing. In the example shown in FIG. 15, the first workpiece W1-1 before processing is gripped by the multiple first gripping claws 271a. The first workpiece W1-2 after processing is gripped by the multiple second gripping claws 276a. In the example shown in FIG. 15, the first robot hand 2a is a double-handed robot hand.

[0052] 15, the appropriate position of the first gripping claw 271a relative to the first gripping claw support 211a of the first robot hand 2a (see dashed arrow AR8) is defined as the first gripping claw appropriate position AD11. Also, the appropriate position of the second gripping claw 276a relative to the second gripping claw support 216a of the first robot hand 2a (see dashed arrow AR9) is defined as the second gripping claw appropriate position AD12.

[0053] 14, the calculation device E2 derives the first gripping jaw optimum position AD11 based on the size Q11 of the first workpiece W1-1 before machining, and the calculation device E2 derives the second gripping jaw optimum position AD12 based on the size Q12 of the first workpiece W1-2 after machining.

[0054] 14, the display E3 displays the first gripping jaw appropriate position AD11 and the second gripping jaw appropriate position AD12. More specifically, the display E3 displays the first gripping jaw appropriate position AD11 and the second gripping jaw appropriate position AD12 simultaneously or sequentially.

[0055] 14 and 15, the first gripping jaw optimum position AD11 is derived based on the size of the first workpiece W1-1 before machining, and the second gripping jaw optimum position AD12 is derived based on the size of the first workpiece W1-2 after machining, and the first gripping jaw optimum position AD11 and the second gripping jaw optimum position AD12 are displayed on the display E3. Therefore, regardless of the operator's level of experience, the first gripping jaws 271a can be repositioned to a position appropriate for the size of the first workpiece W1-1 before machining, and the second gripping jaws 276a can be repositioned to a position appropriate for the size of the first workpiece W1-2 after machining. Furthermore, the robot control device 9 can instruct the robot 3 to transport the first workpiece W1 based on the operation schedule SC (more specifically, the first operation schedule SC1). In addition, the robot 3 can preferably transport the first workpiece W1-1 before processing using the first gripping claw 271a located at the first gripping claw optimum position AD11, and can preferably transport the first workpiece W1-2 after processing using the second gripping claw 276a located at the second gripping claw optimum position AD12.

[0056] (Third gripping jaw proper position AD21 and fourth gripping jaw proper position AD22) In the example shown in FIG. 14, the operation schedule SC includes a second operation schedule SC2 that instructs the transport of the second workpiece W2. In the example shown in FIG. 16, the multiple robot hands 2 include a second robot hand 2b that grips the second workpiece W2. The second robot hand 2b also includes a third gripping claw 271b that grips the second workpiece W2-1 before machining, and a fourth gripping claw 276b that grips the second workpiece W2-2 after machining. In the example shown in FIG. 16, the second workpiece W2-1 before machining is gripped by the multiple third gripping claws 271b. The second workpiece W2-2 after machining is gripped by the multiple fourth gripping claws 276b. In the example shown in FIG. 16, the second robot hand 2b is a double-handed robot hand.

[0057] 16, the appropriate position of the third gripping claw 271b relative to the third gripping claw support body 211b of the second robot hand 2b (see dashed arrow AR10) is defined as the third gripping claw appropriate position AD21. Also, the appropriate position of the fourth gripping claw 276b relative to the fourth gripping claw support body 216b of the second robot hand 2b (see dashed arrow AR11) is defined as the fourth gripping claw appropriate position AD22.

[0058] 14, the calculation device E2 derives the third gripping jaw optimum position AD21 based on the size Q21 of the second workpiece W2-1 before machining, and the calculation device E2 derives the fourth gripping jaw optimum position AD22 based on the size Q22 of the second workpiece W2-2 after machining.

[0059] 14, the display E3 displays the third gripping jaw appropriate position AD21 and the fourth gripping jaw appropriate position AD22. More specifically, the display E3 displays the third gripping jaw appropriate position AD21 and the fourth gripping jaw appropriate position AD22 simultaneously or sequentially.

[0060] In the example shown in Figures 14 and 16, the third gripping claw optimum position AD21 is derived based on the size of the second workpiece W2-1 before processing, and the fourth gripping claw optimum position AD22 is derived based on the size of the second workpiece W2-2 after processing, and the third gripping claw optimum position AD21 and the fourth gripping claw optimum position AD22 are displayed on the display E3.

[0061] (Robot Hand 2 Type) 10, at least one of the multiple robot hands 2 is a double-hand type robot hand 2D that can simultaneously hold two workpieces. The double-hand type robot hand 2D can simultaneously hold a workpiece before machining (for example, a first workpiece W1-1 before machining) and a workpiece after machining (for example, a first workpiece W1-2 after machining).

[0062] 10, at least one other of the multiple robot hands 2 is a single-hand type robot hand 2S that can grip only one workpiece. The single-hand type robot hand 2S selectively grips a workpiece before machining or a workpiece after machining.

[0063] If the multiple robot hands 2 include a double-hand type robot hand 2D and a single-hand type robot hand 2S, the operational options for the robot system 1A are expanded. For example, a double-hand type robot hand 2D can be used to transport a chuck workpiece, and a single-hand type robot hand 2S can be used to transport a shaft workpiece. Note that the multiple robot hands 2 may include only double-hand type robot hands 2D. Alternatively, the multiple robot hands 2 may include only single-hand type robot hands 2S. Furthermore, the double-hand type robot hand 2D may transport a shaft workpiece instead of a chuck workpiece, or may transport a workpiece other than a chuck workpiece and a shaft workpiece. Similarly, the single-hand type robot hand 2S may transport a chuck workpiece instead of a shaft workpiece, or may transport a workpiece other than a shaft workpiece and a chuck workpiece. In other words, in this specification, the type of workpiece transported by each robot hand is arbitrary.

[0064] In the example shown in Fig. 16, the chuck workpiece Wc is gripped by a plurality of gripping jaws arranged at equal angular intervals around the central axis of the chuck workpiece Wc. In the example shown in Fig. 17, the shaft workpiece Ws is gripped by a plurality of gripping jaws arranged along the central axis of the shaft workpiece Ws.

[0065] The chuck workpiece Wc is machined by a tool T held by a machining head 72 while being cantilevered by a workpiece support device 71 (see FIG. 9), for example. The shaft workpiece Ws is machined by a tool T held by a machining head 72 while being gripped at one end by the workpiece support device 71 and supported at the other end by a tailstock 78 (see FIG. 31).

[0066] The robot control device 9 may control the robot 3 based on the operation schedule SC (more specifically, based on the operation schedule SC stored in the memory E1) so that one of the double-hand type robot hand 2D and the single-hand type robot hand 2S is removed from the hand support 31, and then the other of the double-hand type robot hand 2D and the single-hand type robot hand 2S is attached to the hand support 31.

[0067] 10, the stocker 11 may store both the double-handed robot hand 2D and the single-handed robot hand 2S. Alternatively, the stocker 11 may store only the double-handed robot hand 2D or only the single-handed robot hand 2S.

[0068] (Machine tool 7) As illustrated in FIG. 9, the machine tool 7 includes a workpiece support device 71 that supports a workpiece, a machining head 72 that can hold a tool T, and a moving device that moves the machining head 72 relative to the workpiece support device 71 (hereinafter referred to as a "second moving device 74" to distinguish it from the moving device 36 that moves the robot hand). The machine tool 7 may be a lathe or a multi-tasking machine that can perform turning and milling. The machining head 72 may be a non-turret type machining head or a turret type machining head. The second moving device 74 may include a machining head moving device 74a that moves the machining head 72.

[0069] In the example shown in FIG. 9, the machine tool system 100A includes a numerical control device 6 that controls the machine tool 7 (for example, the workpiece support device 71, the machining head 72, and / or the second moving device 74).

[0070] The memory of the numerical control device 6 may function as the above-mentioned memory E1, the memory of the robot control device 9 may function as the above-mentioned memory E1, or the memory of another computer may function as the above-mentioned memory E1.

[0071] The arithmetic unit of the numerical control device 6 may function as the above-mentioned arithmetic unit E2, the arithmetic unit of the robot control device 9 may function as the above-mentioned arithmetic unit E2, or the arithmetic unit of another computer may function as the above-mentioned arithmetic unit E2.

[0072] The display of the numerical control device 6 may function as the above-mentioned display E3, the display of the robot control device 9 may function as the above-mentioned display E3, or the display of another computer may function as the above-mentioned display E3.

[0073] (Program PG) In the example shown in Figure 3, the memory E1 stores a program PG, which will be described later.

[0074] (Second embodiment) A robot system 1B and a machine tool system 100B according to the second embodiment will be described with reference to FIGS. 1 to 43. FIG. 18 is a diagram schematically illustrating a robot system 1B according to the second embodiment. FIG. 19 is a diagram schematically illustrating a machine tool system 100B according to the second embodiment. FIG. 20 is a diagram schematically illustrating an enlarged portion of a stocker 11. FIG. 21 is a diagram schematically illustrating an example of a computer E. FIGS. 22 to 27 are diagrams schematically illustrating an example of an image displayed on the display E3. FIG. 28 is a diagram schematically illustrating an enlarged portion of the image in FIG. 27. FIGS. 29 and 30 are diagrams schematically illustrating an example of an image displayed on the display E3. FIG. 31 is a diagram schematically illustrating a portion of the machine tool system 100B according to the second embodiment. FIG. 32 is a diagram schematically illustrating the machine tool system 100B according to the second embodiment. FIG. 33 is a diagram schematically illustrating an enlarged portion of the machine tool system 100B according to the second embodiment. FIG. 34 is a diagram schematically showing the numerical control device 6. FIG. 35 is a diagram for explaining the connection between the hand support 31 and the robot hand 2. FIG. 36 is a diagram schematically showing the robot control device 9. FIG. 37 is a diagram schematically showing the robot control device 9. FIG. 38 is a diagram schematically showing another computer 19 connected to the robot control device 9 so as to be able to communicate with it. FIG. 39 is a flowchart showing an example of a setup support method for a robot system. FIG. 40 is a table schematically showing an example of data stored in the memory E1. FIG. 41 is a diagram schematically showing an example of an image displayed on the display E3. FIG. 42 is a flowchart showing an example of adjustment instruction display processing. FIG. 43 is a diagram schematically showing an example of an image displayed on the display E3.

[0075] 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. Conversely, matters described in the second embodiment can also be adopted in the first embodiment.

[0076] As illustrated in FIG. 18, the robot system 1B in the second embodiment comprises: (1) a plurality of robot hands 2, each having a claw support that supports the workpiece gripping claw so that the position can be adjusted; (2) a robot 3 having a hand support 31 to which each of the plurality of robot hands 2 can be attached and a moving device 36 that moves the hand support 31; (3) a memory E1 that stores the operation schedule of the robot; (4) a calculation device E2 that derives the appropriate position of the workpiece gripping claw relative to the claw support of at least one of the plurality of robot hands 2 based on the operation schedule of the robot 3; (5) a display E3 that displays the appropriate position; and (6) a robot control device 9 that controls the robot 3 so that the robot hand attached to the hand support 31 (e.g., a first robot hand) is replaced with another robot hand (e.g., a second robot hand) based on the operation schedule of the robot 3.

[0077] Therefore, the robot system 1B in the second embodiment has the same effects as the robot system 1A in the first embodiment.

[0078] As illustrated in FIG. 19, a machine tool system 100B in the second embodiment includes a machine tool 7 that processes a workpiece in addition to the robot system 1B in the second embodiment.

[0079] Based on the operation schedule (more specifically, based on the operation schedule stored in memory E1), the robot control device 9 controls the robot 3 so that (1) the workpiece is loaded into the machine tool 7, (2) the machined workpiece is unloaded from the machine tool 7, (3) a robot hand is removed from the hand support 31 (for example, the first robot hand is removed from the hand support 31), and (4) another robot hand is attached to the hand support 31 (for example, the second robot hand is attached to the hand support 31).

[0080] Therefore, the machine tool system 100B in the second embodiment has the same effects as the machine tool system 100A in the first embodiment.

[0081] (Optional configuration) Next, optional additional configurations that can be employed in the robot system 1B in the second embodiment and the machine tool system 100B in the second embodiment will be described with reference to FIGS.

[0082] (Stocker 11) As illustrated in Figures 18 and 19, the robot system 1B in the second embodiment (or the machine tool system 100B in the second embodiment) may be provided with a stocker 11 capable of storing at least one robot hand 2.

[0083] The stocker 11 stores standby hands 2W that are not attached to the hand support 31 of the robot 3. The stocker 11 may store multiple robot hands 2 (more specifically, multiple standby hands 2W).

[0084] In the example shown in FIG. 20, the robot hand 2 (more specifically, the standby hand 2W) has a plurality of rod bodies 23. The robot hand 2 (more specifically, the standby hand 2W) may have at least two rod bodies 23 arranged parallel to each other. In the example shown in FIG. 20, the plurality of rod bodies 23 are arranged in a coupling (hereinafter referred to as a "second coupling 22") connected to the hand support body 31 of the robot 3.

[0085] The stocker 11 has a support member 111 that supports the standby hand 2W. As illustrated in FIG. 20, the support member 111 may have a first groove 111a that receives a first end of each of the multiple rod bodies 23 and a second groove 111b that receives a second end of each of the multiple rod bodies 23. In the example illustrated in FIG. 20, the second groove 111b is disposed opposite the first groove 111a. In the example illustrated in FIG. 20, the first end of each of the multiple rod bodies 23 is slidable along the first groove 111a, and the second end of each of the multiple rod bodies 23 is slidable along the second groove 111b.

[0086] 10, the stocker 11 may have a plurality of storage areas RG for storing a plurality of robot hands 2. Furthermore, the above-described first groove portion 111a and the above-described second groove portion 111b may be arranged in each of the plurality of storage areas RG.

[0087] 10, the stocker 11 has a first storage area RG1 for storing one robot hand and a second storage area RG2 for storing another robot hand. The stocker 11 may also have a third storage area RG3 for storing another robot hand. The stocker 11 may also have a fourth storage area RG4 for storing yet another robot hand.

[0088] In the example shown in FIG. 11, the robot 3 can directly approach the waiting hand 2W stored in the stocker 11 (more specifically, can directly contact the waiting hand 2W stored in the stocker 11).

[0089] (Automatic exchange of robot hand 2) 11, the robot control device 9 executes automatic exchange of the robot hand 2 based on the operation schedule SC. The automatic exchange of the robot hand 2 has already been described in the first embodiment, so a repeated description of the automatic exchange of the robot hand 2 will be omitted.

[0090] (Computer E) As illustrated in FIG. 18, the robot system 1B in the second embodiment (or the machine tool system 100B in the second embodiment) includes a computer E. The computer E has a memory E1, a processing unit E2, and a display E3. The computer E may have an input device E4 and / or a communication circuit E5. In the example illustrated in FIG. 18, the memory E1, the processing unit E2, the display E3, the input device E4, and the communication circuit E5 are connected to one another via a bus E8.

[0091] (Work size data DT) 21, the memory E1 stores work size data DT indicating the size (e.g., the outer diameter of the work) of the workpiece transported by the robot 3. The memory E1 may also store first size data DT1 indicating the size (e.g., the outer diameter of the first workpiece W1) of the first workpiece W1 transported using the first robot hand 2a, and / or second size data DT2 indicating the size (e.g., the outer diameter of the second workpiece W2) of the second workpiece W2 transported using the second robot hand 2b.

[0092] The memory E1 may store third size data DT3 indicating the size of a third workpiece W3 to be transported using the third robot hand 2c (see, for example, FIG. 17).

[0093] The memory E1 may store fourth size data DT4 indicating the size of a fourth workpiece W4 (see FIG. 32) transported by the first robot hand 2a. In the example shown in FIG. 32, the size of the fourth workpiece W4 (more specifically, the outer diameter of the fourth workpiece W4) is different from the size of the first workpiece W1 (more specifically, the outer diameter of the first workpiece W1).

[0094] The first size data DT1 may include data DT1-1 indicating the size of the first workpiece W1-1 before machining, and data DT1-2 indicating the size of the first workpiece W1-2 after machining. The second size data DT2 may include data DT2-1 indicating the size of the second workpiece W2-1 before machining, and data DT2-2 indicating the size of the second workpiece W2-2 after machining. The third size data DT3 may include data DT3-1 indicating the size of the third workpiece before machining, and data DT3-2 indicating the size of the third workpiece after machining. The fourth size data DT4 may include data DT4-1 indicating the size of the fourth workpiece before machining, and data DT4-2 indicating the size of the fourth workpiece after machining.

[0095] The memory E1 may store a first work identifier DW1 that identifies the first work W1 and a first hand identifier D2a (e.g., a name that identifies the first robot hand 2a) that identifies the first robot hand 2a used to transport the first work W1 in association with each other. The memory E1 may store, in association with one another, a first workpiece identifier DW1 that identifies the first workpiece W1, a first hand identifier D2a that identifies the first robot hand 2a used to transport the first workpiece W1, a first gripper identifier G1 (e.g., a code that identifies the first gripper) that identifies the first gripper that grips the first workpiece W1 before processing (more specifically, the first gripper that grips the first workpiece W1-1 before processing using multiple first gripping jaws 271a), and a second gripper identifier G2 (e.g., a code that identifies the second gripper) that identifies the second gripper that grips the first workpiece W1-2 after processing (more specifically, the second gripper that grips the first workpiece W1-2 after processing using multiple second gripping jaws 276a).

[0096] The display E3 may display a first group of data DA1 including a first workpiece identifier DW1 (e.g., the name of the first workpiece W1) that identifies the first workpiece W1, first size data DT1 that indicates the size of the first workpiece W1, and a first hand identifier D2a that identifies the first robot hand 2a that will be used to transport the first workpiece W1. The first group of data DA1 displayed on the display E3 may include a first gripper identifier G1 that identifies the first gripper that grips the first workpiece W1-1 before machining, and a second gripper identifier G2 that identifies the second gripper that grips the first workpiece W1-2 after machining. The first size data DT1 displayed on the display E3 may include data DT1-1 that indicates the size of the first workpiece W1-1 before machining, and data DT1-2 that indicates the size of the first workpiece W1-2 after machining.

[0097] The memory E1 may store, in association with each other, a second work identifier DW2 that identifies the second work W2 and a second hand identifier D2b (e.g., a name that identifies the second robot hand 2b) that identifies the second robot hand 2b used to transport the second work W2. The memory E1 may store, in association with one another, a second workpiece identifier DW2 that identifies the second workpiece W2, a second hand identifier D2b that identifies the second robot hand 2b used to transport the second workpiece W2, a third gripper identifier G3 (e.g., a code that identifies the third gripper) that identifies the third gripper that grips the second workpiece W2 before processing (more specifically, the third gripper that grips the second workpiece W2-1 before processing using the multiple third gripping jaws 271b), and a fourth gripper identifier G4 (e.g., a code that identifies the fourth gripper) that identifies the fourth gripper that grips the second workpiece W2-2 after processing (more specifically, the fourth gripper that grips the second workpiece W2-2 after processing using the multiple fourth gripping jaws 276b).

[0098] The display E3 may display a second group of data DA2 including a second workpiece identifier DW2 (e.g., the name of the second workpiece W2) that identifies the second workpiece W2, second size data DT2 that indicates the size of the second workpiece W2, and a second hand identifier D2b that identifies the second robot hand 2b that will be used to transport the second workpiece W2. The second group of data DA2 displayed on the display E3 may include a third gripper identifier G3 that identifies the third gripper that grips the second workpiece W2-1 before machining, and a fourth gripper identifier G4 that identifies the fourth gripper that grips the second workpiece W2-2 after machining. The second size data DT2 displayed on the display E3 may include data DT2-1 that indicates the size of the second workpiece W2-1 before machining, and data DT2-2 that indicates the size of the second workpiece W2-2 after machining.

[0099] The memory E1 may store a third workpiece identifier DW3 that identifies the third workpiece W3 and a third hand identifier D2c that identifies the third robot hand 2c used to transport the third workpiece W3, in association with each other. The display E3 may display a third group of data DA3 that includes the third workpiece identifier DW3 that identifies the third workpiece W3 (for example, the name of the third workpiece W3), third size data DT3 that indicates the size of the third workpiece W3, and the third hand identifier D2c that identifies the third robot hand 2c used to transport the third workpiece W3.

[0100] The memory E1 may store a fourth workpiece identifier DW4 that identifies the fourth workpiece W4 and an identifier (e.g., first hand identifier D2a) that identifies a robot hand (e.g., first robot hand 2a) used to transport the fourth workpiece W4, in association with each other. The display E3 may display a fourth group of data DA4 that includes the fourth workpiece identifier DW4 that identifies the fourth workpiece W4 (e.g., the name of the fourth workpiece W4), fourth size data DT4 that indicates the size of the fourth workpiece W4, and an identifier (e.g., first hand identifier D2a) that identifies a robot hand (e.g., first robot hand 2a) used to transport the fourth workpiece W4.

[0101] The memory E1 may store workpiece size data DT (e.g., first size data DT1 indicating the size of the first workpiece W1) based on input from an operator made via the input device E4. Alternatively, the calculation device E2 may extract the workpiece size data DT from the machining program PM, and the extracted workpiece size data DT may be stored in the memory E1. Still alternatively, the computer E may receive the workpiece size data DT from another computer, and the workpiece size data DT received by the computer E may be stored in the memory E1.

[0102] The memory E1 may store the above-mentioned first group of data DA1 based on input from an operator made via the input device E4. Alternatively, the computer E may receive the first group of data DA1 from another computer, and the first group of data DA1 received by the computer E may be stored in the memory E1. The second group of data DA2, the third group of data DA3, and / or the fourth group of data DA4 may be stored in the memory E1 based on input from an operator made via the input device E4. Alternatively, the computer E may receive the second group of data DA2, the third group of data DA3, and / or the fourth group of data DA4 from another computer.

[0103] (Work quantity data DN) 21 and 22, memory E1 stores workpiece quantity data DN indicating the number of workpieces transported by robot 3. In machine tool system 100B in the second embodiment, the number of workpieces transported by robot 3 may be the same as the number of workpieces machined by machine tool 7. In other words, memory E1 may store workpiece quantity data DN indicating the number of workpieces machined by machine tool 7.

[0104] The memory E1 may store first quantity data DN1 (see FIG. 22) indicating the number of first workpieces W1 transported by the robot 3 (or the number of first workpieces W1 machined by the machine tool 7). The memory E1 may store second quantity data DN2 indicating the number of second workpieces W2 transported by the robot 3 (or the number of second workpieces W2 machined by the machine tool 7). The memory E1 may store third quantity data DN3 indicating the number of third workpieces W3 transported by the robot 3 (or the number of third workpieces W3 machined by the machine tool 7), and / or fourth quantity data DN4 indicating the number of fourth workpieces W4 transported by the robot 3 (or the number of fourth workpieces W4 machined by the machine tool 7).

[0105] As exemplified in FIG. 22, the display E3 may display a first workpiece identifier DW1 (e.g., the name of the first workpiece W1) that identifies the first workpiece W1, and first quantity data DN1 that indicates the number of first workpieces W1 transported by the robot 3 (or the number of first workpieces W1 machined by the machine tool 7). The display E3 may display a second workpiece identifier DW2 that identifies the second workpiece W2, and second quantity data DN2 that indicates the number of second workpieces W2 transported by the robot 3. The display E3 may display a third workpiece identifier DW3 that identifies the third workpiece W3, and third quantity data DN3 that indicates the number of third workpieces W3 transported by the robot 3. The display E3 may also display a fourth workpiece identifier DW4 that identifies the fourth workpiece W4, and fourth quantity data DN4 that indicates the number of fourth workpieces W4 transported by the robot 3.

[0106] The memory E1 may store workpiece quantity data DN (e.g., first quantity data DN1, second quantity data DN2, third quantity data DN3, and / or fourth quantity data DN4) based on input from an operator via the input device E4. Alternatively, the computer E may receive the workpiece quantity data DN from another computer, and the workpiece quantity data DN received by the computer E may be stored in the memory E1.

[0107] (Order edit image IM1) In the robot system 1B in the second embodiment (or the machine tool system 100B in the second embodiment), it is possible to edit the operation schedule of the robot 3 that transports a plurality of workpieces of different sizes.

[0108] 22, the display E3 may be capable of displaying an order editing image IM1 for editing the operation schedule of the robot 3. More specifically, the calculation device E2 executing the program PG stored in the memory E1 may cause the display E3 to display the order editing image IM1 for editing the operation schedule of the robot 3.

[0109] The order edit image IM1 may include a first image IM1-1 including an input field IN1 for workpiece quantity data DN (for example, first quantity data DN1, second quantity data DN2).

[0110] In the example shown in FIG. 22, the workpiece quantity data DN (for example, the first quantity data DN1 and the second quantity data DN2) entered in the entry field IN1 is stored in the memory E1.

[0111] In the examples shown in FIGS. 23 and 24, the order editing image IM1 can specify the transport order of multiple types of workpieces, including the first workpiece W1 and the second workpiece W2. As shown in FIG. 23, the order editing image IM1 may include a second image IM1-2 that specifies the transport order of multiple types of workpieces, including the first workpiece W1 and the second workpiece W2. In the example shown in FIG. 23, a number NU indicating the transport order of multiple types of workpieces, including the first workpiece W1 and the second workpiece W2, is displayed on the display E3. The order editing image IM1 may include a change button BN1 that changes the transport order of multiple types of workpieces, including the first workpiece W1 and the second workpiece W2. FIG. 24 shows the state after the change button BN1 is operated.

[0112] 25, the display E3 may display an order list LT1 including a transport order OD1 for a first workpiece W1 and a transport order OD2 for a second workpiece W2. In the example shown in FIG. 25, the order edit image IM1 includes a third image IM1-3 including the order list LT1.

[0113] 25, the transport order OD1 for the first workpiece W1 displayed on the display E3 includes a first workpiece identifier DW1 that identifies the first workpiece W1 and first quantity data DN1 that indicates the number of first workpieces W1 to be transported by the robot 3. Additionally, the transport order OD1 for the first workpiece W1 displayed on the display E3 may include a first hand identifier D2a that identifies the first robot hand 2a that will be used to transport the first workpiece W1.

[0114] 25, the transport order OD1 for the first workpiece W1 may include a first optimum position AD1 of the workpiece gripping jaws 27a relative to the jaw support body 21a of the first robot hand 2a used to transport the first workpiece W1. The first optimum position AD1 is derived by the calculation device E2 based on first size data DT1 indicating the size of the first workpiece W1. More specifically, the calculation device E2 derives the first optimum position AD1 of the workpiece gripping jaws 27a relative to the jaw support body 21a of the first robot hand 2a based on the type of robot hand used to transport the first workpiece W1 and the first size data DT1 indicating the size of the first workpiece W1. Data indicating the derived first optimum position AD1 is stored in the memory E1.

[0115] 25, the transport order OD1 for the first workpiece W1 may include a first gripping jaw optimum position AD11 indicating the optimum position of the first gripping jaws 271a of the first gripper that grips the first workpiece W1-1 before machining, and a second gripping jaw optimum position AD12 indicating the optimum position of the second gripping jaws 276a of the second gripper that grips the first workpiece W1-2 after machining. The first gripping jaw optimum position AD11 is derived by the calculation device E2 based on data DT1-1 indicating the size of the first workpiece W1-1 before machining. The second gripping jaw optimum position AD12 is derived by the calculation device E2 based on data DT1-2 indicating the size of the first workpiece W1-2 after machining. The data indicating the derived first gripping jaw optimum position AD11 and the data indicating the derived second gripping jaw optimum position AD12 are stored in the memory E1.

[0116] 25, the transport order OD2 for the second workpiece W2 displayed on the display E3 includes a second workpiece identifier DW2 that identifies the second workpiece W2 and second quantity data DN2 that indicates the number of second workpieces W2 to be transported by the robot 3. Additionally, the transport order OD2 for the second workpiece W2 displayed on the display E3 may include a second hand identifier D2b that identifies the second robot hand 2b that will be used to transport the second workpiece W2.

[0117] 25, the transport order OD2 for the second workpiece W2 may include a second optimum position AD2 of the workpiece gripping jaws 27b relative to the jaw support body 21b of the second robot hand 2b used to transport the second workpiece W2. The second optimum position AD2 is derived by the calculation device E2 based on second size data DT2 indicating the size of the second workpiece W2. More specifically, the calculation device E2 derives the second optimum position AD2 of the workpiece gripping jaws 27b relative to the jaw support body 21b of the second robot hand 2b based on the type of robot hand used to transport the second workpiece W2 and the second size data DT2 indicating the size of the second workpiece W2. Data indicating the derived second optimum position AD2 is stored in memory E1.

[0118] 25, the transport order OD2 for the second workpiece W2 may include a third gripping jaw appropriate position AD21 indicating the appropriate position of the third gripping jaw 271b of the third gripper that grips the second workpiece W2-1 before processing, and a fourth gripping jaw appropriate position AD22 indicating the appropriate position of the fourth gripping jaw 276b of the fourth gripper that grips the second workpiece W2-2 after processing. The third gripping jaw appropriate position AD21 is derived by the calculation device E2 based on data DT2-1 indicating the size of the second workpiece W2-1 before processing. The fourth gripping jaw appropriate position AD22 is derived by the calculation device E2 based on data DT2-2 indicating the size of the second workpiece W2-2 after processing. The data indicating the derived third gripping jaw appropriate position AD21 and the data indicating the derived fourth gripping jaw appropriate position AD22 are stored in memory E1.

[0119] 25, the transport order OD3 for the third workpiece W3 displayed on the display E3 includes a third workpiece identifier DW3 that identifies the third workpiece W3 and third quantity data DN3 that indicates the number of third workpieces W3 to be transported by the robot 3. Additionally, the transport order OD3 for the third workpiece W3 displayed on the display E3 may include a third hand identifier D2c that identifies the third robot hand 2c that will be used to transport the third workpiece W3.

[0120] 25, the transport order OD3 for the third workpiece W3 may include a third optimum position AD3 of the workpiece gripping jaws 27c relative to the jaw support 21c of the third robot hand 2c used to transport the third workpiece W3. The third optimum position AD3 is derived by the calculation device E2 based on third size data DT3 indicating the size of the third workpiece W3. Data indicating the derived third optimum position AD3 is stored in the memory E1.

[0121] 25, based on an operation schedule SC, a plurality of robot hands 2 to be used when the operation schedule is executed are extracted from the plurality of robot hands 2. Further, for each of the extracted plurality of robot hands, an appropriate position of the workpiece gripping jaws relative to the jaw support body is derived. Further, the derived appropriate position is displayed on the display E3.

[0122] 26, the order editing image IM1 (e.g., the third image IM1-3) may include a position input field IN2 for specifying the positions of multiple workpieces on the pallet PL (e.g., the positions of multiple first workpieces W1 on the pallet and / or the positions of multiple second workpieces W2 on the pallet). The order editing image IM1 (e.g., the third image IM1-3) may include a second list LT2 for associating multiple numbers specifying multiple positions on the pallet PL with multiple workpieces.

[0123] 26, information indicating the positions of the first workpieces W1 on the pallet can be input into the position input field IN2. Also, information indicating the positions of the second workpieces W2 on the pallet can be input into the position input field IN2.

[0124] (Adjustment instruction image IM2) 27, the display E3 may be capable of displaying an adjustment instruction image IM2 that instructs adjustment of the robot hand. More specifically, the arithmetic device E2 that executes the program PG stored in the memory E1 may cause the display E3 to display the adjustment instruction image IM2 that instructs adjustment of the robot hand. The adjustment instruction image IM2 may be displayed as a pop-up on the display E3 after input work for automatic operation of the robot 3 is completed.

[0125] The adjustment instruction image IM2 includes an appropriate position AD (more specifically, data PD indicating the appropriate position AD) of the workpiece gripping jaws 27 relative to the jaw support body 21 of at least one robot hand among the plurality of robot hands 2. The data PD indicating the appropriate position AD may be multi-stage position data.

[0126] 27, the adjustment instruction image IM2 includes a first optimum position AD1 (more specifically, data indicating the first optimum position AD1) of the workpiece gripping jaws 27a relative to the jaw support body 21a of the first robot hand 2a. The data indicating the first optimum position AD1 may be multi-stage position data. For example, when K is defined as any natural number equal to or greater than 2 (K is, for example, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, . . .), the data indicating the first optimum position AD1 may be data specifying any one of K positions that can be employed as the position of the workpiece gripping jaws 27a.

[0127] The adjustment instruction image IM2 may include an appropriate first grip claw position AD11 (more specifically, data indicating the appropriate first grip claw position AD11) of the first grip claw 271a relative to the first grip claw support member 211a of the first robot hand 2a (see, for example, FIG. 15). The adjustment instruction image IM2 may include an appropriate second grip claw position AD12 (more specifically, data indicating the appropriate second grip claw position AD12) of the second grip claw 276a relative to the second grip claw support member 216a of the first robot hand 2a (see, for example, FIG. 15).

[0128] 28, the adjustment instruction image IM2 may include a first hand identifier D2a that identifies the first robot hand 2a used to transport the first workpiece W1, and a first appropriate position AD1 of the workpiece gripping claws of the first robot hand 2a. By simultaneously displaying the first hand identifier D2a and the first appropriate position AD1 on the display E3, the operator can easily understand which robot hand should be adjusted and how.

[0129] The adjustment instruction image IM2 may include (1) a first hand identifier D2a that identifies the first robot hand 2a used to transport the first workpiece W1, (2) a first gripper identifier G1 that identifies the first gripper that grips the first workpiece W1-1 before processing, (3) a first gripping claw appropriate position AD11 that indicates the appropriate position of the first gripping claw 271a relative to the first claw support 211a of the first gripper, (4) a second gripper identifier G2 that identifies the second gripper that grips the first workpiece W1-2 after processing, and (5) a second gripping claw appropriate position AD12 that indicates the appropriate position of the second gripping claw 276a relative to the second claw support 216a of the second gripper.

[0130] The first hand identifier D2a, the first gripper identifier G1, the first gripping claw proper position AD11, the second gripper identifier G2, and the second gripping claw proper position AD12 are simultaneously displayed on the display E3, so that the operator can easily understand which gripper of which robot hand should be adjusted and how.

[0131] 27, the adjustment instruction image IM2 includes a second optimum position AD2 (more specifically, data indicating the second optimum position AD2) of the workpiece gripping jaws 27b relative to the jaw support body 21b of the second robot hand 2b. The data indicating the second optimum position AD2 may be multi-stage position data. For example, when K is defined as any natural number equal to or greater than 2 (K is, for example, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, . . .), the data indicating the second optimum position AD2 may be data specifying any one of K positions that can be employed as the position of the workpiece gripping jaws 27b.

[0132] 27, the adjustment instruction image IM2 may include an appropriate third grip claw position AD21 (more specifically, data indicating the appropriate third grip claw position AD21) of the third grip claw 271b relative to the third grip claw support body 211b (see FIG. 16) of the second robot hand 2b. The adjustment instruction image IM2 may include an appropriate fourth grip claw position AD22 (more specifically, data indicating the appropriate fourth grip claw position AD22) of the fourth grip claw 276b relative to the fourth grip claw support body 216b (see FIG. 16) of the second robot hand 2b.

[0133] 28, the adjustment instruction image IM2 may include a second hand identifier D2b that identifies the second robot hand 2b used to transport the second workpiece W2, and a second appropriate position AD2 of the workpiece gripping claws of the second robot hand 2b. By simultaneously displaying the second hand identifier D2b and the second appropriate position AD2 on the display E3, the operator can easily understand which robot hand should be adjusted and how.

[0134] The adjustment instruction image IM2 may include (1) a second hand identifier D2b that identifies the second robot hand 2b used to transport the second workpiece W2, (2) a third gripper identifier G3 that identifies the third gripper that grips the second workpiece W2-1 before processing, (3) a third gripping claw appropriate position AD21 that indicates the appropriate position of the third gripping claw 271b relative to the third claw support 211b of the third gripper, (4) a fourth gripper identifier G4 that identifies the fourth gripper that grips the second workpiece W2-2 after processing, and (5) a fourth gripping claw appropriate position AD22 that indicates the appropriate position of the fourth gripping claw 276b relative to the fourth claw support 216b of the fourth gripper.

[0135] The second hand identifier D2b, the third gripper identifier G3, the third gripper proper position AD21, the fourth gripper identifier G4, and the fourth gripper proper position AD22 are simultaneously displayed on the display E3, so that the operator can easily understand which gripper of which robot hand should be adjusted and how.

[0136] 27, the adjustment instruction image IM2 includes a third optimum position AD3 (more specifically, data indicating the third optimum position AD3) of the workpiece gripping jaws 27c relative to the jaw support body 21c (see FIG. 17) of the third robot hand 2c. The data indicating the third optimum position AD3 may be multi-stage position data. For example, when K is defined as any natural number equal to or greater than 2 (K is, for example, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, . . .), the data indicating the third optimum position AD3 may be data specifying any one of K positions that can be employed as the position of the workpiece gripping jaws 27c.

[0137] 27, the adjustment instruction image IM2 may include a third hand identifier D2c that identifies the third robot hand 2c that will be used to transport the third workpiece W3, and a third appropriate position AD3 of the workpiece gripping jaws of the third robot hand 2c. By simultaneously displaying the third hand identifier D2c and the third appropriate position AD3 on the display E3, the operator can easily understand which robot hand should be adjusted and how.

[0138] As exemplified in FIG. 27, the adjustment instruction image IM2 may include a message MG1 that prompts the operator to adjust the position of the workpiece gripping jaws of the robot hand 2.

[0139] After the adjustment work instructed in the adjustment instruction image IM2 is completed, automatic operation of the robot 3 (more specifically, automatic operation of the robot 3 based on the operation schedule SC) may be started in response to tapping or clicking on the confirmation button BN2 of the robot system 1B.

[0140] 27, the adjustment instruction image IM2 includes a confirmation button BN2 (more specifically, a confirmation button image) that receives an operator input indicating completion of the position adjustment of the workpiece gripping jaws of the robot hand 2. In response to the confirmation button BN2 being tapped or clicked, automatic operation of the robot 3 (more specifically, automatic operation of the robot 3 based on the operation schedule SC) is started.

[0141] The calculation device E2 may derive the size of the workpiece gripping jaws 27 to be attached to the jaw support body 21 based on the operation schedule SC. More specifically, the calculation device E2 may derive the size of the workpiece gripping jaws 27 based on the size of the workpiece specified by the operation schedule SC.

[0142] In the example shown in FIG. 27, the display E3 displays the size of the workpiece gripping jaws 27 (more specifically, data indicating the size of the workpiece gripping jaws 27). In the example shown in FIG. 27, the "S" in "S1", "S2", "S4", and "S9" indicates that the size of the workpiece gripping jaws 27 is small. In the example shown in FIG. 29, the "L" in "L6" indicates that the size of the workpiece gripping jaws 27 is large. In FIG. 10, the workpiece gripping jaw indicated by the dashed arrow AR12 is a small-sized gripping jaw, and the workpiece gripping jaw indicated by the dashed arrow AR13 is a large-sized gripping jaw.

[0143] 21, the calculation device E2 may derive the size of the workpiece gripping jaws 27a to be attached to the jaw support body 21a of the first robot hand 2a based on first size data DT1 indicating the size of the first workpiece W1. The calculation device E2 may derive the size of the first gripping jaws 271a to be attached to the first jaw support body 211a (see FIG. 15, for example) of the first robot hand 2a based on data DT1-1 indicating the size of the first workpiece W1-1 before machining. The calculation device E2 may also derive the size of the second gripping jaws 276a to be attached to the second jaw support body 216a (see FIG. 15, for example) of the first robot hand 2a based on data DT1-2 indicating the size of the first workpiece W1-2 after machining.

[0144] 27 and 29, the display E3 may display the size of the workpiece gripping jaws 27a. For example, the adjustment instruction image IM2 may include the size of the workpiece gripping jaws 27a (more specifically, data indicating the size of the workpiece gripping jaws 27a).

[0145] 27 and 29, the display E3 may display the size of the first gripping claw 271a of the first robotic hand 2a and / or the size of the second gripping claw 276a of the first robotic hand 2a. For example, the adjustment instruction image IM2 may include the size of the first gripping claw 271a and / or the size of the second gripping claw 276a. In FIGS. 27 and 29, the "S" in "S2" indicates that the first gripping claw 271a is small in size. In FIGS. 27 and 29, the "S" in "S1" indicates that the second gripping claw 276a is small in size.

[0146] 21, the calculation device E2 may derive the size of the workpiece gripping jaws 27b to be attached to the jaw support body 21b of the second robot hand 2b based on second size data DT2 indicating the size of the second workpiece W2. The calculation device E2 may derive the size of the third gripping jaws 271b to be attached to the third jaw support body 211b (see FIG. 16, for example) of the second robot hand 2b based on data DT2-1 indicating the size of the second workpiece W2-1 before machining. The calculation device E2 may also derive the size of the fourth gripping jaws 276b to be attached to the fourth jaw support body 216b (see FIG. 16, for example) of the second robot hand 2b based on data DT2-2 indicating the size of the second workpiece W2-2 after machining.

[0147] 27 and 29, the display E3 may display the size of the workpiece gripping jaws 27b. For example, the adjustment instruction image IM2 may include the size of the workpiece gripping jaws 27b (more specifically, data indicating the size of the workpiece gripping jaws 27b). In FIG. 27, the "S" in "S4" indicates that the workpiece gripping jaws 27b are small in size. In FIG. 29, the "L" in "L6" indicates that the workpiece gripping jaws 27b are large in size.

[0148] 27 and 29, the display E3 may display the size of the third gripping claw 271b of the second robotic hand 2b and / or the size of the fourth gripping claw 276b of the second robotic hand 2b. For example, the adjustment instruction image IM2 may include the size of the third gripping claw 271b and / or the size of the fourth gripping claw 276b.

[0149] When the adjustment instruction image IM2 includes the size of the workpiece gripping jaws, the operator can easily change the size of the workpiece gripping jaws. More specifically, the operator can easily perform the task of replacing the workpiece gripping jaws attached to the robot hand with workpiece gripping jaws of the size instructed by the adjustment instruction image IM2.

[0150] As exemplified in FIGS. 27 and 29, the adjustment instruction image IM2 may include a message MG2 prompting the operator to change the size of the workpiece gripping jaws of the robot hand 2.

[0151] After the adjustment work instructed in the adjustment instruction image IM2 is completed, automatic operation of the robot 3 (more specifically, automatic operation of the robot 3 based on the operation schedule SC) may be started in response to tapping or clicking on the confirmation button BN2 of the robot system 1B.

[0152] 27, the adjustment instruction image IM2 includes a confirmation button BN2 (more specifically, a confirmation button image) that receives an operator input indicating that the change in size of the workpiece gripping jaws of the robot hand 2 and / or the adjustment of the position of the workpiece gripping jaws has been completed. In response to the confirmation button BN2 being tapped or clicked, automatic operation of the robot 3 (more specifically, automatic operation of the robot 3 based on the operation schedule SC) is started.

[0153] 27, the adjustment instruction image IM2 is displayed on the display E3 before the start of automatic operation of the robot 3 (more specifically, automatic operation of the robot 3 based on the operation schedule SC). Therefore, the operator can perform setup work for the multiple robot hands 2 (for example, work to adjust the positions of the workpiece gripping jaws and / or work to change the size of the workpiece gripping jaws) before the start of automatic operation of the robot 3.

[0154] After the setup work is completed, the robot 3 automatically performs operations including, for example, transporting the first workpiece W1 using the first robot hand 2a, replacing the first robot hand 2a with the second robot hand 2b, and transporting the second workpiece W2 using the second robot hand 2b.

[0155] As illustrated in Figure 27, the display E3 may simultaneously display an adjustment instruction image IM2 and an identifier DP that identifies the robot hand currently attached to the hand support 31 of the robot 3 (in the example shown in Figure 27, a first hand identifier D2a that identifies the first robot hand 2a).

[0156] (first executed order) In the example shown in Fig. 25, the operation schedule SC includes multiple transfer orders (OD1, OD4) for transporting multiple types of workpieces using the first robot hand 2a. In the example shown in Fig. 25, the transfer order OD1 is the first order to be executed among the multiple transfer orders for transporting multiple types of workpieces using the first robot hand 2a. Furthermore, the transfer order OD4 is the second order to be executed among the multiple transfer orders for transporting multiple types of workpieces using the first robot hand 2a.

[0157] In this specification, the first order F1 is defined as the order to be executed first among multiple transfer orders for transferring multiple types of workpieces using the first robot hand 2a. In the example shown in Fig. 25, the calculation device E2 derives a first optimum position AD1 of the workpiece gripping jaws 27a of the first robot hand 2a relative to the jaw support body 21a of the first robot hand 2a based on the size of the workpiece specified by the first order F1. The display E3 also displays the first optimum position AD1.

[0158] In the example shown in Figure 25, the first order F1 is the first order to be executed using the first robot hand 2a, and therefore the first appropriate position AD1 is included in the adjustment instruction image IM2 (see, for example, Figure 27) displayed on the display E3 before the operation schedule SC is executed.

[0159] In this specification, the second order F2 is defined as the order to be executed second among multiple transport orders for transporting multiple types of workpieces using the first robot hand 2a. In the example shown in Fig. 25, the calculation device E2 derives another appropriate position AD4 of the workpiece gripping jaws 27a of the first robot hand 2a relative to the jaw support body 21a of the first robot hand 2a based on the size of the workpiece specified by the second order F2.

[0160] In the example shown in Figure 25, the second order F2 is the second order to be executed using the first robot hand 2a, and therefore other appropriate positions AD4 are not included in the adjustment instruction image IM2 (see, for example, Figure 27) displayed on the display E3 before the execution of the operation schedule SC.

[0161] 30, after the first order F1 is executed and before the second order F2 is executed, the display E3 may display the other appropriate position AD4. More specifically, the display E3 may display the second adjustment instruction image IM2-2 while the execution of the operation schedule SC is interrupted, and the other appropriate position AD4 may be included in the second adjustment instruction image IM2-2.

[0162] As illustrated in FIG. 30, the other appropriate positions AD4 may include another first gripping claw appropriate position AD4-1 of the first gripping claw 271a relative to the first gripping claw support 211a of the first robot hand 2a, and another second gripping claw appropriate position AD4-2 of the second gripping claw 276a relative to the second gripping claw support 216a of the first robot hand 2a.

[0163] As illustrated in Figure 30, the display E3 may simultaneously display the second adjustment instruction image IM2-2 and an identifier DP that identifies the robot hand currently attached to the hand support 31 of the robot 3 (in the example shown in Figure 30, a third hand identifier D2c that identifies the third robot hand 2c).

[0164] The mode in which an appropriate position is derived based on the first transfer order to be executed can also be adopted in the adjustment instructions for the second robot hand 2b. More specifically, the calculation device E2 derives a second appropriate position AD2 of the workpiece gripping jaws 27b with respect to the jaw support body 21b of the second robot hand 2b based on the size of the workpiece specified by the first transfer order to be executed among at least one transfer order included in the operation schedule SC and to be executed using the second robot hand 2b. Furthermore, the second appropriate position AD2 of the workpiece gripping jaws 27b is included in the adjustment instruction image IM2 displayed on the display E3 before execution of the operation schedule SC.

[0165] The mode in which an appropriate position is derived based on the first transfer order to be executed can also be employed in adjustment instructions for the third robot hand 2c. More specifically, the calculation device E2 derives a third appropriate position AD3 of the workpiece gripping jaws 27c relative to the jaw support body 21c of the third robot hand 2c based on the size of the workpiece specified by the first transfer order to be executed among at least one transfer order included in the operation schedule SC and to be executed using the third robot hand 2c. Furthermore, the third appropriate position AD3 of the workpiece gripping jaws 27c is included in the adjustment instruction image IM2 displayed on the display E3 before execution of the operation schedule SC.

[0166] (Machine tool 7) 31, the machine tool 7 includes a workpiece supporting device 71, a machining head 72, a second moving device 74 (e.g., a machining head moving device 74a) that moves the machining head 72 relative to the workpiece supporting device 71, and a numerical control device 6 (see FIG. 19). The machine tool 7 may be a lathe or a multi-tasking machine capable of performing turning and milling.

[0167] In the example shown in Figure 31, the work support device 71 includes a chuck 711 that is rotatable around a first axis AX1, a support body 716 that supports the chuck 711 so that the chuck 711 is rotatable around the first axis AX1, and a rotation drive device 718 that rotates the chuck 711 around the first axis AX1.

[0168] 31 , the chuck 711 includes a chuck body 711a and a plurality of jaws 711b attached to the chuck body 711a. The chuck 711 may include a jaw drive device 714 that moves the plurality of jaws 711b between an open position and a closed position. The jaw drive device 714 moves the plurality of jaws 711b in a direction toward the first axis AX1, thereby changing the state of the chuck 711 from the open state to the closed state. When the chuck 711 is in the closed state, the chuck 711 (more specifically, the plurality of jaws 711b) grips the workpiece. On the other hand, the jaw drive device 714 moves the plurality of jaws 711b in a direction away from the first axis AX1, thereby changing the state of the chuck 711 from the closed state to the open state.

[0169] The machining head 72 can hold a tool T (for example, a turning tool T1). The machining head 72 may be capable of selectively holding a first tool (for example, a turning tool T1) and a second tool (for example, a milling tool). The machine tool 7 may be equipped with a tool changer that changes the tool T (for example, a turning tool T1) held by the machining head 72 to another tool (for example, a second tool such as a milling tool).

[0170] As illustrated in FIG. 31, the machining head 72 may be provided with a tool rotation device 728 that rotates a tool (e.g., a second tool such as a mill tool) about a second axis AX2 along the longitudinal axis of the tool.

[0171] 31, the machining head 72 is a non-turret type machining head. Alternatively, the machining head 72 may be a turret type machining head. Further alternatively, the machine tool 7 may be provided with a non-turret type machining head and a turret type machining head.

[0172] In the example shown in FIG. 31 , the second moving device 74 moves the machining head 72 relative to the workpiece support device 71. The second moving device 74 may have a first linear motion device 741 that moves the machining head 72 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 second moving device 74 may have a second linear motion device 742 that moves the machining head 72 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 second moving device 74 may also have a third linear motion device 743 that moves the machining head 72 in a direction substantially perpendicular to the first axis AX1 and along a Y-axis that is different from the direction along the X-axis. In the example shown in FIG. 31 , the Y-axis is perpendicular to both the X-axis and the Z-axis.

[0173] The second moving device 74 may have a tilting device 747 that changes the orientation of the second axis AX2. The tilting device 747 can tilt the tool held by the machining head 72 about a third axis AX3 that is substantially parallel to the horizontal plane.

[0174] 31, the second moving device 74 is capable of moving the machining head 72 three-dimensionally. The second moving device 74 may be a device that moves the machining head 72 two-dimensionally or one-dimensionally. The second moving device 74 may be equipped with a work moving device that linearly moves the work supported by the work supporting device 71. The work moving device may be a device that moves the work supporting device 71 in a direction along the Z axis.

[0175] The machine tool 7 may include a tailstock 78 that supports an end of a workpiece (for example, a shaft workpiece Ws). The machine tool 7 may also include a tailstock moving device 79 that moves the tailstock 78 in a direction substantially parallel to the first axis AX1.

[0176] In the example shown in FIG. 32, the machine tool 7 includes a wall 75 surrounding a machining area, an opening OP formed in the wall 75, and a door 761 for opening and closing the opening OP. The machine tool 7 may also include a door moving device 763 for moving the door 761. The arm AM of the robot 3 is movable across the opening OP. More specifically, as illustrated in FIG. 33, the robot control device 9 can control the robot 3 so that a workpiece (e.g., a first workpiece W1-1 before machining) is carried into the machine tool 7 across the opening OP. The robot control device 9 can also control the robot 3 so that a workpiece (e.g., a first workpiece W1-2 after machining) is carried out of the machine tool 7 across the opening OP.

[0177] 34 , the numerical controller 6 is capable of controlling the rotation drive device 718 and the second movement device 74. Additionally, the numerical controller 6 may be capable of controlling the pawl drive device 714. Additionally, the numerical controller 6 may be capable of controlling the tailstock movement device 79. Alternatively, or additionally, the numerical controller 6 may be capable of controlling the tool rotation device 728 and / or the door movement device 763.

[0178] In the example shown in FIG. 34, the numerical control device 6 includes a memory (hereinafter referred to as "first memory 61"), an arithmetic unit (hereinafter referred to as "first arithmetic unit 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 65").

[0179] As illustrated in FIG. 34 , the first arithmetic device 62 includes at least one processor 62a (e.g., at least one CPU). The numerical control device 6 (more specifically, the first arithmetic device 62) generates a first group of control commands SA by executing the machining program PM. The machine tool 7 operates based on the first group of control commands SA generated by the numerical control device 6 (more specifically, the first arithmetic device 62) executing the machining program PM. More specifically, the first communication circuit 65 transmits the first group of control commands SA to multiple control target devices such as the second movement device 74 and the rotation drive device 718, 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 supported by the workpiece support device 71 is machined by a tool (e.g., a turning tool T1) held by the machining head 72 based on the first group of control commands SA generated by the numerical control device 6.

[0180] The first memory 61 is a storage medium (more specifically, a non-transitory computer-readable storage medium) that can be read by the first computing device 62. The first memory 61 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.

[0181] The first memory 61 stores programs and various data. The first memory 61 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 61 may include cloud storage accessible via a network.

[0182] 34, 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.

[0183] In the example shown in FIG. 34, a first memory 61, a first calculation device 62, a first display 63, a first input device 64, and a first communication circuit 65 are connected to one another via a bus 68.

[0184] (Robot 3) 19, the robot 3 is an articulated robot 3a. The robot 3 (more specifically, the articulated robot 3a) includes a plurality of arms AM including a distal end arm AM1, a plurality of joints JT, and a plurality of arm drive devices (e.g., a plurality of motors MT that drive the plurality of joints JT) that move the plurality of joints JT. The articulated robot 3a has, for example, at least six rotation axes.

[0185] A robot hand 2 is attached to the robot 3 (more specifically, a hand support 31 arranged on the distal arm AM1). A plurality of robot hands 2, including a first robot hand 2a and a second robot hand 2b, are selectively attached to the robot 3 (more specifically, the hand support 31). In the example shown in FIG. 35, the robot 3 (more specifically, the hand support 31) has a first coupling 32, and each of the plurality of robot hands 2 has a second coupling 22. The second coupling 22 of the robot hand 2 is connected to the first coupling 32, thereby attaching the robot hand 2 to the robot 3 (more specifically, the hand support 31).

[0186] 35 , one of the first coupling 32 and the second coupling 22 may have a plurality of balls B1, and the other of the first coupling 32 and the second coupling 22 may have a groove GR capable of receiving the plurality of balls B1. Alternatively, or additionally, one of the first coupling 32 and the second coupling 22 may have a pin B2, and the other of the first coupling 32 and the second coupling 22 may have a hole HA capable of receiving the pin B2. The first coupling 32 may be capable of supplying power to the second coupling 22.

[0187] 35, each of the robot hands 2 may include a claw drive device 24 that moves the workpiece gripping jaws 27 together with the jaw support 21. The claw drive device 24 moves the multiple workpiece gripping jaws 27 in a direction toward the workpiece, thereby gripping the workpiece with the multiple workpiece gripping jaws 27. The claw drive device 24 moves the multiple workpiece gripping jaws 27 in a direction away from the workpiece, thereby releasing the grip of the workpiece by the multiple workpiece gripping jaws 27.

[0188] The jaw drive device 24 may include a first jaw drive device 241 that advances and retreats the multiple workpiece gripping jaws that grip the workpiece before machining, and a second jaw drive device 242 that advances and retreats the multiple workpiece gripping jaws that grip the workpiece after machining. In Figure 35, the dashed arrow AR14 indicates the direction in which the first jaw drive device 241 moves the multiple workpiece gripping jaws 27 and the multiple jaw supports 21.

[0189] (Robot Control Device 9) In the example shown in FIG. 36, the robot control device 9 can control the arm driving device 37 that drives the arm AM (e.g., multiple motors MT that move multiple joints JT of the robot 3) and the claw driving device 24 (more specifically, the first claw driving device 241 and the second claw driving device 242).

[0190] In the example shown in FIG. 36, the robot control device 9 includes a memory (hereinafter referred to as a "second memory 91"), an arithmetic unit (hereinafter referred to as a "second arithmetic unit 92"), a display (hereinafter referred to as a "second display 93"), an input device (hereinafter referred to as a "second input device 94"), and a communication circuit (hereinafter referred to as a "second communication circuit 95").

[0191] As illustrated in FIG. 36 , the second arithmetic device 92 includes at least one processor 92a (e.g., at least one CPU). The robot control device 9 (more specifically, the second arithmetic device 92) generates a second group of control commands SB by executing a robot control program PR. The robot 3 operates based on the second group of control commands SB generated by the robot control device 9 (more specifically, the second arithmetic device 92) executing the robot control program PR. More specifically, the second communication circuit 95 transmits the second group of control commands SB to the robot 3 (e.g., the arm driving device 37 and the claw driving device 24), and the robot 3 that receives the second group of control commands SB operates based on the second group of control commands SB. In this way, the robot 3 carries in a workpiece to the machine tool 7 based on the second group of control commands SB generated by the robot control device 9. Furthermore, the robot 3 carries out a machined workpiece from the machine tool 7 based on another second group of control commands SB generated by the robot control device 9.

[0192] The second memory 91 is a storage medium (more specifically, a non-transitory computer-readable storage medium) that can be read by the second computing device 92. The second memory 91 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.

[0193] In the example shown in FIG. 36, a second memory 91, a second arithmetic unit 92, a second display 93, a second input device 94 (e.g., a touch panel 94a, etc.), and a second communication circuit 95 are connected to each other via a bus 98.

[0194] (Relationship between computer E, numerical control device 6, and robot control device 9) 34, the computer E may be a numerical control device 6. Alternatively, as illustrated in FIG. 37, the computer E may be a robot control device 9.

[0195] As illustrated in FIG. 34 , the above-mentioned arithmetic unit E2 may be included in the numerical control device 6. More specifically, the first arithmetic unit 62 of the numerical control device 6 may function as the arithmetic unit E2 that derives the appropriate position of the workpiece gripping jaws 27 relative to the jaw support body 21 of the robot hand 2. Alternatively, as illustrated in FIG. 37 , the above-mentioned arithmetic unit E2 may be included in the robot control device 9. More specifically, the second arithmetic unit 92 of the robot control device 9 may function as the arithmetic unit E2 that derives the appropriate position of the workpiece gripping jaws 27 relative to the jaw support body 21 of the robot hand 2. Still alternatively, as illustrated in FIG. 38 , the above-mentioned arithmetic unit E2 may be included in a computer 19 provided separately from the numerical control device 6 and the robot control device 9. More specifically, the arithmetic unit 192 of the computer 19 provided separately from the numerical control device 6 and the robot control device 9 may function as the arithmetic unit E2 that derives the appropriate position of the workpiece gripping jaws 27 relative to the jaw support body 21 of the robot hand 2.

[0196] The memory E1 described above may be the first memory 61 of the numerical control device 6, the second memory 91 of the robot control device 9, or the memory 191 of the computer 19 provided separately from the numerical control device 6 and the robot control device 9. The communication circuit 195 of the computer 19 may be connected to the second communication circuit 95 of the robot control device 9 by wire or wirelessly so as to be able to communicate information.

[0197] The above-mentioned display E3 may be the first display 63 of the numerical control device 6, the second display 93 of the robot control device 9, or the display 193 of the computer 19 provided separately from the numerical control device 6 and the robot control device 9. The above-mentioned input device E4 may be the first input device 64 of the numerical control device 6, the second input device 94 of the robot control device 9, or the input device 194 of the computer 19 provided separately from the numerical control device 6 and the robot control device 9.

[0198] The robot control device 9 controls the robot 3 so that the robot hand (e.g., the first robot hand 2a) attached to the hand support 31 is replaced with another robot hand (e.g., the second robot hand 2b) based on the operation schedule SC of the robot 3 created by the numerical control device 6, the robot control device 9, or another computer 19.

[0199] More specifically, the robot control device 9 controls the robot 3 so that the workpiece is loaded into the machine tool 7, the machined workpiece is unloaded from the machine tool 7, a robot hand (e.g., the first robot hand 2a) is removed from the hand support 31, and another robot hand (e.g., the second robot hand 2b) is attached to the hand support 31, based on the operation schedule SC of the robot 3 created by the numerical control device 6, the robot control device 9, or another computer 19.

[0200] The numerical control device 6 (or another computer 19) may transmit the operation schedule SC to the robot control device 9. In this case, the robot control device 9 executes the robot control program PR in which the operation schedule SC is incorporated. Alternatively, the numerical control device 6 (or another computer 19) may execute the operation schedule SC. In this case, a group of control parameters generated by executing the operation schedule SC is transmitted from the numerical control device 6 to the robot control device 9, and the robot control device 9 executes the robot control program PR in which the control parameters are incorporated.

[0201] (Setup support method) An example of a setup support method for the robot system 1 will now be described. Fig. 39 is a flowchart showing an example of the setup support method for the robot system 1.

[0202] The robot system 1 may be the robot system 1A in the first embodiment, the robot system 1B in the second embodiment, or another robot system. The robot system 1A and the robot system 1B have already been described in the first embodiment and the second embodiment, respectively, so repeated description of the robot system 1A and the robot system 1B will be omitted.

[0203] In the example shown in Figure 40, a first work identifier DW1 that identifies the first work W1, first size data DT1 that indicates the size of the first work W1 (e.g., the outer diameter of the first work W1), and a first hand identifier D2a that identifies the first robot hand 2a used to transport the first work W1 are associated and stored in memory E1.

[0204] In the example shown in Figure 40, a second work identifier DW2 that identifies the second work W2, second size data DT2 that indicates the size of the second work W2 (e.g., the outer diameter of the second work W2), and a second hand identifier D2b that identifies the second robot hand 2b used to transport the second work W2 are associated with each other and stored in memory E1.

[0205] In the example shown in Figure 40, a third work identifier DW3 that identifies the third work W3, third size data DT3 that indicates the size of the third work W3 (e.g., the outer diameter of the third work W3), and a third hand identifier D2c that identifies the third robot hand 2c used to transport the third work W3 are associated and stored in memory E1.

[0206] In the example shown in Figure 40, a fourth work identifier DW4 that identifies the fourth work W4, fourth size data DT4 that indicates the size of the fourth work W4 (e.g., the outer diameter of the fourth work W4), and a first hand identifier D2a that identifies the first robot hand 2a used to transport the fourth work W4 are associated with each other and stored in memory E1.

[0207] In the first step ST1, an operation schedule SC is created for operating the robot 3. The first step ST1 is a schedule creation step.

[0208] The operation schedule SC is a schedule that includes, for example, operating the robot 3 so that a first workpiece W1 is transported using a first robot hand 2a attached to the hand support 31 of the robot 3, the first robot hand 2a attached to the hand support 31 is replaced with a second robot hand 2b, and a second workpiece W2 is transported using the second robot hand 2b attached to the hand support 31. The operation schedule SC may also be a schedule that includes operating the robot 3 so that the first workpiece W1 is transported using the first robot hand 2a, the first robot hand 2a is replaced with a second robot hand 2b, the second workpiece W2 is transported using the second robot hand 2b, the second robot hand 2b is replaced with a third robot hand 2c, the third workpiece W3 is transported using the third robot hand 2c, the third robot hand 2c is replaced with the first robot hand 2a, and a fourth workpiece W4 is transported using the first robot hand 2a.

[0209] 22 to 25, the schedule creation process (first step ST1) includes displaying an edited order image IM1 on the display E3. Since the edited order image IM1 has already been described, a repeated description of the edited order image IM1 will be omitted.

[0210] The schedule creation process (first step ST1) may include storing in memory E1 first quantity data DN1 indicating the number of first workpieces W1 to be transported by the robot 3 and second quantity data DN2 indicating the number of second workpieces W2 to be transported by the robot 3. As illustrated in FIG. 41 , storing the first quantity data DN1 in memory E1 may be performed in response to inputting the first quantity data DN1 into an input field IN1 in an order editing image IM1. Storing the second quantity data DN2 in memory E1 may be performed in response to inputting the second quantity data DN2 into an input field IN1 in the order editing image IM1.

[0211] The schedule creation process (first step ST1) may include storing third quantity data DN3 indicating the number of third workpieces W3 to be transported by the robot 3 and / or fourth quantity data DN4 indicating the number of fourth workpieces W4 to be transported by the robot 3 in memory E1.

[0212] The schedule creation process (first step ST1) may include storing in memory E1 the order of transport of multiple types of workpieces, including the first workpiece W1 and the second workpiece W2. Storing the order of transport in memory E1 may be performed in response to input from an operator received by the input device E4. More specifically, storing the order of transport in memory E1 may be performed based on order editing performed using an order editing image IM1.

[0213] In the example shown in FIG. 23, the schedule creation process (first step ST1) includes storing in memory E1 the transport order of multiple types of workpieces, including a first workpiece W1, a second workpiece W2, a third workpiece W3, and a fourth workpiece W4.

[0214] In the second step ST2, the appropriate positions of the workpiece gripping jaws are derived. The second step ST2 is an appropriate position derivation step. The appropriate position derivation step (second step ST2) includes deriving the appropriate position of the workpiece gripping jaws 27 relative to the jaw support body 21 of at least one robot hand out of the plurality of robot hands 2 including the first robot hand 2a and the second robot hand 2b, based on the operation schedule SC described above.

[0215] 25, when the appropriate position of the workpiece gripping jaws 27a of the first robot hand 2a relative to the jaw support body 21a of the first robot hand 2a is defined as a first appropriate position AD1, the appropriate position derivation step (second step ST2) may include deriving the first appropriate position AD1 based on the size of the first workpiece W1 (for example, the outer diameter of the first workpiece W1). The appropriate position derivation step (second step ST2) may include storing the derived first appropriate position AD1 in memory E1.

[0216] As illustrated in FIG. 25, when the appropriate position of the first gripping jaws 271a relative to the first jaw support 211a of the first robot hand 2a (see, for example, FIG. 15) is defined as the first gripping jaw appropriate position AD11, the appropriate position derivation step (second step ST2) may include deriving the first gripping jaw appropriate position AD11 based on the size of the first workpiece W1-1 before machining. When the appropriate position of the second gripping jaws 276a relative to the second jaw support 216a of the first robot hand 2a (see, for example, FIG. 15) is defined as the second gripping jaw appropriate position AD12, the appropriate position derivation step (second step ST2) may include deriving the second gripping jaw appropriate position AD12 based on the size of the first workpiece W1-2 after machining. The appropriate position derivation step (second step ST2) may include storing the derived first gripping jaw appropriate position AD11 and second gripping jaw appropriate position AD12 in memory E1.

[0217] 25, when the appropriate position of the workpiece gripping jaws 27b of the second robot hand 2b relative to the jaw support body 21b of the second robot hand 2b is defined as a second appropriate position AD2, the appropriate position derivation step (second step ST2) may include deriving the second appropriate position AD2 based on the size of the second workpiece W2 (for example, the outer diameter of the second workpiece W2). The appropriate position derivation step (second step ST2) may include storing the derived second appropriate position AD2 in memory E1.

[0218] As illustrated in FIG. 25, when the appropriate position of the third gripping jaws 271b relative to the third gripping jaw support 211b of the second robot hand 2b (see, for example, FIG. 16) is defined as the third gripping jaw appropriate position AD21, the appropriate position derivation step (second step ST2) may include deriving the third gripping jaw appropriate position AD21 based on the size of the second workpiece W2-1 before machining. When the appropriate position of the fourth gripping jaws 276b relative to the fourth gripping jaw support 216b of the second robot hand 2b (see, for example, FIG. 16) is defined as the fourth gripping jaw appropriate position AD22, the appropriate position derivation step (second step ST2) may include deriving the fourth gripping jaw appropriate position AD22 based on the size of the second workpiece W2-2 after machining. The appropriate position derivation step (second step ST2) may include storing the derived third gripping jaw appropriate position AD21 and fourth gripping jaw appropriate position AD22 in memory E1.

[0219] 25, when the appropriate position of the workpiece gripping jaws 27c of the third robot hand 2c relative to the jaw support body 21c of the third robot hand 2c is defined as a third appropriate position AD3, the appropriate position derivation step (second step ST2) may include deriving the third appropriate position AD3 based on the size of the third workpiece W3 (for example, the outer diameter of the third workpiece W3). The appropriate position derivation step (second step ST2) may include storing the derived third appropriate position AD3 in memory E1.

[0220] The appropriate position derivation process (second step ST2) may include deriving another appropriate position AD4 of the work gripping claws 27a relative to the claw support body 21a of the first robot hand 2a based on the size of the fourth workpiece W4 (e.g., the outer diameter of the fourth workpiece W4).

[0221] In a third step ST3, the derived appropriate position AD is displayed on the display E3. The third step ST3 is a display step.

[0222] In the example shown in FIG. 27, the display step (third step ST3) includes displaying an adjustment instruction image IM2 on the display E3.

[0223] 27, the display step (third step ST3) may include displaying the above-mentioned first appropriate position AD1 on the display E3. The display step (third step ST3) may include displaying the above-mentioned first gripping jaw appropriate position AD11 and the above-mentioned second gripping jaw appropriate position AD12 on the display E3.

[0224] As illustrated in FIG. 28, the display process (third step ST3) may include displaying on the display E3: (1) a first hand identifier D2a that identifies the first robot hand 2a used to transport the first workpiece W1; (2) a first gripper identifier G1 that identifies the first gripper that grips the first workpiece W1-1 before processing; (3) a first gripping claw appropriate position AD11 that indicates the appropriate position of the first gripping claw 271a in the first gripper; (4) a second gripper identifier G2 that identifies the second gripper that grips the first workpiece W1-2 after processing; and (5) a second gripping claw appropriate position AD12 that indicates the appropriate position of the second gripping claw 276a in the second gripper.

[0225] 27, the display step (third step ST3) may include displaying the second appropriate position AD2 on the display E3. The display step (third step ST3) may include displaying the third gripping jaw appropriate position AD21 and the fourth gripping jaw appropriate position AD22 on the display E3.

[0226] As illustrated in FIG. 28, the display process (third step ST3) may include displaying on the display E3 (1) a second hand identifier D2b that identifies the second robot hand 2b used to transport the second workpiece W2, (2) a third gripper identifier G3 that identifies the third gripper that grips the second workpiece W2-1 before processing, (3) a third gripping claw appropriate position AD21 that indicates the appropriate position of the third gripping claw 271b in the third gripper, (4) a fourth gripper identifier G4 that identifies the fourth gripper that grips the second workpiece W2-2 after processing, and (5) a fourth gripping claw appropriate position AD22 that indicates the appropriate position of the fourth gripping claw 276b in the fourth gripper.

[0227] 27, the display step (third step ST3) may include displaying the above-mentioned third appropriate position AD3 on the display E3. The display step (third step ST3) may include displaying a third hand identifier D2c that identifies the third robot hand 2c used to transport the third workpiece W3, and the third appropriate position AD3 of the workpiece gripping jaws of the third robot hand 2c on the display E3.

[0228] As illustrated in FIG. 27, the display step (third step ST3) may include displaying a message MG1 prompting the user to adjust the position of the workpiece gripping jaws of the robot hand 2 on the display E3.

[0229] 27, the display step (third step ST3) may include displaying the size of the workpiece gripping jaws 27a to be attached to the jaw support body 21a of the first robot hand 2a. The display step (third step ST3) may include displaying the size of the first gripping jaws 271a to be attached to the first gripper of the first robot hand 2a and the size of the second gripping jaws 276a to be attached to the second gripper of the first robot hand 2a.

[0230] 27, the display step (third step ST3) may include displaying the size of the workpiece gripping jaws 27b to be attached to the jaw support body 21b of the second robot hand 2b. The display step (third step ST3) may include displaying the size of the third gripping jaws 271b to be attached to the third gripper of the second robot hand 2b and the size of the fourth gripping jaws 276b to be attached to the fourth gripper of the second robot hand 2b.

[0231] As illustrated in FIG. 27, the display step (third step ST3) may include displaying the size of the workpiece gripping jaws 27c to be attached to the jaw support body 21c of the third robot hand 2c.

[0232] As illustrated in FIG. 27, the display step (third step ST3) may include displaying a message MG2 on the display E3 to prompt the user to change the size of the workpiece gripping jaws of the robot hand 2.

[0233] (Adjustment instruction image display processing) The arithmetic device E2 is capable of executing an adjustment instruction image display process by executing the program PG. The adjustment instruction image display process includes: (1) extracting, based on an operation schedule SC of the robot 3, from among the multiple robot hands 2, multiple hands that are scheduled to be used when the operation schedule SC is executed; (2) deriving, for each of the multiple hands that are scheduled to be used, an appropriate position AD of the workpiece gripping jaws 27 of the scheduled-to-be-used hand relative to the jaw support body 21 of the scheduled-to-be-used hand based on the size of the workpiece that will be first transported using the scheduled-to-be-used hand; and (3) displaying the derived appropriate positions AD on the display E3 (more specifically, displaying a list of the derived appropriate positions AD on the display E3) before automatic operation of the robot 3 based on the operation schedule SC is started.

[0234] An example of the adjustment instruction image display process will be described in further detail with reference to FIG.

[0235] When the operation schedule SC includes N schedules from the first operation schedule SC1 to the Nth operation schedule, and K is defined as a variable that increments by one from 1 to N, the adjustment instruction image display process includes obtaining a hand identifier that identifies the robot hand to be used when the Kth operation schedule is executed, and the appropriate position of the workpiece gripping claws on that robot hand.

[0236] If the robot hand used when the Kth operation schedule is executed is a hand that is not used in the schedules from the first operation schedule SC1 to the K-1st operation schedule, the adjustment instruction image display process includes linking the hand identifier that identifies the robot hand with the above-mentioned appropriate position and storing it in memory E1.

[0237] The adjustment instruction image display process includes displaying a list on the display E3 of hand identifiers that identify the robot hands and the appropriate positions of the workpiece gripping jaws that are linked to the hand identifiers, which are stored in the memory E1.

[0238] For example, in the examples shown in FIGS. 25 and 27, the adjustment instruction image display process includes: (1) extracting, from among the plurality of robot hands 2 based on the operation schedule SC, a plurality of hands to be used, including the first robot hand 2a, the second robot hand 2b, and the third robot hand 2c, that will be used when the operation schedule SC is executed; (2) deriving a first optimum position AD1 of the workpiece gripping jaws 27a of the first robot hand 2a relative to the jaw support 21a of the first robot hand 2a based on the size of the first workpiece W1 that will be first transported using the first robot hand 2a; and (3) deriving a first optimum position AD1 of the workpiece gripping jaws 27a of the first robot hand 2a relative to the jaw support 21a of the first robot hand 2a based on the size of the first workpiece W1 that will be first transported using the second robot hand 2b. (4) deriving a second optimum position AD2 of the workpiece gripping claws 27b of the second robot hand 2b relative to the claw support 21b of the second robot hand 2b based on the size of the second workpiece W2 to be transported; (5) deriving a third optimum position AD3 of the workpiece gripping claws 27c of the third robot hand 2c relative to the claw support 21c of the third robot hand 2c based on the size of the third workpiece W3 to be first transported using the third robot hand 2c; and (6) displaying the first optimum position AD1, the second optimum position AD2, and the third optimum position AD3 on the display E3 before automatic operation of the robot 3 based on the operation schedule SC is started.

[0239] In the example shown in Figure 25, the transport order OD4 for transporting the fourth workpiece W4 is the second order to be executed using the first robot hand 2a, and therefore the adjustment instruction image IM2 (see Figure 27) displayed on the display E3 before automatic operation of the robot 3 begins does not include the appropriate position of the workpiece gripping claws for the fourth workpiece W4.

[0240] (If the robot hand is not replaced) The robot system 1A in the first embodiment (or the machine tool system 100A in the first embodiment) and the robot system 1B in the second embodiment (or the machine tool system 100B in the second embodiment) may be used when the robot hand is not replaced.

[0241] In this case, in the flowchart shown in Fig. 42, the robot hands used in the second operation schedule to the Nth operation schedule are the same as the robot hands used in the first operation schedule. Therefore, as shown in Fig. 43, only adjustment instructions for the robot hands used in the first operation schedule are displayed on the display E3.

[0242] (Program PG) In the embodiment, the program PG is a program for causing at least one computer E to execute a setup support method, which includes the steps of: (1) deriving an appropriate position AD of the workpiece gripping claws 27 relative to the claw support 21 of at least one robot hand out of a plurality of robot hands 2, including the first robot hand 2a and the second robot hand 2b, based on an operation schedule SC that includes operating the robot 3 so that a first workpiece W1 is transported using a first robot hand 2a attached to the hand support 31, the first robot hand 2a attached to the hand support 31 is replaced with a second robot hand 2b (more specifically, the first robot hand 2a attached to the hand support 31 is automatically replaced with the second robot hand 2b), and a second workpiece W2 is transported using the second robot hand 2b attached to the hand support 31; and (2) displaying the appropriate position AD on a display E3.

[0243] When the program PG is executed by the computer E, the same effects as those of the robot system 1A in the first embodiment or the robot system 1B in the second embodiment are achieved.

[0244] In the embodiment, the program PG may be a program for causing at least one computer E to execute a setup support method including: (1) a step of deriving a first optimum position AD1 of the workpiece gripping claws 27a relative to the claw support 21a of the first robot hand 2a based on an operation schedule SC including operating the robot 3 so that a first workpiece W1 is transported using a first robot hand 2a attached to the hand support 31, the first robot hand 2a attached to the hand support 31 is replaced with a second robot hand 2b (more specifically, the first robot hand 2a attached to the hand support 31 is automatically replaced with the second robot hand 2b), and a second workpiece W2 is transported using the second robot hand 2b attached to the hand support 31; (2) a step of deriving a second optimum position AD2 of the workpiece gripping claws 27b relative to the claw support 21b of the second robot hand 2b based on the operation schedule SC; and (3) a step of displaying the first optimum position AD1 and the second optimum position AD2 simultaneously or sequentially on a display E3.

[0245] The step of deriving the first optimum position AD1 may include deriving the first optimum position AD1 based on the size of the first workpiece W1 (e.g., the outer diameter of the first workpiece W1). The step of deriving the second optimum position AD2 may include deriving the second optimum position AD2 based on the size of the second workpiece W2 (e.g., the outer diameter of the second workpiece W2).

[0246] When the first robot hand 2a includes a first gripping claw 271a for gripping the first workpiece W1-1 before processing and a second gripping claw 276a for gripping the first workpiece W1-2 after processing, the process of deriving the first optimum position AD1 may include deriving the first optimum position AD11 of the first gripping claw 271a relative to the first claw support 211a of the first robot hand 2a based on the size of the first workpiece W1-1 before processing, and deriving the second optimum position AD12 of the second gripping claw 276a relative to the second claw support 216a of the first robot hand 2a based on the size of the first workpiece W1-2 after processing.

[0247] In addition, the process of displaying the first appropriate position AD1 and the second appropriate position AD2 simultaneously or sequentially on the display E3 may include displaying the first gripping claw appropriate position AD11 and the second gripping claw appropriate position AD12 on the display E3.

[0248] The program PG in the embodiment may be a program for causing at least one computer E to execute a setup support method including the above-mentioned schedule creation process (first step ST1), the above-mentioned appropriate position derivation process (second step ST2), and the above-mentioned display process (third step ST3). The schedule creation process, appropriate position derivation process, and display process have already been explained, so repeated explanations of these processes will be omitted.

[0249] The program PG in the embodiment may be a program for causing at least one computer E to execute a setup support method that includes executing the above-described adjustment instruction image display process. For example, the program PG in the embodiment may be a program for causing at least one computer E to execute a setup support method that includes: (1) a step of extracting, based on an operation schedule SC of the robot 3, from among the plurality of robot hands 2, a plurality of hands scheduled to be used when the operation schedule SC is executed; (2) a step of deriving, for each of the plurality of hands scheduled to be used, an appropriate position AD of the workpiece gripping jaws 27 of the hand scheduled to be used relative to the jaw support body 21 of the hand scheduled to be used, based on the size of the workpiece to be initially transported using the hand scheduled to be used; and (3) a step of displaying the derived appropriate positions AD on the display E3 (more specifically, a step of displaying a list of the derived appropriate positions AD on the display E3) before automatic operation of the robot 3 based on the operation schedule SC is started.

[0250] The memory E1 (for example, the first memory 61, the second memory 91, and / or the memory 191 of the computer 19) 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 5M, as illustrated in FIG.

[0251] 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]

[0252] 1, 1A, 1B... robot system, 2... robot hand, 2D... double-hand type robot hand, 2S... single-hand type robot hand, 2U... hand in use, 2W... standby hand, 2a... first robot hand, 2b... second robot hand, 2c... third robot hand, 3... robot, 3a... multi-joint robot, 5M... storage medium, 6... numerical control device, 7... machine tool, 9... robot control device, 11... stocker, 19... computer, 21... claw support, 21a... claw support of first robot hand, 21b... claw support of second robot hand, 2 1c...jaw support of third robot hand, 22...second coupling, 23...rod body, 24...jaw drive device, 27...workpiece gripping jaws, 27a...workpiece gripping jaws of first robot hand, 27b...workpiece gripping jaws of second robot hand, 27c...workpiece gripping jaws of third robot hand, 28a...first operating member, 28b...second operating member, 31...hand support, 32...first coupling, 36...moving device, 37...arm drive device, 61...first memory, 62...first arithmetic unit, 62a...processor, 63...first display, 64...first input device, 64a...touch panel, 64b...button Tank, 65...first communication circuit, 68...bus, 71...workpiece support device, 72...machining head, 74...second moving device, 74a...machining head moving device, 75...wall, 78...tailstock, 79...tailstock moving device, 91...second memory, 92...second arithmetic unit, 92a...processor, 93...second display, 94...second input device, 94a...touch panel, 95...second communication circuit, 98 bus, 100, 100A, 100B...machine tool system, 111...support member, 111a...first groove portion, 111b...second groove portion, 191...memory, 192...arithmetic unit, 193...display, 194 ...input device, 195...communication circuit, 211a...first jaw support, 211b...third jaw support, 216a...second jaw support, 216b...fourth jaw support, 241...first jaw drive device, 242...second jaw drive device, 271a...first gripping jaw, 271b...third gripping jaw, 276a...second gripping jaw, 276b...fourth gripping jaw, 711...chuck, 711a...chuck body, 711b...jaw, 714...jaw drive device, 716...support, 718...rotation drive device, 728...tool rotation device, 741...first linear motion device, 742...second linear motion device, 743...third linear motion device, 747...tilting device, 761...door,763...door moving device, AD...proper position, AD1...first proper position, AD11...first gripping claw proper position, AD12...second gripping claw proper position, AD2...second proper position, AD21...third gripping claw proper position, AD22...fourth gripping claw proper position, AD3...third proper position, AD4...other proper positions, AD4-1...other first gripping claw proper positions, AD4-2...other second gripping claw proper positions, AM...arm, AM1...tip arm, AX1...first axis, AX2...second axis, AX3...third axis, B1...ball, B2...pin, BN1...change button, BN2...confirm button, D2a...first hand identifier, D2b ...second hand identifier, D2c...third hand identifier, DA1...first group data, DA2...second group data, DA3...third group data, DA4...fourth group data, DN...workpiece quantity data, DN1...first quantity data, DN2...second quantity data, DN3...third quantity data, DN4...fourth quantity data, DP...identifier identifying the robot hand currently attached to the hand support, DT...workpiece size data, DT1...first size data, DT1-1...data indicating the size of the first workpiece before machining, DT1-2...data indicating the size of the first workpiece after machining, DT2... Second size data, DT2-1...data indicating the size of the second workpiece before machining, DT2-2...data indicating the size of the second workpiece after machining, DT3...third size data, DT3-1...data indicating the size of the third workpiece before machining, DT3-2...data indicating the size of the third workpiece after machining, DT4...fourth size data, DT4-1...data indicating the size of the fourth workpiece before machining, DT4-2...data indicating the size of the fourth workpiece after machining, DW1...first workpiece identifier, DW2...second workpiece identifier, DW3...third workpiece identifier, DW4...fourth workpiece identifier, E...computer data, E1...memory, E2...arithmetic unit, E3...display, E4...input unit, E5...communication circuit, E8...bus, F1...first order, F2...second order, G1...first gripper identifier, G2...second gripper identifier, G3...third gripper identifier, G4...fourth gripper identifier, GR...groove, HA...hole, IM1...order editing image, IM1-1...first image, IM1-2...second image, IM1-3...third image, IM2...adjustment instruction image, IM2-2...second adjustment instruction image, IN1...input field for work quantity data, IN2...position input field, JT...joint, LT1...order list,LT2...Second list, MG1...Message prompting adjustment of the position of the workpiece gripping jaws, MG2...Message prompting change of the size of the workpiece gripping jaws, MT...Motor, NU...Number indicating the workpiece transport order, OD1, OD2, OD3, OD4...Transport order, OP...Opening, PD...Data indicating the appropriate position, PG...Program, PL...Pallet, PM...Machining program, PR...Robot control program, Q1...Size of first workpiece, Q11...Size of first workpiece before machining, Q12...Size of first workpiece after machining, Q2...Size of second workpiece, Q21...Size of second workpiece before machining, Q22...Size of second workpiece after machining, RG...Retention Pipe area, RG1...first storage area, RG2...second storage area, RG3...third storage area, RG4...fourth storage area, s1...first appropriate position of first operating member, s4...second appropriate position of second operating member, SA...control command, SB...control command, SC...operation schedule, SC1...first operation schedule, SC2...second operation schedule, T...tool, T1...turning tool, W1...first workpiece, W1-1...first workpiece before machining, W1-2...first workpiece after machining, W2...second workpiece, W2-1...second workpiece before machining, W2-2...second workpiece after machining, W3...third workpiece, W4...fourth workpiece, Wc...chuck workpiece, Ws...shaft workpiece,

Claims

1. a plurality of robot hands, each having a jaw support that supports a workpiece gripping jaw so that the position of the workpiece gripping jaw can be adjusted; a robot having a hand support to which each of a plurality of robot hands can be attached, and a movement device that moves the hand support; a memory that stores an operation schedule of the robot; a computing device that derives an appropriate position of a workpiece gripping claw of at least one of the plurality of robot hands relative to a claw support based on the operation schedule; and a display that displays the correct position; a robot control device that controls the robot so that the robot hand attached to the hand support is replaced with another robot hand based on the operation schedule; Equipped with Robot system.

2. When the robot hand supported by the hand support among the plurality of robot hands is defined as an in-use hand and the robot hands other than the in-use hand among the plurality of robot hands are defined as standby hands, the system further comprises a stocker for storing the standby hands. The robot system of claim 1 .

3. The robot control device controls the robot so that the transfer of the in-use hand from the hand support to the stocker and the transfer of the standby hand from the stocker to the hand support are automatically performed based on the operation schedule. The robot system according to claim 2 .

4. the calculation device extracts, based on the operation schedule, a first robot hand and a second robot hand to be used when the operation schedule is executed from among the plurality of robot hands; The computing device a first appropriate position of the workpiece gripping claws of the first robot hand relative to the extracted claw support body of the first robot hand; a second appropriate position of the workpiece gripping claw of the second robot hand relative to the extracted claw support body of the second robot hand; Derive The display displays the first appropriate position and the second appropriate position before the automatic operation of the robot based on the operation schedule is started. The robot system according to any one of claims 1 to 3.

5. the operation schedule includes a first operation schedule instructing the transportation of a first workpiece, the plurality of robot hands includes a first robot hand that grips the first workpiece, the calculation device derives a first optimum position of the workpiece gripping claws of the first robot hand relative to a claw support body of the first robot hand based on a size of the first workpiece; The display displays the first proper position. The robot system according to any one of claims 1 to 3.

6. the operation schedule includes a second operation schedule instructing the transport of a second workpiece, the plurality of robot hands includes a second robot hand that grips the second workpiece, the calculation device derives a second optimum position of the workpiece gripping claws of the second robot hand relative to a claw support body of the second robot hand based on a size of the second workpiece; The display displays the second proper position. The robot system according to claim 5 .

7. the display is capable of displaying an order editing image for editing the operation schedule, In the order editing image, the conveyance order of the plurality of types of workpieces including the first workpiece and the second workpiece can be specified. The robot system according to claim 6 .

8. the display is capable of displaying an order editing image for editing the operation schedule, The order editing image includes a position input field for specifying positions of the plurality of first works on a pallet. The robot system according to claim 5 .

9. the operation schedule includes a first operation schedule instructing the transportation of a first workpiece, the plurality of robot hands includes a first robot hand that grips the first workpiece, The first robot hand a first gripping jaw for gripping the first workpiece before machining; a second gripping jaw for gripping the first workpiece after processing; Including, the calculation device derives a first gripping jaw proper position of the first gripping jaw with respect to a first jaw support body of the first robot hand based on a size of the first workpiece before machining; the calculation device derives a second gripping jaw proper position of the second gripping jaw with respect to a second jaw support body of the first robot hand based on a size of the first workpiece after machining; The display displays the first gripping jaw proper position and the second gripping jaw proper position. The robot system according to any one of claims 1 to 3.

10. At least one of the plurality of robot hands is a double-hand type robot hand capable of simultaneously gripping two workpieces, At least one other of the plurality of robot hands is a single-hand type robot hand capable of gripping only one workpiece. The robot system according to any one of claims 1 to 3.

11. The calculation device derives the size of the workpiece gripping jaws to be attached to the jaw support body based on the operation schedule, The display displays the size of the workpiece gripping jaws. The robot system according to any one of claims 1 to 3.

12. the plurality of robotic hands includes a first robotic hand, the operation schedule includes a plurality of transport orders for transporting a plurality of types of workpieces using the first robot hand, When an order to be executed first among the plurality of transport orders is defined as a first order, the arithmetic device derives a first optimum position of the workpiece gripping claws of the first robot hand relative to a claw support body of the first robot hand based on a size of the workpiece specified by the first order; The display displays the first proper position. The robot system according to any one of claims 1 to 3.

13. When an order to be executed second among the plurality of orders is defined as a second order, the arithmetic device derives another appropriate position of the workpiece gripping jaws of the first robot hand relative to the jaw support body of the first robot hand based on a size of the workpiece specified by the second order; After the first order is executed and before the second order is executed, the display displays the other appropriate position. The robotic system of claim 12.

14. A machine tool for processing the workpiece; a plurality of robot hands, each having a jaw support that supports a workpiece gripping jaw so that the position of the workpiece gripping jaw can be adjusted; a robot having a hand support to which each of a plurality of robot hands can be attached, and a movement device that moves the hand support; a memory that stores an operation schedule of the robot; a computing device that derives an appropriate position of a workpiece gripping claw of at least one of the plurality of robot hands relative to a claw support based on the operation schedule; and a display that displays the correct position; a robot control device that controls the robot so that the workpiece is carried into the machine tool, the machined workpiece is carried out from the machine tool, the robot hand is removed from the hand support, and another robot hand is attached to the hand support, based on the operation schedule; and Equipped with Machine tool systems.

15. a step of deriving an appropriate position of a workpiece gripping claw of at least one robot hand among a plurality of robot hands including the first robot hand and the second robot hand relative to a claw support, based on an operation schedule including operating a robot such that a first workpiece is transported using a first robot hand attached to a hand support, the first robot hand attached to the hand support is replaced with a second robot hand, and a second workpiece is transported using the second robot hand attached to the hand support; displaying the appropriate position on a display; A program for causing at least one computer to execute a setup support method comprising the steps of:

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