Setup support method for machine tool systems, machine tool system, and program

Abstract

This invention provides a setup support method, a machine tool system, and a program for a machine tool system that enable timely execution of setup operations for a robot hand. [Solution] The setup support method for a machine tool system comprises the steps of: acquiring processing quantity data including the processing quantity of a first workpiece and the processing quantity of a second workpiece; a plurality of processing programs including a first processing program and a second processing program; the execution order of the plurality of processing programs; deriving the timing at which setup work is required for at least one robot hand that can be attached to a transport robot that transports workpieces to a machine tool, based on the processing quantity data, the plurality of processing programs, and the execution order of the plurality of processing programs; and displaying the time that identifies the timing on a display.

Description

Technical Field

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

Background Art

[0002] Techniques for adjusting the position of the claws of a robot hand are known.

[0003] As a related technique, Patent Document 1 discloses a hand of an industrial robot. The hand of the industrial robot described in Patent Document 1 has a swing-open / close finger for workpiece gripping and a gripping claw attached to this finger. The hand of the industrial robot described in Patent Document 1 is provided with a claw position adjustment structure that slidably adjusts the gripping claw in the finger length direction of the swing-open / close finger and fixes it at an appropriate position.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] An object of the present invention is to provide a setup support method for a machine tool system, a machine tool system, and a program that enable the setup operation for a robot hand to be performed with good timing.

Means for Solving the Problems

[0006] Embodiments of the present invention relate to the following setup support method for a machine tool system, a machine tool system, and a program.

[0007] (1) A step of acquiring processing quantity data including the processing quantity of a first workpiece and the processing quantity of a second workpiece, a plurality of processing programs including a first processing program that defines the processing operations for processing the first workpiece and a second processing program that defines the processing operations for processing the second workpiece, and the execution order of the plurality of processing programs. A step of deriving the timing at which setup work is required for at least one robot hand that can be attached to a transfer robot that transports a workpiece to a machine tool, based on the processing quantity data, the plurality of processing programs, and the execution order of the plurality of processing programs, The process of displaying the time for determining the timing on the display and Equipped with Setup support method for machine tool systems. (2) The process of creating a processing schedule based on the processing quantity data, the plurality of processing programs, and the execution order of the plurality of processing programs, The step of displaying the time includes displaying the total time required to execute the processing schedule on the display, along with the time used to identify the timing. A setup support method for the machine tool system described in (1) above. (3) The timing is, A first timing in which a first setup operation is required for at least one robot hand, A second timing is required for the second setup operation for at least one of the robot hands. Includes, The step of displaying the time includes displaying a first time for identifying the first timing and a second time for identifying the second timing on the display. A setup support method for the machine tool system described in (1) or (2) above. (4) The step of displaying the time includes displaying the first time and the second time on the display simultaneously. A setup support method for the machine tool system described in (3) above. (5) The transport robot can be selectively fitted with a plurality of robot hands, including a first robot hand and a second robot hand. The aforementioned timing is, The first timing at which the first setup operation for the first robot hand is required, The second timing at which a second setup operation is required for the second robot hand and Includes, The step of displaying the time includes displaying a first time for identifying the first timing and a second time for identifying the second timing on the display. A setup support method for the machine tool system described in (1) or (2) above. (6) The above time is displayed in graph format on the display. A setup support method for a machine tool system as described in any one of (1) to (5) above. (7) The process includes displaying, in chronological order, on the display first processing quantity data indicating the number of first workpieces processed by the machine tool, second processing quantity data indicating the number of second workpieces processed by the machine tool, and the timing. A setup support method for a machine tool system as described in any one of (1) to (6) above. (8) The setup operation includes adjusting the position of the workpiece gripping claws of the claw support of the at least one robot hand. A setup support method for a machine tool system as described in any one of (1) through (7) above. (9) The setup operation includes replacing the workpiece gripping claws supported by the at least one robot hand with workpiece gripping claws of other sizes. A setup support method for a machine tool system as described in any one of (1) through (7) above. (10) The process further includes displaying an instruction image on the display when the timing described above occurs, showing the contents of the setup work. A setup support method for a machine tool system as described in any one of the above (1) to (9). (11) After the execution of the multiple processing programs has started, the length of time from the current time until the timing arrives is displayed on the display. A setup support method for a machine tool system as described in any one of (1) through (10) above. (12) After the execution of the plurality of machining programs has started, the number of the first workpieces that have been machined is displayed on the display along with the time that identifies the timing. A setup support method for a machine tool system as described in any one of (1) through (11) above. (13) A machine tool for processing multiple types of workpieces, including a first workpiece and a second workpiece, A transport robot that uses at least one robotic hand to load the multiple types of workpieces into the machine tool and unload the multiple types of workpieces from the machine tool, A calculation device that derives the timing at which setup work is required for at least one robot hand based on processing quantity data including the processing quantity of the first workpiece and the processing quantity of the second workpiece, a plurality of processing programs including a first processing program that defines processing operations for processing the first workpiece and a second processing program that defines processing operations for processing the second workpiece, and the execution order of the plurality of processing programs, A display that shows the time at which the aforementioned timing was determined. Equipped with Machine tool systems. (14) A stocker capable of storing at least one robot hand, A robot control device that controls the transport robot and such that the first robot hand attached to the hand support of the transport robot is automatically replaced with a second robot hand stored in the stocker. It further comprises The machine tool system described in (13) above. (15) A step of obtaining processing quantity data including the processing quantity of the first workpiece and the processing quantity of the second workpiece, a plurality of processing programs including a first processing program defining a processing operation for processing the first workpiece and a second processing program defining a processing operation for processing the second workpiece, and the execution order of the plurality of processing programs; A step of deriving a timing when a setup operation for at least one robot hand that can be attached to a transfer robot for transferring a workpiece to a machine tool is required, based on the processing quantity data, the plurality of processing programs, and the execution order of the plurality of processing programs; A step of displaying, on a display, a time specifying the timing; comprising A program for causing at least one computer to execute a setup support method. [Advantages of the Invention]

[0008] According to the present invention, it is possible to provide a setup support method for a machine tool system, a machine tool system, and a program that enable the setup operation for a robot hand to be executed at an appropriate timing. [Brief Description of the Drawings]

[0009] [Figure 1] FIG. 1 is a schematic perspective view schematically showing a machine tool system in a first embodiment. [Figure 2] FIG. 2 is a diagram schematically showing a state in which a timing derivation process is executed. [Figure 3] FIG. 3 is a diagram schematically showing an example in which the timing when a setup operation for at least one robot hand is required is displayed on a display in a table format. [Figure 4] FIG. 4 is a diagram schematically showing an example in which the timing when a setup operation for at least one robot hand is required is displayed on a display in a graph format. [Figure 5]Figure 5 is a schematic diagram showing an example of a processing program editing image displayed on a screen. [Figure 6] Figure 6 is a schematic diagram showing an example of a processing program editing image displayed on a screen. [Figure 7] Figure 7 is a schematic diagram showing an example of a processing program editing image displayed on a screen. [Figure 8] Figure 8 is a schematic diagram showing an example of an image displayed on a screen. [Figure 9] Figure 9 is a schematic diagram showing an example of a processing schedule editing image displayed on a screen. [Figure 10] Figure 10 is a schematic diagram showing an example of a processing schedule editing image displayed on a screen. [Figure 11] Figure 11 is a schematic diagram showing an example of a processing schedule editing image displayed on a screen. [Figure 12] Figure 12 schematically illustrates how the timing derivation process is executed. [Figure 13] Figure 13 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 14] Figure 14 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 15] Figure 15 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 16] Figure 16 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 17] Figure 17 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 18] Figure 18 schematically shows how the position of the workpiece gripping claws is adjusted. [Figure 19] Figure 19 is a magnified view of a portion of Figure 18. [Figure 20] Figure 20 schematically shows how a workpiece gripping jaw is replaced with a workpiece gripping jaw of a different size. [Figure 21] Figure 21 is a schematic diagram showing a machine tool system in the second embodiment. [Figure 22] Figure 22 is a schematic diagram showing a part of a machine tool system. [Figure 23] Figure 23 is a schematic diagram showing a part of a machine tool system. [Figure 24] Figure 24 is a schematic diagram showing a part of a machine tool system. [Figure 25] Figure 25 is a schematic diagram of a numerical control device. [Figure 26] Figure 26 is a schematic diagram showing a part of a machine tool system. [Figure 27] Figure 27 is a diagram illustrating the connection between the hand support and the robot hand. [Figure 28] Figure 28 is a schematic diagram showing a robot control device. [Figure 29] Figure 29 is a schematic perspective view illustrating a robot hand. [Figure 30] Figure 30 is a magnified view of a portion of the storage unit. [Figure 31] Figure 31 is a schematic perspective view illustrating the storage unit. [Figure 32] Figure 32 schematically illustrates how the robot hand is automatically replaced. [Figure 33] Figure 33 schematically shows an example where an editing image for editing work transport data is displayed on the screen. [Figure 34] Figure 34 schematically shows an example where an editing image for editing work transport data is displayed on the screen. [Figure 35] Figure 35 is a schematic diagram showing an example of a processing schedule editing image displayed on a screen. [Figure 36] Figure 36 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 37] Figure 37 is a flowchart showing an example of the timing derivation process. [Figure 38] Figure 38 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 39] Figure 39 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 40] Figure 40 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 41] Figure 41 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 42] Figure 42 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 43] Figure 43 is a schematic diagram illustrating an example of an image displayed on a screen. [Figure 44] Figure 44 is a schematic diagram showing a robot control device. [Figure 45] Figure 45 schematically shows how another computer is connected to a numerical control unit in a communicative manner. [Figure 46] Figure 46 is a flowchart showing an example of a setup support method for a machine tool system. [Figure 47] Figure 47 is a schematic diagram showing an example of a non-volatile storage medium on which a program is recorded. [Modes for carrying out the invention]

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

[0011] (First Embodiment) Referring to Figures 1 to 20, a machine tool system 1A in the first embodiment and a setup support method for the machine tool system will be described. Figure 1 is a schematic perspective view showing the machine tool system 1A in the first embodiment. Figure 2 is a schematic diagram showing the execution of the timing derivation process U4. Figure 3 is a schematic diagram showing an example in which the timing TM required for setup work for at least one robot hand 2 is displayed on the display E3 in table format. Figure 4 is a schematic diagram showing an example in which the timing TM required for setup work for at least one robot hand 2 is displayed on the display E3 in graph format. Figures 5 to 7 are schematic diagrams showing an example of a machining program editing image IM1 displayed on the display E3. Figure 8 is a schematic diagram showing an example of an image displayed on the display E3. Figures 9 to 11 are schematic diagrams showing an example of a machining schedule editing image IM3 displayed on the display E3. Figure 12 is a schematic diagram showing the execution of the timing derivation process U4. Figures 13 to 17 schematically show examples of images displayed on display E3. Figure 18 schematically shows how the position of the workpiece gripping claws 27 is adjusted. Figure 19 is an enlarged view of a portion of Figure 18. Figure 20 schematically shows how the workpiece gripping claws 27 are replaced with workpiece gripping claws 27k of a different size.

[0012] As illustrated in Figure 1, the machine tool system 1A in the first embodiment comprises a machine tool 7, a transport robot 3, a computing device E2, and a display E3.

[0013] The machine tool 7 processes multiple types of workpieces W, including a first workpiece W1 and a second workpiece W2. The transfer robot 3 uses at least one robot hand 2 to load the multiple types of workpieces W into the machine tool 7 and to unload the multiple types of workpieces W from the machine tool 7.

[0014] Figure 1 shows four types of workpieces W (more specifically, the first workpiece W1, the second workpiece W2, the third workpiece W3, and the fourth workpiece W4). Figure 1 shows 10 first workpieces W1, 6 second workpieces W2, 8 third workpieces W3, and 5 fourth workpieces W4. Note that the types of workpieces W processed by the machine tool 7 are not limited to four types. Also, the processing quantity of each of the multiple types of workpieces is not limited to the example shown in Figure 1.

[0015] Due to the different workpiece shapes for each type of workpiece, setup work (e.g., adjusting the position of the workpiece gripping claws and / or changing the size of the workpiece gripping claws) is required for at least one robot hand 2. For example, after transporting a workpiece of a first size and before transporting a workpiece of a second size, setup work (e.g., adjusting the position of the workpiece gripping claws and / or changing the size of the workpiece gripping claws) is required for at least one robot hand 2.

[0016] As illustrated in Figure 2, the calculation unit E2 derives a timing TM at which setup work is required for at least one robot hand 2, based on processing quantity data DN including the processing quantity of the first workpiece W1 (e.g., 10 pieces) and the processing quantity of the second workpiece W2 (e.g., 6 pieces), a plurality of processing programs PM including a first processing program that defines the processing operations for processing the first workpiece W1 and a second processing program that defines the processing operations for processing the second workpiece W2, and the execution order ER of the plurality of processing programs PM.

[0017] As illustrated in Figure 3, display E3 displays the time that identifies the timing TM mentioned above (see dashed arrows AR1 and AR2).

[0018] As illustrated in Figures 1 to 3, the setup support method for a machine tool system in the first embodiment includes: (1) a step of acquiring processing quantity data DN including the processing quantity of a first workpiece W1 (e.g., 10 pieces) and the processing quantity of a second workpiece W2 (e.g., 6 pieces), a plurality of processing programs PM including a first processing program that defines the processing operations for processing the first workpiece W1 and a second processing program that defines the processing operations for processing the second workpiece W2, and the execution order ER of the plurality of processing programs PM; (2) a step of deriving a timing TM at which setup work is required for at least one robot hand 2 that can be attached to a transport robot 3 that transports workpieces W to a machine tool 7, based on the processing quantity data DN, the plurality of processing programs PM, and the execution order ER of the plurality of processing programs; and (3) a step of displaying the time that identifies the timing TM on a display E3.

[0019] In the first embodiment of the machine tool system 1A and the setup support method for the machine tool system, a timing TM at which setup work is required for at least one robot hand 2 is derived based on the workpiece processing quantity data DN, a plurality of processing programs PM, and the execution order ER of the plurality of processing programs PM, and the time to identify this timing TM is displayed on the display E3. Therefore, the operator can know in advance when setup work is required for the robot hand. As a result, the operator can perform setup work for the robot hand in a timely manner. In addition, the operator can efficiently prepare for setup work and / or perform other tasks by taking into account the time displayed on the display E3.

[0020] (Optional additional configuration) Next, with reference to Figures 1 to 20, optional additional configurations that can be adopted in the machine tool system 1A and the setup support method for the machine tool system in the first embodiment will be described.

[0021] (Time display format) In the example shown in Figure 3, the time required to identify the timing TM for setting up at least one robot hand 2 is displayed in a table format on display E3. Alternatively, as illustrated in Figure 4, the time required to identify the timing TM for setting up at least one robot hand 2 may be displayed in a graph format on display E3.

[0022] When the time for identifying a timing TM is displayed in a graph format, the operator can easily grasp that time at a glance. For example, if there are multiple timings TM that require setup work for at least one robot hand 2 (for example, if timing TM includes a first timing TM1 and a second timing TM2), the operator can easily grasp the multiple timings (TM1, TM2) at a glance.

[0023] (Creation of a processing program) In the examples shown in Figures 5 to 7, the setup support method for a machine tool system includes a step of creating a machining program (hereinafter referred to as the "machining program creation step"). As illustrated in Figures 5 to 7, the display E3 may display a machining program editing image IM1. More specifically, the arithmetic unit E2 that executes the program PG stored in memory E1 may cause the display E3 to display a machining program editing image IM1 for creating a machining program.

[0024] As illustrated in Figures 5 to 7, the machining program editing image IM1 may include a work data input field IN1-1. As illustrated in Figures 5 to 7, the machining program editing image IM1 may include a machining condition input field IN1-2. As illustrated in Figures 5 to 7, the machining program editing image IM1 may include a machining program name input field IN1-3.

[0025] In the example shown in Figure 5, the setup support method for a machine tool system includes a step of creating a first machining program PM1 that defines machining operations for machining a first workpiece W1. In the example shown in Figure 6, the setup support method for a machine tool system includes a step of creating a second machining program PM2 that defines machining operations for machining a second workpiece W2. As illustrated in Figure 7, the setup support method for a machine tool system may also include a step of creating a third machining program PM3 that defines machining operations for machining a third workpiece W3. Furthermore, the setup support method for a machine tool system may also include a step of creating a fourth machining program PM4 that defines machining operations for machining a fourth workpiece W4.

[0026] As illustrated in Figure 8, the created machining programs PM (for example, the first machining program PM1, the second machining program PM2, the third machining program PM3, and / or the fourth machining program PM4) are stored in memory E1.

[0027] In the example shown in Figure 8, the display E3 shows the first hand identifier D2a, which identifies the first robot hand 2a used to transport the first workpiece W1. In the example shown in Figure 8, the robot hand (Double 1) used to transport the first workpiece W1 is the same as the robot hand (Double 1) used to transport the second workpiece W2. Also, the robot hand (Double 1) used to transport the first workpiece W1 is the same as the robot hand (Double 1) used to transport the third workpiece W3 and the robot hand (Double 1) used to transport the fourth workpiece W4.

[0028] Alternatively, the robot hand used to transport the first workpiece W1 (Double 1) may be different from the robot hand used to transport other workpieces.

[0029] (Processing Schedule SC) In this specification, "processing schedule SC" means a schedule that defines the operation of the transfer robot 3 and the machine tool 7 for multiple types of workpieces that are scheduled to be processed. More specifically, "processing schedule SC" means the schedule from the start of the first operation by the transfer robot 3 and the machine tool 7 for multiple types of workpieces that are scheduled to be processed until the end of the last operation by the transfer robot 3 and the machine tool 7 for those multiple types of workpieces.

[0030] Furthermore, in this specification, when K is defined as any natural number greater than or equal to 1, the Kth machining schedule means a schedule that defines the operations of the transport robot 3 and machine tool 7 for the Kth type of workpiece in the machining order, among the operations of the transport robot 3 and machine tool 7 for multiple types of workpieces.

[0031] (Creation of processing schedule SC) In the example shown in Figure 9, the setup support method for a machine tool system includes a step of creating a machining schedule SC (hereinafter referred to as the "machining schedule creation step"). As illustrated in Figure 9, the display E3 may display a machining schedule editing image IM3. More specifically, the arithmetic unit E2, which executes the program PG stored in memory E1, may cause the display E3 to display a machining schedule editing image IM3 for creating the machining schedule SC.

[0032] As illustrated in Figure 9, the processing schedule editing image IM3 may include a work identifier that identifies the workpiece (for example, the name of the workpiece), and an input field IN2 for data indicating the processing quantity of the workpiece identified by the work identifier.

[0033] In the example shown in Figure 9, the machining schedule editing image IM3 includes an input field IN2-1 for a first work identifier Dw1 that identifies the first workpiece W1, and a first machining quantity data DN1 that indicates the number of times the first workpiece W1 is machined by the machine tool 7. The first machining quantity data DN1 entered in input field IN2-1 is stored in memory E1 (see Figure 11). Alternatively, a computer E including an arithmetic unit E2 may receive the first machining quantity data DN1 from another computer, and the first machining quantity data DN1 received by computer E may be stored in memory E1.

[0034] In the example shown in Figure 9, the machining schedule editing image IM3 includes an input field IN2-2 for a second work identifier Dw2 that identifies the second workpiece W2, and a second machining quantity data DN2 that indicates the number of times the second workpiece W2 is machined by the machine tool 7. The second machining quantity data DN2 entered in input field IN2-2 is stored in memory E1 (see Figure 11). Alternatively, computer E may receive the second machining quantity data DN2 from another computer, and the second machining quantity data DN2 received by computer E may be stored in memory E1.

[0035] In the example shown in Figure 9, the machining schedule editing image IM3 includes input fields IN2-3 for a third work identifier Dw3 that identifies the third workpiece W3, and third machining quantity data DN3 that indicates the number of times the third workpiece W3 is machined by the machine tool 7. The third machining quantity data DN3 entered in input fields IN2-3 is stored in memory E1 (see Figure 11). Alternatively, computer E may receive the third machining quantity data DN3 from another computer, and the third machining quantity data DN3 received by computer E may be stored in memory E1.

[0036] In the example shown in Figure 9, the machining schedule editing image IM3 includes an input field IN2-4 for a fourth work identifier Dw4 that identifies the fourth work W4, and an input field IN2-4 for fourth machining quantity data DN4 that indicates the number of times the fourth work W4 is machined by the machine tool 7. The fourth machining quantity data DN4 entered in input field IN2-4 is stored in memory E1 (see Figure 11). Alternatively, computer E may receive the fourth machining quantity data DN4 from another computer, and the fourth machining quantity data DN4 received by computer E may be stored in memory E1.

[0037] As illustrated in Figure 9, the machining schedule editing image IM3 may include an add button BN1 (for example, an image of the add button) for adding a workpiece to be machined to the machining schedule SC.

[0038] When the add button BN1 is tapped or clicked, an identifier to identify the additional workpiece and an input field for data indicating the processing quantity of the additional workpiece (see dashed arrow AR4 in Figure 10) may be added to the processing schedule editing image IM3.

[0039] A first work identifier Dw1 that identifies a first workpiece W1 is associated with a first identifier Dp1 that identifies a first processing program PM1 that defines the processing operations for processing the first workpiece W1. The first work identifier Dw1 that identifies the first workpiece W1 may be the same as the first identifier Dp1 that identifies the first processing program PM1. When K is defined as any natural number greater than or equal to 1 (for example, 1, 2, 3, 4, 5, 6, ...), the K-th work identifier that identifies the K-th workpiece is associated with the K-th identifier that identifies the K-th processing program that defines the processing operations for processing the K-th workpiece. The K-th work identifier that identifies the K-th workpiece may be the same as the K-th identifier that identifies the K-th processing program.

[0040] In the example shown in Figure 9, the numerical NU indicating the execution order of multiple machining programs PM is displayed on the display E3. More specifically, the machining schedule editing image IM3 includes the numerical NU indicating the execution order of multiple machining programs PM. As illustrated in Figure 11, the execution order ER of the multiple machining programs PM is stored in memory E1.

[0041] In the example shown in Figure 11, a machining schedule SC is created based on machining quantity data DN (for example, first machining quantity data DN1 showing the machining quantity of the first workpiece W1, second machining quantity data DN2 showing the machining quantity of the second workpiece W2, etc.), multiple machining programs PM, and the execution order ER of the multiple machining programs PM. In other words, the machining schedule creation process includes creating a machining schedule SC based on machining quantity data DN, multiple machining programs PM, and the execution order of the multiple machining programs PM.

[0042] As illustrated in Figure 11, the created machining schedule SC is stored in memory E1. The machining schedule SC may also be stored in memory E1 in response to a tap or click of the first confirmation button BN2 (for example, the first confirmation button BN2 included in the machining schedule editing image IM3).

[0043] When the machining schedule editing image IM3 is displayed on the display E3, the operator can easily create machining schedules SC for machining multiple types of workpieces of different sizes.

[0044] (Timing derivation process) A setup support method for a machine tool system includes a step (hereinafter referred to as the "timing derivation step") for deriving a timing TM at which setup work is required for at least one robot hand 2, based on the above-mentioned machining quantity data DN, the above-mentioned multiple machining programs PM, and the execution order ER of the above-mentioned multiple machining programs PM. The derived timing TM is stored in memory E1. The timing derivation step may be performed in response to a tap or click of a first confirmation button BN2 (for example, a first confirmation button BN2 included in the machining schedule editing image IM3).

[0045] As illustrated in Figure 12, the timing derivation process may include (1) deriving a first timing TM1 that requires a first setup operation for at least one robot hand 2, and (2) deriving a second timing TM2 that requires a second setup operation for at least one robot hand 2. In other words, the timing TM that requires a setup operation for at least one robot hand 2 may include a first timing TM1 that requires a first setup operation for at least one robot hand 2, and a second timing TM2 that requires a second setup operation for at least one robot hand 2. The first timing TM1 and the second timing TM2 derived by the execution of the timing derivation process are stored in memory E1 (see Figure 11).

[0046] As illustrated in Figure 12, the timing derivation step may include deriving the above-mentioned first timing TM1 and the above-mentioned second timing TM2 based on processing quantity data DN, which includes first processing quantity data DN1 indicating the processing quantity of the first workpiece W1, second processing quantity data DN2 indicating the processing quantity of the second workpiece W2, and third processing quantity data DN3 indicating the processing quantity of the third workpiece W3; a plurality of processing programs PM, which include a first processing program PM1, a second processing program PM2, and a third processing program PM3; and the execution order ER of the plurality of processing programs PM.

[0047] When K is defined as any natural number greater than or equal to 2 (for example, K is 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, ...), the timing derivation step may include deriving the above-mentioned timings TM (for example, the above-mentioned first timing TM1 and the above-mentioned second timing TM2) based on processing quantity data DN indicating the processing quantity of each of K types of workpieces, including the first workpiece W1 and the second workpiece W2, K processing programs PM including the first processing program PM1 and the second processing program PM2, and the execution order of the K processing programs PM.

[0048] (Timing display process) In the example shown in Figure 13, the setup support method for a machine tool system includes a step of displaying the time that identifies the timing TM for which setup work is required for at least one robot hand 2 (hereinafter referred to as the "timing display step"). As illustrated in Figure 13, the display E3 may display an image (hereinafter referred to as the "first image IM4") that includes the time that identifies the timing TM for which setup work is required for at least one robot hand 2. More specifically, the arithmetic unit E2 that executes the program PG stored in memory E1 may cause the display E3 to display the first image IM4 that includes the time that identifies the timing TM for which setup work is required for at least one robot hand 2. The first image IM4 may include a time scale F for reading the time that identifies the timing TM for which setup work is required for at least one robot hand 2. In the example shown in Figure 13, the first image IM4 includes the time scale F and a mark (e.g., line segment LS) placed on the time scale F that indicates the timing TM for which setup work is required for at least one robot hand.

[0049] As illustrated in Figure 13, the setup support method for a machine tool system may include displaying the total time required to execute the machining schedule SC (see dashed arrow AR3) on the display E3, along with the time required to identify the timing TM described above. More specifically, the first image IM4 described above may include the time required to identify the timing TM described above (see dashed arrows AR1 and AR2) and the total time required to execute the machining schedule SC (see dashed arrow AR3). In this case, the operator can easily understand at what timing setup work is required in relation to the total time required to execute the machining schedule SC.

[0050] In the example shown in Figure 13, the total time required to execute the machining schedule SC is displayed in graph format on the display E3. More specifically, the first image IM4 includes a bar BT that represents the total time required to execute the machining schedule SC by bar length. In addition, in the first image IM4, the timing TM described above is represented by its relative position to bar BT. More specifically, the timing TM described above may be represented by a line segment LS that crosses bar BT.

[0051] Alternatively, as illustrated in Figure 3, the total time required to execute the machining schedule SC may be displayed in a table format on display E3 (see dashed arrow AR3).

[0052] As illustrated in Figure 13, the timing display step may include (1) displaying on the display E3 a first time (see dashed arrow AR1) that identifies a first timing TM1 requiring a first setup operation for at least one robot hand 2, and (2) displaying on the display E3 a second time (see dashed arrow AR2) that identifies a second timing TM2 requiring a second setup operation for at least one robot hand 2. More specifically, the first image IM4 described above may include an image (e.g., first line segment LS1) showing the first time (see dashed arrow AR1) that identifies the first timing TM1, and an image (e.g., second line segment LS2) showing the second time (see dashed arrow AR2) that identifies the second timing TM2. In the example shown in Figure 13, the second timing TM2 is different from the first timing TM1.

[0053] In the example shown in Figure 13, the operator can efficiently prepare for multiple setup tasks and / or perform other tasks by taking into account the first time to identify the first timing TM1 displayed on display E3 and the second time to identify the second timing TM2 displayed on display E3.

[0054] In the example shown in Figure 13, the timing display step includes simultaneously displaying on the display E3 the first time that identifies the first timing TM1 described above and the second time that identifies the second timing TM2 described above. In this case, the operator can recognize at a glance the multiple timings that require setup work.

[0055] As illustrated in Figure 13, the timing display step may include simultaneously displaying on the display E3 the first time (see dashed arrow AR1) that identifies the first timing TM1, the second time (see dashed arrow AR2) that identifies the second timing TM2, and the total time required to execute the machining schedule SC (see dashed arrow AR3).

[0056] As illustrated in Figure 13, the first image IM4 may include a number NU indicating the execution order of multiple processing programs PM.

[0057] As illustrated in Figure 13, the first image IM4 may include work-related data DA, which includes first processing quantity data DN1 indicating the number of first workpieces W1 processed by the machine tool 7, and second processing quantity data DN2 indicating the number of second workpieces W2 processed by the machine tool 7. The work-related data DA may also include third processing quantity data DN3 indicating the number of third workpieces W3 processed by the machine tool 7, and / or fourth processing quantity data DN4 indicating the number of fourth workpieces W4 processed by the machine tool 7.

[0058] As illustrated in Figure 13, the work-related data DA may include first work-related data DA1 which includes a first work identifier Dw1 that identifies the first work W1 (for example, the name of the first work W1) and the first processing quantity data DN1 described above.

[0059] As illustrated in Figure 13, the work-related data DA may include a second work-related data DA2 which includes a second work identifier Dw2 that identifies the second work W2 (for example, the name of the second work W2) and the second processing quantity data DN2 described above.

[0060] As illustrated in Figure 13, the work-related data DA may include a third work-related data DA3 which includes a third work identifier Dw3 that identifies the third work W3 (for example, the name of the third work W3) and the third processing quantity data DN3 described above.

[0061] As illustrated in Figure 13, the work-related data DA may include the fourth work-related data DA4, which includes the fourth work identifier Dw4 (for example, the name of the fourth work W4) that identifies the fourth work W4, and the fourth processing quantity data DN4 described above.

[0062] As illustrated in Figure 13, a setup support method for a machine tool system may include a step of displaying on a display E3 in a time series the following: first work-related data DA1 including first processing quantity data DN1 indicating the number of first workpieces W1 to be processed by the machine tool 7; second work-related data DA2 including second processing quantity data DN2 indicating the number of second workpieces W2 to be processed by the machine tool 7; and timing TM (e.g., a bar BR indicating the timing TM) indicating the timing when setup work is required for at least one robot hand 2. More specifically, the first image IM4 may include a first list LT1 in which work-related data DA including the first work-related data DA1 and the second work-related data DA2, and timing TM indicating the timing when setup work is required for at least one robot hand 2, are arranged in chronological order.

[0063] As illustrated in Figure 13, the first list LT1 may include (1) first work-related data DA1, (2) second work-related data DA2, and (3) timing TM (e.g., a bar BR indicating timing TM) which requires setup work for at least one robot hand 2.

[0064] As illustrated in Figure 13, the first list LT1 may include (1) first work-related data DA1, (2) second work-related data DA2, (3) third work-related data DA3, (4) a first timing TM1 (e.g., a first bar BR1 indicating the first timing TM1) that requires a first setup operation for at least one robot hand 2, and (5) a second timing TM2 (e.g., a second bar BR2 indicating the second timing TM2) that requires a second setup operation for at least one robot hand 2.

[0065] When K is defined as any natural number greater than or equal to 1, in the example shown in Figure 13, the first image IM4 includes a setup instruction mark MK (e.g., a setup instruction bar) placed between the K-workwork-related data associated with the K-workwork and the K+1-related data associated with the K+1-workwork. This setup instruction mark MK (e.g., a setup instruction bar) indicates that setup work must be performed on at least one robot hand 2 after the K-workwork has been removed from the machine tool 7 and before the K+1-workwork has been loaded into the machine tool 7.

[0066] In the example shown in Figure 13, a first list LT1 is displayed on the display E3, which is arranged chronologically and contains a work identifier that identifies each of several types of workpieces, data indicating the processing quantity of the workpiece identified by the work identifier, and the timing TM (for example, a bar BR indicating the timing TM, or a setup instruction mark MK indicating the timing TM) that requires setup work for at least one robot hand 2. Therefore, the operator can know in advance whether or not setup work is required when switching workpieces. In addition, the operator can easily understand the chronological relationship between the processing timing of several types of workpieces and the timing TM that requires setup work.

[0067] In the example shown in Figure 13, the first list LT1 contains data indicating the number of each of the multiple types of workpieces processed by the machine tool 7 (in other words, data indicating the processing quantity of each of the multiple types of workpieces). Therefore, by looking at the first list LT1, the operator can grasp the time-series relationship between the processing timing of the multiple types of workpieces and the timing TM when setup work is required, as well as the processing quantity of each of the multiple types of workpieces.

[0068] In the example shown in Figure 13, the timing display step is performed before the execution of the multiple machining programs PM begins (more specifically, before the execution of the machining schedule SC begins). In other words, the first image IM4 described above is displayed on the display E3 before the execution of the multiple machining programs PM begins (more specifically, before the execution of the machining schedule SC begins).

[0069] Additionally, as illustrated in Figure 14, the first image IM4 described above may be displayed on the display E3 while multiple machining programs PM are being executed (more specifically, while machining schedule SC is being executed).

[0070] As illustrated in Figure 14, the first image IM4 may include data indicating the processed quantity of the first workpiece W1 (see dashed arrow AR5) and the time that identifies the timing TM at which setup work is required for at least one robot hand (see dashed arrows AR1 and AR2). The first image IM4 may also include data indicating the processed quantity of the first workpiece W1, data indicating the processed quantity of the second workpiece W2, and the time that identifies the timing TM at which setup work is required for at least one robot hand (see dashed arrows AR1 and AR2).

[0071] As illustrated in Figure 15, the first image IM4 may include a second list LT2 showing the status of each of the multiple first workpieces W1. More specifically, by selecting the first workpiece-related data DA1 in the first list LT1 described above, the second list LT2 showing the status of each of the multiple first workpieces W1 may be displayed. As illustrated in Figure 15, the first list LT1 described above and the second list LT2 showing the status of each of the multiple first workpieces W1 may be displayed simultaneously on the display E3.

[0072] (Rearranging the execution order of multiple processing programs) As illustrated in Figure 16, a setup support method for a machine tool system may include a step of displaying a button BB (more specifically, a button image for switching the execution order of multiple machining programs PM) on the display E3 for switching the execution order of multiple machining programs PM. In the example shown in Figure 13, the first image IM4 described above includes a first button BA that switches the first image IM4 displayed on the display E3 to the second image IM3-1 (see Figure 16). The second image IM3-1 (see Figure 16) also includes a button BB for switching the execution order of multiple machining programs PM. The second image IM3-1 may be one of the machining schedule editing images IM3. Alternatively, or additionally, a button BB for switching the execution order of multiple machining programs PM may be included in the first image IM4.

[0073] In the example shown in Figure 16, the numbers NU, which indicate the execution order of multiple machining programs, are displayed on display E3. More specifically, the second image IM3-1 includes the numbers NU, which indicate the execution order of multiple machining programs PM. Figure 17 shows the state after the button BB, which is used to change the execution order of multiple machining programs PM, has been operated.

[0074] (Setup work for at least one robot hand 2) In the example shown in Figure 18, the setup operation for at least one robot hand 2 includes adjusting the position of the workpiece gripping claws 27 relative to the claw support 21 of at least one robot hand 2. In the example shown in Figure 18, at least one robot hand 2 has workpiece gripping claws 27 and a claw support 21 that supports the workpiece gripping claws 27 so that they can be positioned.

[0075] In the example shown in Figure 18, the position of the workpiece gripping claws 27 relative to the claw support 21 can be adjusted by operating the operating member 28.

[0076] The operating member 28 may be a member that can be operated by an operator without the use of tools. In the example shown in Figure 19, the position of the workpiece gripping claws 27 relative to the claw support 21 can be adjusted by combining the operation of moving the operating member 28 in the longitudinal direction of the operating member 28 and the operation of moving the operating member 28 in a direction perpendicular to the longitudinal direction of the operating member 28 (see dashed arrow AR6). Alternatively, the operating member 28 may be a member that is operated using a tool.

[0077] In the example shown in Figure 18, the robot hand 2 is a hand attached to the transport robot 3. In this case, the operator adjusts the position of the workpiece gripping claws 27 relative to the claw support 21 of the robot hand 2 attached to the transport robot 3. Alternatively, the robot hand 2 may be a hand detached from the transport robot 3. In this case, the operator adjusts the position of the workpiece gripping claws 27 relative to the claw support 21 of the robot hand 2 when it is detached from the transport robot 3.

[0078] Alternatively, or additionally, as illustrated in Figure 20, the setup operation for at least one robot hand 2 may include the operation of replacing workpiece gripping claws 27 supported by at least one robot hand 2 with workpiece gripping claws 27k of other sizes. In the example shown in Figure 20, the small workpiece gripping claws 27S (see workpiece gripping claws shown by solid lines) supported by the robot hand 2 can be replaced with large workpiece gripping claws 27L (see workpiece gripping claws shown by dashed lines). Also, the large workpiece gripping claws 27L (see workpiece gripping claws shown by dashed lines) supported by the robot hand 2 can be replaced with small workpiece gripping claws 27S (see workpiece gripping claws shown by solid lines).

[0079] (Second embodiment) Referring to Figures 1 to 46, a machine tool system 1B in a second embodiment and a setup support method for the machine tool system will be described. Figure 21 is a schematic diagram showing the machine tool system 1B in a second embodiment. Figures 22 to 24 are schematic diagrams showing parts of the machine tool system 1. Figure 25 is a schematic diagram showing the numerical control device 6. Figure 26 is a schematic diagram showing part of the machine tool system 1. Figure 27 is a diagram for explaining the connection between the hand support 31 and the robot hand 2. Figure 28 is a schematic diagram showing the robot control device 9. Figure 29 is a schematic perspective view showing the robot hand 2. Figure 30 is an enlarged view showing a part of the stocker 11. Figure 31 is a schematic perspective view showing the stocker 11. Figure 32 is a schematic diagram showing how the robot hand 2 is automatically replaced. Figures 33 and 34 are schematic diagrams showing an example in which an edited image IM2 for editing work transport data is displayed on the display E3. Figure 35 schematically shows an example of a machining schedule editing image IM3 displayed on display E3. Figure 36 schematically shows an example of an image displayed on display E3. Figure 37 is a flowchart of an example of a timing derivation process. Figures 38 to 43 schematically show examples of images displayed on display E3. Figure 44 schematically shows a robot control device 9. Figure 45 schematically shows how another computer is connected to the numerical control device 6 in a communicative manner. Figure 46 is a flowchart of an example of a setup support method for a machine tool system.

[0080] The second embodiment will primarily describe the differences from the first embodiment. On the other hand, the second embodiment will omit repetitive explanations of matters already described in the first embodiment. Therefore, it goes without saying that even if not explicitly explained in the second embodiment, matters already described in the first embodiment can be applied to the second embodiment. Conversely, matters described in the second embodiment can also be adopted in the first embodiment.

[0081] As illustrated in Figures 21, 25, and 36, the machine tool system 1B in the second embodiment comprises: (1) a machine tool 7 for processing multiple types of workpieces, including a first workpiece W1 and a second workpiece W2; (2) a transport robot 3 that uses at least one robot hand 2 to load multiple types of workpieces into the machine tool 7 and unload multiple types of workpieces from the machine tool 7; (3) a calculation unit E2 that derives a timing TM for which setup work is required for at least one robot hand 2 based on processing quantity data DN including the processing quantity of the first workpiece W1 and the processing quantity of the second workpiece W2, a plurality of processing programs PM including a first processing program PM1 that defines the processing operation for processing the first workpiece W1 and a second processing program PM2 that defines the processing operation for processing the second workpiece W2, and the execution order of the plurality of processing programs PM; and (4) a display E3 that displays the time that identifies the timing TM.

[0082] Therefore, the machine tool system 1B in the second embodiment provides the same effects as the machine tool system 1A in the first embodiment.

[0083] As illustrated in Figures 25, 35, and 36, the setup support method for a machine tool system in the second embodiment includes: (1) acquiring processing quantity data DN including the processing quantity of a first workpiece W1 and the processing quantity of a second workpiece W2, a plurality of processing programs PM including a first processing program PM1 that defines the processing operation for processing the first workpiece W1 and a second processing program PM2 that defines the processing operation for processing the second workpiece W2, and the execution order ER of the plurality of processing programs PM; (2) deriving a timing TM at which setup work is required for at least one robot hand 2 that can be attached to a transport robot 3 that transports workpieces to a machine tool 7, based on the processing quantity data DN, the plurality of processing programs PM, and the execution order ER of the plurality of processing programs PM; and (3) displaying the time that identifies the timing TM on a display E3.

[0084] Therefore, the setup support method for a machine tool system in the second embodiment has the same effect as the setup support method for a machine tool system in the first embodiment.

[0085] (Optional additional configuration) Next, with reference to Figures 1 to 46, optional additional configurations that can be adopted in the machine tool system 1 (for example, machine tool system 1A in the first embodiment, or machine tool system 1B in the second embodiment) and the setup support method for the machine tool system (for example, the setup support method for the machine tool system in the first embodiment, or the setup support method for the machine tool system in the second embodiment) will be described.

[0086] (Computer E) As illustrated in Figure 22, the machine tool system 1 includes a computer E. The computer E has a memory E1, an arithmetic unit E2, and a display E3. The computer E may also have an input device E4 and / or a communication circuit E5. In the example shown in Figure 22, the memory E1, the arithmetic unit E2, the display E3, the input device E4, and the communication circuit E5 are connected to each other via a bus E8. The computer E may be included in the numerical control unit 6 of the machine tool 7, or in the robot control unit 9 that controls the transport robot 3. Alternatively, the computer E may be provided separately from the numerical control unit 6 and the robot control unit 9.

[0087] (Machine tool 7) In the example shown in Figure 23, the machine tool 7 comprises a workpiece support device 71, a machining head 72, a moving device 74 (for example, a machining head moving device 74a) for moving the machining head 72 relative to the workpiece support device 71, and a numerical control device 6 (see Figure 21). The machine tool 7 may be a lathe or a multi-tasking machine capable of performing turning and milling operations.

[0088] In the example shown in Figure 23, the workpiece 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 it is rotatable around the first axis AX1, and a rotary drive device 718 that rotates the chuck 711 around the first axis AX1.

[0089] In the example shown in Figure 23, the chuck 711 comprises a chuck body 711a and a plurality of jaws 711b attached to the chuck body 711a. The chuck 711 may also 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 toward the first axis AX1, thereby changing the state of the chuck 711 from an open state to a closed state. When the state of the chuck 711 is closed, 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 toward the first axis AX1, thereby changing the state of the chuck 711 from a closed state to an open state.

[0090] The machining head 72 is capable of holding a tool T (e.g., a turning tool T1). The machining head 72 may be capable of selectively holding a first tool (e.g., a turning tool T1) and a second tool (e.g., a milling tool). The machine tool 7 may be equipped with a tool changer for exchanging the tool T (e.g., a turning tool T1) held in the machining head 72 for another tool (e.g., a second tool such as a milling tool).

[0091] As illustrated in Figure 23, the machining head 72 may be equipped with a tool rotating device 728 that rotates the tool (for example, a second tool such as a milling tool) around a second axis AX2 along the longitudinal axis of the tool.

[0092] In the example shown in Figure 23, 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 equipped with both a non-turret type machining head and a turret type machining head.

[0093] In the example shown in Figure 23, the moving device 74 moves the machining head 72 relative to the workpiece support device 71. The 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, along the X-axis substantially parallel to the vertical). The 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, along the Z-axis substantially parallel to the horizontal). The 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 the Y-axis, which is different from the direction along the X-axis. In the example shown in Figure 23, the Y-axis is perpendicular to both the X-axis and the Z-axis.

[0094] The 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 in the machining head 72 around a third axis AX3 that is substantially parallel to the horizontal plane.

[0095] In the example shown in Figure 23, the moving device 74 is capable of moving the machining head 72 in three dimensions. The moving device 74 may also be a device that moves the machining head 72 in two dimensions or one dimension. The moving device 74 may include a workpiece moving device that moves the workpiece supported by the workpiece support device 71 in a linear manner. The workpiece moving device may also be a device that moves the workpiece support device 71 in a direction along the Z-axis.

[0096] The machine tool 7 may include a tailstock 78 that supports the end of a workpiece (e.g., a shaft workpiece). 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.

[0097] In the example shown in Figure 21, the machine tool 7 comprises a wall 75 surrounding the 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 transport robot 3 is movable across the opening OP. More specifically, as illustrated in Figure 24, the robot control device 9 can control the transport robot 3 so that a workpiece (e.g., a first workpiece W1-1 before machining) is brought into the machine tool 7 across the opening OP. The robot control device 9 can also control the transport robot 3 so that a workpiece (e.g., a first workpiece W1-2 after machining) is discharged from the machine tool 7 across the opening OP.

[0098] In the example shown in Figure 25, the numerical control device 6 can control the rotary drive device 718 and the moving device 74. Additionally, the numerical control device 6 may also control the claw drive device 714. Additionally, the numerical control device 6 may also control the tailstock moving device 79. Alternatively, or additionally, the numerical control device 6 may also control the tool rotating device 728 and / or the door moving device 763.

[0099] In the example shown in Figure 25, 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").

[0100] As illustrated in Figure 25, the first arithmetic unit 62 includes at least one processor 62a (e.g., at least one CPU). The numerical control unit 6 (more specifically, the first arithmetic unit 62) generates a first group of control commands SA by executing a machining program PM. The machine tool 7 operates based on the first group of control commands SA generated when the machining program PM is executed by the numerical control unit 6 (more specifically, the first arithmetic unit 62). More specifically, the first communication circuit 65 transmits the first group of control commands SA to a plurality of controlled devices such as a moving device 74 and a rotary drive device 718, and the plurality of controlled devices that receive the first group of control commands SA operate based on the first group of control commands SA. In this way, based on the first group of control commands SA generated by the numerical control unit 6, the workpiece supported by the workpiece support device 71 is machined by a tool (e.g., a turning tool T1, etc.) held in the machining head 72.

[0101] The first memory 61 is a storage medium (more specifically, a non-temporary computer-readable storage medium) that can be read by the first arithmetic unit 62. The first memory 61 may be, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, or flash memory, or it may be a magnetic disk or other type of memory.

[0102] The first memory 61 stores programs and various types of data. The first memory 61 may be distributed across multiple locations. For example, a memory for storing data may be provided separately from the memory for storing programs. The first memory 61 may include cloud storage accessible via a network.

[0103] In the example shown in Figure 25, the first input device 64 includes a touch panel 64a on the first display 63. In other words, the first display 63 is a display with a touch panel. However, the first input device 64 is not limited to the touch panel 64a on the first display 63. For example, the first input device 64 may include a button 64b, a switch, a lever, a pointing device such as a mouse, and / or a keyboard.

[0104] In the example shown in Figure 25, the first memory 61, the first arithmetic unit 62, the first display 63, the first input device 64, and the first communication circuit 65 are connected to each other via a bus 68.

[0105] (Transport robot 3) In the example shown in Figure 26, the transport robot 3 is an articulated transport robot 3a. The transport robot 3 (more specifically, the articulated transport robot 3a) comprises a plurality of arms AM including an end-effector arm AM1, a plurality of joints JT, and a plurality of arm drive devices (e.g., a plurality of motors MT that move the plurality of joints JT). The articulated transport robot 3a has, for example, at least six rotation axes.

[0106] In the example shown in Figure 26, the transport robot 3 comprises a hand support 31 and a plurality of arms AM that move the hand support 31. In the example shown in Figure 26, the hand support 31 is located on the end arm AM1. A robot hand 2 is attached to the hand support 31.

[0107] In the example shown in Figure 27, the transport robot 3 (more specifically, the hand support 31) has a first coupling 32, and the robot hand 2 has a second coupling 22. The robot hand 2 is attached to the hand support 31 by connecting the second coupling 22 of the robot hand 2 to the first coupling 32. If the machine tool system 1 has multiple robot hands 2, each of the multiple robot hands 2 has a second coupling 22 connected to the first coupling 32.

[0108] As illustrated in Figure 27, 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.

[0109] In the example shown in Figure 27, the robot hand 2 includes a claw drive device 24 that moves the workpiece gripping claws 27 together with the claw support 21. The claw drive device 24 moves the multiple workpiece gripping claws 27 toward the workpiece, thereby gripping the workpiece with the multiple workpiece gripping claws 27. The claw drive device 24 moves the multiple workpiece gripping claws 27 toward the workpiece, thereby releasing the grip of the workpiece with the multiple workpiece gripping claws 27.

[0110] The jaw drive device 24 may include a first jaw drive device 241 that moves forward and backward a plurality of work gripping jaws that grip a workpiece before processing, and a second jaw drive device 242 that moves forward and backward a plurality of work gripping jaws that grip a workpiece after processing. In Figure 27, the dashed arrow AR7 indicates the direction in which the first jaw drive device 241 moves the plurality of work gripping jaws 27 and the plurality of jaw supports 21.

[0111] (Robot control device 9) The machine tool system 1 includes a robot control device 9. In the example shown in Figure 28, the robot control device 9 can control an arm drive device 37 that drives an arm AM (for example, multiple motors MT that move multiple joints JT of the transport robot 3), and a claw drive device 24 (more specifically, a first claw drive device 241 and a second claw drive device 242).

[0112] In the example shown in Figure 28, the robot control device 9 includes a memory (hereinafter referred to as "second memory 91"), an arithmetic unit (hereinafter referred to as "second arithmetic unit 92"), a display (hereinafter referred to as "second display 93"), an input device (hereinafter referred to as "second input device 94"), and a communication circuit (hereinafter referred to as "second communication circuit 95").

[0113] As illustrated in Figure 28, the second arithmetic unit 92 includes at least one processor 92a (e.g., at least one CPU). The robot control device 9 (more specifically, the second arithmetic unit 92) generates a second group of control commands SB by executing the robot control program PR. The transport robot 3 operates based on the second group of control commands SB generated when the robot control program PR is executed by the robot control device 9 (more specifically, the second arithmetic unit 92). More specifically, the second communication circuit 95 transmits the second group of control commands SB to the transport robot 3 (e.g., the arm drive unit 37 and the claw drive unit 24), and the transport robot 3, upon receiving the second group of control commands SB, operates based on the second group of control commands SB. Thus, based on the second group of control commands SB generated by the robot control device 9, the transport robot 3 loads the workpiece into the machine tool 7. Also, based on other second group of control commands SB generated by the robot control device 9, the transport robot 3 unloads the processed workpiece from the machine tool 7.

[0114] The second memory 91 is a storage medium (more specifically, a non-temporary computer-readable storage medium) that can be read by the second arithmetic unit 92. The second memory 91 may be, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, or flash memory, or it may be a magnetic disk or other type of memory.

[0115] In the example shown in Figure 28, the second memory 91, the second arithmetic unit 92, the second display 93, the second input device 94 (e.g., a touch panel 94a), and the second communication circuit 95 are connected to each other via a bus 98.

[0116] (Robot Hand 2) In the example shown in Figure 29, at least one robot hand 2 includes a first robot hand 2a.

[0117] In the example shown in Figure 29, the first robot hand 2a has workpiece gripping claws 27a and a claw support 21a that supports the workpiece gripping claws 27a in an adjustable position. A workpiece (e.g., the first workpiece W1) is gripped by multiple workpiece gripping claws 27a.

[0118] In the example shown in Figure 29, the first robot hand 2a includes a first operating member 28a for changing the position of the workpiece gripping claws 27a relative to the claw support 21a.

[0119] As illustrated in Figure 29, the first robot hand 2a may include 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 first robot hand 2a may also include a first claw support 211a for supporting the first gripping claw 271a in an adjustable position, and a second claw support 216a for supporting the second gripping claw 276a in an adjustable position.

[0120] In the example shown in Figure 29, the first workpiece W1-1 before processing is gripped by multiple first gripping claws 271a. The first workpiece W1-2 after processing is gripped by multiple second gripping claws 276a. In the example shown in Figure 29, the first robot hand 2a is a double-handed type robot hand.

[0121] As illustrated in Figure 30, at least one robot hand 2 may include a second robot hand 2b.

[0122] In the example shown in Figure 30, the second robot hand 2b has workpiece gripping claws 27b and a claw support 21b that supports the workpiece gripping claws 27b in an adjustable position. A workpiece (e.g., second workpiece W2) is gripped by multiple workpiece gripping claws 27b.

[0123] In the example shown in Figure 30, the second robot hand 2b includes a second operating member 28b for changing the position of the workpiece gripping claws 27b relative to the claw support 21b. In the example shown in Figure 30, the second robot hand 2b is a double-handed type robot hand.

[0124] As illustrated in Figure 31, at least one robot hand 2 may include a third robot hand 2c. As illustrated in Figure 31, at least one robot hand 2 may include a fourth robot hand 2d.

[0125] In the example shown in Figure 32, the transport robot 3 can selectively be fitted with multiple robot hands 2, including a first robot hand 2a and a second robot hand 2b. More specifically, the hand support 31 of the transport robot 3 can selectively be fitted with multiple robot hands 2, including a first robot hand 2a and a second robot hand 2b.

[0126] (Robot Hand Type 2) In the example shown in Figure 32, at least one of the multiple robot hands 2 is a double-hand type robot hand 2D capable of simultaneously gripping two workpieces. The double-hand type robot hand 2D can simultaneously grip a workpiece before processing (e.g., the first workpiece W1-1 before processing) and a workpiece after processing (e.g., the first workpiece W1-2 after processing).

[0127] In the example shown in Figure 32, at least one of the multiple robot hands 2 is a single-hand type robot hand 2S capable of gripping only one workpiece. The single-hand type robot hand 2S selectively grips the workpiece before processing and the workpiece after processing.

[0128] If the multiple robot hands 2 include both double-handed robot hands 2D and single-handed robot hands 2S, the operational options for the machine tool system 1 are expanded. Alternatively, the multiple robot hands 2 may include only double-handed robot hands 2D. Alternatively, the multiple robot hands 2 may include only single-handed robot hands 2S.

[0129] (Stocka 11) As illustrated in Figure 26, the machine tool system 1 may include a stocker 11 capable of storing at least one robot hand 2. The stocker 11 stores robot hands 2 that are not attached to the hand support 31 of the transport robot 3. The stocker 11 may store multiple robot hands 2.

[0130] In the example shown in Figure 30, the robot hand 2 has a plurality of rods 23. The plurality of rods 23 are arranged on a second coupling 22 that is connected to the hand support 31 of the transport robot 3.

[0131] The stocker 11 has a support member 111 that supports the robot hand 2. As illustrated in Figure 30, the support member 111 may have a first groove 111a that receives the first end of each of the plurality of rods 23, and a second groove 111b that receives the second end of each of the plurality of rods 23.

[0132] As illustrated in Figure 31, the stocker 11 may have multiple storage areas RG for storing multiple robot hands 2. Furthermore, each of the multiple storage areas RG may be provided with the first groove 111a and the second groove 111b described above.

[0133] In the example shown in Figure 31, 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 yet another robot hand. The stocker 11 may also have a fourth storage area RG4 for storing yet another robot hand.

[0134] (Automatic replacement of robot hand 2) In the example shown in Figure 32, the robot control device 9 is capable of automatically replacing the robot hand 2. More specifically, the robot control device 9 can control the transport robot 3 so that the first robot hand 2a, attached to the hand support 31 of the transport robot 3, is automatically replaced with the second robot hand 2b, which is stored in the stocker 11.

[0135] As illustrated in Figure 32, the robot control device 9 may control the transport robot 3 so that, based on the processing schedule SC, the robot hand is automatically removed from the hand support 31 (for example, the first robot hand 2a is removed from the hand support 31) and the other robot hand is attached to the hand support 31 (for example, the second robot hand 2b is attached to the hand support 31) (see dashed arrow AR8).

[0136] In the example shown in Figure 32, the transport robot 3 is able to directly access (more specifically, directly contact) the waiting robot hand 2 stored in the stocker 11 based on the processing schedule SC. In the example shown in Figure 32, the robot control device 9 controls the transport robot 3 so that the transfer of the robot hand attached to the transport robot 3 from the hand support 31 to the stocker 11 and the transfer of the robot hand stored in the stocker 11 from the stocker 11 to the hand support 31 are performed automatically.

[0137] In the machine tool system 1, the stocker 11 may be omitted. For example, if the machine tool system 1 has only one robot hand 2 (for example, if the only robot hand 2 attached to the hand support 31 is the first robot hand 2a), the stocker 11 may be omitted.

[0138] (First display process U1) As illustrated in Figures 5 to 7, the arithmetic unit E2 may execute a process (hereinafter referred to as "first display process U1") that displays the processed program edited image IM1 on the display E3 by executing a program PG stored in memory E1.

[0139] Since the processing program editing image IM1 has already been described in the first embodiment, a repeated explanation of the processing program editing image IM1 will be omitted.

[0140] (Work size data DT) In the example shown in Figure 34, memory E1 stores work size data DT indicating the size of the workpieces (e.g., the outer diameter of the workpieces) to be transported by the transport robot 3. Memory E1 may also store first size data DT1 indicating the size of the first workpiece W1 (e.g., the outer diameter of the first workpiece W1), and / or second size data DT2 indicating the size of the second workpiece W2 (e.g., the outer diameter of the second workpiece W2). Memory E1 may also store third size data DT3 indicating the size of the third workpiece W3 (e.g., the outer diameter of the third workpiece W3), and / or fourth size data DT4 indicating the size of the fourth workpiece W4 (e.g., the outer diameter of the fourth workpiece W4).

[0141] The first size data DT1 may include data DT1-1 showing the size of the first workpiece W1-1 before processing (see Figure 29), and data DT1-2 showing the size of the first workpiece W1-2 after processing (see Figure 29). The second size data DT2 may include data DT2-1 showing the size of the second workpiece before processing, and data DT2-2 showing the size of the second workpiece after processing. The third size data DT3 may include data DT3-1 showing the size of the third workpiece before processing, and data DT3-2 showing the size of the third workpiece after processing. The fourth size data DT4 may include data DT4-1 showing the size of the fourth workpiece before processing, and data DT4-2 showing the size of the fourth workpiece after processing.

[0142] (Second display process U2) As illustrated in Figure 33, the arithmetic unit E2 may execute a process (hereinafter referred to as "second display process U2") on the display E3 by executing a program PG stored in memory E1, thereby causing the edited image IM2 for editing work transport data to be displayed.

[0143] As illustrated in Figure 33, the edited image IM2 may include an input field IN3-1 for a hand identifier that identifies the robot hand used to transport each workpiece. The edited image IM2 may also include an input field IN3-1 for a hand identifier that identifies the robot hand used to transport each workpiece, an input field IN3-2 for a gripper identifier that identifies the gripper used to load the workpiece before processing from the robot hand, and an input field IN3-3 for a gripper identifier that identifies the gripper used to unload the workpiece after processing from the robot hand. For example, the edited image IM2 may include an input field IN3-1 for a first hand identifier D2a that identifies the first robot hand 2a used to transport the first workpiece W1, an input field IN3-2 for a first gripper identifier G1 that identifies the first gripper used to load the first workpiece before processing from the first robot hand 2a, and an input field IN3-3 for a second gripper identifier G2 that identifies the second gripper used to unload the first workpiece after processing from the first robot hand 2a.

[0144] Memory E1 may store a first work identifier Dw1 that identifies the first workpiece W1 and a first hand identifier D2a (for example, a name that identifies the first robot hand 2a) that identifies the first robot hand 2a used to transport the first workpiece W1, in association with each other. Memory E1 may store, in association with a first work identifier Dw1 that identifies a first workpiece W1, a first hand identifier D2a that identifies a 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 a first gripper that grips the first workpiece W1 before processing (more specifically, a first gripper that grips the first workpiece W1-1 before processing using a plurality of first gripping claws 271a), and a second gripper identifier G2 (e.g., a code that identifies the second gripper) that identifies a second gripper that grips the first workpiece W1-2 after processing (more specifically, a second gripper that grips the first workpiece W1-2 after processing using a plurality of second gripping claws 276a).

[0145] (Third display process U3) As illustrated in Figure 35, the arithmetic unit E2 may execute a process (hereinafter referred to as "third display process U3") that displays the processing schedule editing image IM3 on the display E3 by executing a program PG stored in memory E1.

[0146] Since the processing schedule editing image IM3 has already been described in the first embodiment, a repeated explanation of the processing schedule editing image IM3 will be omitted.

[0147] (Timing derivation process U4, and timing display process U5) As illustrated in Figure 36, the arithmetic unit E2 can execute a process (hereinafter referred to as "timing derivation process U4") to derive the timing TM at which setup work is required for at least one robot hand 2, based on the processing quantity data DN, the multiple processing programs PM, and the execution order ER of the multiple processing programs PM, by executing the program PG stored in memory E1. The derived timing TM is stored in memory E1.

[0148] As illustrated in Figure 36, the timing derivation process may include (1) deriving a first timing TM1 that requires a first setup operation for at least one robot hand 2, and (2) deriving a second timing TM2 that requires a second setup operation for at least one robot hand 2. The derived first timing TM1 and second timing TM2 are stored in memory E1.

[0149] When K is defined as any natural number greater than or equal to 2 (for example, K is 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, ...), the timing derivation process U4 may include deriving the above-mentioned timings TM (for example, the above-mentioned first timing TM1 and the above-mentioned second timing TM2) based on processing quantity data DN indicating the processing quantity for each of K types of workpieces, including the first workpiece W1 and the second workpiece W2, K processing programs PM including the first processing program PM1 and the second processing program PM2, and the execution order of the K processing programs PM.

[0150] When K is defined as any natural number greater than or equal to 2 (for example, K is 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, ...), the timing derivation process U4 may include deriving the above-mentioned timings TM (for example, the above-mentioned first timing TM1 and the above-mentioned second timing TM2) based on processing quantity data DN indicating the processing quantity for each of the K types of workpieces, including the first workpiece W1 and the second workpiece W2; workpiece size data DT indicating the size for each of the K types of workpieces; K processing programs PM including the first processing program PM1 and the second processing program PM2; and the execution order of the K processing programs PM.

[0151] As illustrated in Figures 36, 37, 38, 39, or 41, the computing unit E2 can execute a program PG stored in memory E1 to display a first image IM4 that includes the time required to identify the timing TM for setting up at least one robot hand 2 (hereinafter referred to as the "timing display process U5").

[0152] In the example shown in Figure 36, the image displayed on display E3 (for example, the first image IM4) indicates that the first workpiece W1 is being transported using the first robot hand 2a identified by the first hand identifier D2a, and that the appropriate position of the workpiece gripping claws of the first robot hand 2a for gripping the first workpiece W1 is the position specified by the first code (S1). The image displayed on display E3 (for example, the first image IM4) also indicates that the third workpiece W3 is being transported using the first robot hand 2a identified by the first hand identifier D2a, and that the appropriate position of the workpiece gripping claws of the first robot hand 2a for gripping the third workpiece W3 is the position specified by the second code (S4). Since the second code (S4) is different from the first code (S1), setup work for the first robot hand 2a is required between the transport of the first workpiece W1 and the transport of the third workpiece W3.

[0153] In the example shown in Figure 36, the image displayed on the display E3 (for example, the first image IM4) indicates that the fifth workpiece W5 is transported using the first robot hand 2a identified by the first hand identifier D2a, and that the appropriate position of the workpiece gripping claws of the first robot hand 2a for gripping the fifth workpiece W5 is the position specified by the third code (S4). Since the third code (S4) is the same as the second code (S4), no setup work is required for the first robot hand 2a between the transport of the third workpiece W3 and the transport of the fifth workpiece W5.

[0154] In the example shown in Figure 36, the image displayed on display E3 (for example, the first image IM4) indicates that the second workpiece W2 is being transported using the second robot hand 2b identified by the second hand identifier D2b, and that the appropriate position of the workpiece gripping claws of the second robot hand 2b for gripping the second workpiece W2 is the position specified by the fourth code (S2). The image displayed on display E3 (for example, the first image IM4) also indicates that the fourth workpiece W4 is being transported using the second robot hand 2b identified by the second hand identifier D2b, and that the appropriate position of the workpiece gripping claws of the second robot hand 2b for gripping the fourth workpiece W4 is the position specified by the fifth code (S5). Since the fifth code (S5) is different from the fourth code (S2), setup work for the second robot hand 2b is required between the transport of the second workpiece W2 and the transport of the fourth workpiece W4.

[0155] The appropriate positions of the workpiece gripping claws (S1, S2, S4, S5) may be automatically derived by the calculation unit E2 based on the size of the workpiece to be gripped by the workpiece gripping claws. Alternatively, the editing image IM2 (see Figure 33) for editing workpiece transport data may include an input field for the appropriate positions of the workpiece gripping claws. In this case, the appropriate positions of the workpiece gripping claws may be entered by the operator for each of the multiple types of workpieces.

[0156] In the example shown in Figure 36, the timing TM required for setup work on at least one robot hand 2 includes (1) a first timing TM1 requiring a first setup work on the first robot hand 2a, and (2) a second timing TM2 requiring a second setup work on the second robot hand 2b. The first image IM4 also includes a first time (see dashed arrow AR1) that identifies the first timing TM1, and a second time (see dashed arrow AR2) that identifies the second timing TM2.

[0157] In the example shown in Figure 36, the second timing TM2 is different from the first timing TM1. In the example shown in Figure 36, the first timing TM1 is the timing between the transport of the second workpiece W2 and the transport of the third workpiece W3, and the second timing TM2 is the timing between the transport of the third workpiece W3 and the transport of the fourth workpiece W4.

[0158] The timing TM at which setup work is required for at least one robot hand 2 can be derived, for example, as follows:

[0159] The machining schedule SC is defined as containing N schedules from the first machining schedule to the Nth machining schedule, and K is defined as a variable that increments by 1 from 1 to N. As illustrated in Figure 37, the calculation unit E2 determines whether or not setup work is necessary for the robot hand used in the Kth machining schedule (determination process). If the determination process determines that setup work is necessary for the robot hand used in the Kth machining schedule (determination process: Yes), the time from the start of execution of machining schedule SC to the start of execution of the Kth machining schedule (this time includes, for example, the machining time for each workpiece, the transport time for each workpiece, the robot hand exchange time, etc.) is derived, and this time is stored in memory E1 as one of the timings TM for which setup work is necessary.

[0160] For example, in the example shown in Figure 36, the correct position (S4) of the workpiece gripping claws of the robot hand (Double 1) used in the third machining schedule SC3 is different from the correct position (S1) of the workpiece gripping claws of the same robot hand (Double 1) used in the first machining schedule SC1. Therefore, the calculation unit E2 determines that setup work is required for the robot hand (Double 1) used in the third machining schedule SC3. The calculation unit E2 derives the time from the start of execution of machining schedule SC to the start of execution of the third machining schedule SC3, and this time is stored in memory E1 as the first timing TM1.

[0161] Furthermore, in the example shown in Figure 36, the correct position (S5) of the workpiece gripping claws of the robot hand (Double 2) used in the fourth machining schedule SC4 is different from the correct position (S2) of the workpiece gripping claws of the same robot hand (Double 2) used in the second machining schedule SC2. Therefore, the calculation unit E2 determines that setup work is required for the robot hand (Double 2) used in the fourth machining schedule SC4. The calculation unit E2 derives the time from the start of execution of machining schedule SC to the start of execution of the fourth machining schedule SC4 (this time includes, for example, the machining time for each workpiece, the transport time for each workpiece, the robot hand exchange time, etc.), and this time is stored in memory E1 as the second timing TM2.

[0162] Alternatively, as illustrated in Figure 38, the first timing TM1, which requires a first setup operation for the first robot hand 2a, and the second timing TM2, which requires a second setup operation for the second robot hand 2b, may be the same. In the example shown in Figure 38, the timing derivation process U4 includes deriving the first timing TM1, which requires a first setup operation for the first robot hand 2a, and the second timing TM2, which requires a second setup operation for the second robot hand 2b, in such a way that the number of setup operations is minimized.

[0163] In the example shown in Figure 38, the timing TM at which setup work is required for at least one robot hand 2 can be derived, for example, as follows:

[0164] The machining schedule SC is defined as containing N schedules from the first machining schedule to the Nth machining schedule, and K is defined as a variable that increments by 1 from 1 to N. The calculation unit E2 determines whether or not setup work is necessary for the robot hand used in the Kth machining schedule (first determination process). If the first determination process determines that setup work is necessary for the robot hand used in the Kth machining schedule (first determination process: Yes), the calculation unit E2 determines whether the setup work can be performed at the same time as the setup work for the robot hand used earlier in the Kth machining schedule (second determination process). If the second determination process determines that the setup work for the robot hand used in the Kth machining schedule can be performed at the same time as the setup work for the robot hand used earlier in the Kth machining schedule (second determination process: Yes), the timing of the setup work for the robot hand used earlier is stored in memory E1 as the timing of the setup work for the robot hand used in the Kth machining schedule. On the other hand, in the second determination process, if it is determined that the setup work for the robot hand used in the K machining schedule cannot be performed at the same time as the setup work for the robot hand used earlier in the K machining schedule (second determination process: No), the time from the start of the machining schedule SC to the start of the K machining schedule is derived, and this time is stored in memory E1 as one of the timings TM for which setup work is required.

[0165] In the example shown in Figure 38, the derivation of the first timing TM1 is the same as the derivation of the first timing TM1 in the example shown in Figure 36.

[0166] In the example shown in Figure 38, the correct position (S5) of the workpiece gripping claws of the robot hand (Double 2) used in the fourth machining schedule SC4 is different from the correct position (S2) of the workpiece gripping claws of the same robot hand (Double 2) used in the second machining schedule SC2. Therefore, the calculation unit E2 determines that setup work is required for the robot hand (Double 2) used in the fourth machining schedule SC4 (first determination process: Yes). In the example shown in Figure 38, the setup work for the robot hand (Double 2) can be performed at the same time as the setup work for the robot hand (Double 1) used in the third machining schedule SC3, which is ahead of the fourth machining schedule SC4 (second determination process: Yes). Therefore, the timing of the setup work for the robot hand (Double 1) used in the third machining schedule SC3 is stored in memory E1 as the timing of the setup work for the robot hand (Double 2) used in the fourth machining schedule SC4.

[0167] Thus, in the example shown in Figure 38, the timing of the setup operation for the robot hand (Double 2) (in other words, the second timing TM2) is the same as the timing of the setup operation for the robot hand (Double 1) (in other words, the first timing TM1).

[0168] In the examples shown in Figures 36 and 38, the machining schedule SC includes an automatic robot hand replacement schedule. In the examples shown in Figures 36 and 38, the total time required to execute the machining schedule SC (see dashed arrow AR3) includes the robot hand replacement time. More specifically, in the examples shown in Figures 36 and 38, between the end of the first machining schedule SC1 and the start of the second machining schedule SC2, the first robot hand 2a attached to the hand support 31 is automatically replaced with the second robot hand 2b. In the examples shown in Figures 36 and 38, between the end of the second machining schedule SC2 and the start of the third machining schedule SC3, the second robot hand 2b attached to the hand support 31 is automatically replaced with the first robot hand 2a. In the examples shown in Figures 36 and 38, between the end of the third machining schedule SC3 and the start of the fourth machining schedule SC4, the first robot hand 2a attached to the hand support 31 is automatically replaced with the second robot hand 2b. In the examples shown in Figures 36 and 38, the second robot hand 2b attached to the hand support 31 is automatically replaced with the first robot hand 2a between the end of the fourth machining schedule SC4 and the start of the fifth machining schedule SC5.

[0169] Alternatively, as illustrated in Figure 39, the machining schedule SC may not include robot hand replacement.

[0170] As illustrated in Figure 40, the machine tool system 1 can also handle cases where setup is not required. In the example shown in Figure 40, the first image IM4 includes the total time required to execute the machining schedule SC (see dashed arrow AR3), but does not include the time required to identify when setup is necessary.

[0171] In the examples shown in Figures 36, 38, and 39, the setup operation for at least one robot hand 2 includes adjusting the position of the workpiece gripping claws 27 relative to the claw support 21. Alternatively, or additionally, as illustrated in Figure 41, the setup operation for at least one robot hand 2 may include replacing the workpiece gripping claws 27 supported by at least one robot hand 2 with workpiece gripping claws 27k of other sizes.

[0172] In the examples shown in Figures 36, 38, 39, 40, and 41, display E3 displays the size of the workpiece gripping claw 27 (more specifically, data indicating the size of the workpiece gripping claw 27). In the examples shown in Figures 36, 38, 39, 40, and 41, "S" in "S1", "S2", "S3", "S4", "S5", and "S6" indicates that the workpiece gripping claw 27 is small. In the example shown in Figure 41, "L" in "L3" indicates that the workpiece gripping claw 27 is large. In Figure 31, the workpiece gripping claw indicated by the dashed arrow AR9 is a small-sized gripping claw, and the workpiece gripping claw indicated by the dashed arrow AR10 is a large-sized gripping claw.

[0173] As illustrated in Figure 36, the timing display process U5 may include displaying the time at which the timing TM derived in the timing derivation process U4 is identified in a graph format on the display E3.

[0174] The time required to identify the timing TM is, for example, the time from the start of the machining schedule SC to the timing TM at which setup work is required for at least one robot hand. The first time required to identify the first timing TM1 is, for example, the time from the start of the machining schedule SC to the first timing TM1 at which the first setup work is required for at least one robot hand. The second time required to identify the second timing TM2 is, for example, the time from the start of the machining schedule SC to the second timing TM2 at which the second setup work is required for at least one robot hand.

[0175] As illustrated in Figure 36, the timing display process U5 may include simultaneously displaying on the display E3 a first time that identifies the first timing TM1 and a second time that identifies the second timing TM2.

[0176] As illustrated in Figure 36, the timing display process U5 may include displaying the total time required to execute the machining schedule SC (see dashed arrow AR3) on the display E3, along with the time required to identify the timing TM described above. The timing display process U5 may also include displaying the total time required to execute the machining schedule SC in graph format on the display E3.

[0177] As illustrated in Figure 38, the timing display process U5 may also include displaying work-related data DA on the display E3, which includes first processing quantity data DN1 indicating the number of first workpieces W1 processed by the machine tool 7, and second processing quantity data DN2 indicating the number of second workpieces W2 processed by the machine tool 7.

[0178] As illustrated in Figure 38, the work-related data DA may include first work-related data DA1, which includes a first work identifier Dw1 that identifies the first work W1 (for example, the name of the first work W1) and the first processing quantity data DN1 described above. As illustrated in Figure 38, the work-related data DA may also include second work-related data DA2, which includes a second work identifier Dw2 that identifies the second work W2 (for example, the name of the second work W2) and the second processing quantity data DN2 described above.

[0179] As illustrated in Figure 38, the timing display process U5 may include displaying work-related data DA and the timing TM (for example, a setup instruction mark MK (e.g., a bar BR)) indicating the timing TM on the display E3 in a time series.

[0180] As illustrated in Figure 38, the timing display process U5 may include displaying on the display E3 in a time series the following: first work-related data DA1 including first processing quantity data DN1 indicating the number of first workpieces W1 processed by the machine tool 7; second work-related data DA2 including second processing quantity data DN2 indicating the number of second workpieces W2 processed by the machine tool 7; third work-related data DA3 including third processing quantity data DN3 indicating the number of third workpieces W3 processed by the machine tool 7; and timing TM (for example, a setup work instruction mark MK (for example, a bar BR) indicating the timing TM) indicating that setup work is required for at least one robot hand 2.

[0181] More specifically, the first image IM4 may include a first list LT1 in which work-related data DA, which includes first work-related data DA1, second work-related data DA2, and third work-related data DA3, and timings TM for which setup work is required for at least one robot hand 2, are arranged in chronological order. As illustrated in Figure 36, the first list LT1 may include at least: (1) first work-related data DA1 including a first work identifier Dw1 that identifies a first work W1 and the first processing quantity data DN1 described above; (2) second work-related data DA2 including a second work identifier Dw2 that identifies a second work W2 and the second processing quantity data DN2 described above; (3) third work-related data DA3 including a third work identifier Dw3 that identifies a third work W3 and third processing quantity data DN3 indicating the number of third work W3s to be processed by the machine tool 7; and (4) timings TM that require setup work for at least one robot hand 2 (e.g., a setup work instruction mark MK (e.g., first bar BR1) indicating a first timing TM1, and a setup work instruction mark MK (e.g., second bar BR2) indicating a second timing TM2).

[0182] In the examples shown in Figures 36, 38, 39, and 41, the display E3 shows the time (more specifically, the first image IM4, which includes the time to identify the timing TM, which is required for setup work on at least one robot hand) before the execution of multiple machining programs PM begins (more specifically, before the execution of machining schedule SC begins).

[0183] Additionally, as illustrated in Figure 42, during the execution of multiple machining programs PM (more specifically, during the execution of a machining schedule SC), the display E3 may show a time to identify the timing TM at which setup work is required for at least one robot hand (more specifically, a first image IM4 including the time to identify the timing TM).

[0184] As illustrated in Figure 42, after the execution of multiple machining programs PM has started (more specifically, after the execution of the machining schedule SC has started), the time duration from the current time (see dashed arrow AR11) until the aforementioned timing TM (see dashed arrow AR1) arrives (see dashed arrows AR12 and AR13) may be displayed on display E3. The time duration from the current time until the timing TM arrives may be displayed on display E3 in graph format (see dashed arrow AR12) or in countdown format (see dashed arrow AR13).

[0185] (Fourth display process U6) As illustrated in Figure 43, the arithmetic unit E2 may execute a process (hereinafter referred to as "fourth display process U6") on the display E3 by executing a program PG stored in memory E1, thereby displaying an instruction image IM5 indicating the contents of the setup work. Needless to say, the instruction image IM5 is not limited to graphic images. For example, the instruction image IM5 may contain only text information (more specifically, only a message). The instruction image IM5 may also be displayed on the display E3 in a dialog box format.

[0186] The fourth display process U6 may include popping up an instruction image IM5 on the display E3 when a timing TM arrives that requires setup work for at least one robot hand 2.

[0187] When the timing TM requires setup work for at least one robot hand 2, if an instruction image IM5 showing the setup work is displayed on the display E3, the operator can easily understand what setup work needs to be done.

[0188] As illustrated in Figure 43, the instruction image IM5 may include the correct position of the workpiece gripping claws of the robot hand 2 relative to the claw support 21 of the robot hand 2 (more specifically, data indicating the correct position (S4)). The instruction image IM5 may also include data indicating the size of the workpiece gripping claws to be attached to the robot hand 2 (e.g., "S" or "L").

[0189] As illustrated in Figure 43, the instruction image IM5 may include a hand identifier (e.g., a first hand identifier D2a) that identifies the robot hand 2 that requires setup work. As illustrated in Figure 43, the instruction image IM5 may also include a first gripper identifier G1 that identifies the first gripper of the robot hand 2, data (S4) indicating the correct position of the first workpiece gripping claws in the first gripper, a second gripper identifier G2 that identifies the second gripper of the robot hand 2, and data (S4) indicating the correct position of the second workpiece gripping claws in the second gripper.

[0190] (Relationship between computer E, numerical control unit 6, and robot control unit 9) As illustrated in Figure 25, the computer E described above may be a numerical control device 6. Alternatively, as illustrated in Figure 44, the computer E described above may be a robot control device 9.

[0191] As illustrated in Figure 25, 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 executes the above-mentioned timing derivation process U4, timing display process U5, etc. Alternatively, as illustrated in Figure 44, 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 executes the above-mentioned timing derivation process U4, timing display process U5, etc. Further alternatively, as illustrated in Figure 45, 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 executes the above-mentioned timing derivation process U4, timing display process U5, etc.

[0192] 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 a computer 19 provided separately from the numerical control device 6 and the robot control device 9. As illustrated in Figure 45, the communication circuit 195 of the computer 19 and the first communication circuit 65 of the numerical control device 6 may be connected by wire or wireless so as to enable information transmission.

[0193] 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 a 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 a computer 19 provided separately from the numerical control device 6 and the robot control device 9.

[0194] The numerical control device 6 controls the machine tool 7 so that multiple types of workpieces are machined by the machine tool 7, based on the machining schedule SC created by the numerical control device 6, the robot control device 9, or other computers 19.

[0195] The robot control device 9 controls the transport robot 3 so that workpieces are loaded into the machine tool 7 and processed workpieces are unloaded from the machine tool 7, based on the machining schedule SC created by the numerical control device 6, the robot control device 9, or other computers 19.

[0196] The robot control device 9 may control the transport robot 3 so that a 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 a processing schedule SC created by the numerical control device 6, the robot control device 9, or another computer 19.

[0197] (Setup support method for machine tool systems) An example of a setup support method for machine tool systems is described below. Figure 46 is a flowchart showing an example of a setup support method for machine tool systems.

[0198] The machine tool system 1 may be machine tool system 1A in the first embodiment, machine tool system 1B in the second embodiment, or any other machine tool system.

[0199] (Step 1, ST1) In the first step ST1, multiple machining programs PM are created for machining multiple types of workpieces. The first step ST1 is the machining program creation process. The machining program creation process may include displaying a machining program editing image IM1 on the display E3 for creating the machining programs. Since the machining program editing image IM1 has already been explained, a repetitive explanation of the machining program editing image IM1 will be omitted.

[0200] Multiple machining programs PM include a first machining program PM1 that defines machining operations for machining a first workpiece W1 and a second machining program PM2 that defines machining operations for machining a second workpiece W2. The first machining program PM1 may include first size data DT1 indicating the size of the first workpiece W1. The second machining program PM2 may include second size data DT2 indicating the size of the second workpiece W2.

[0201] The machining program creation step (first step ST1) may be omitted. For example, if a machining program PM has been created in advance, or if computer E (e.g., numerical control device 6) receives a machining program from another computer, the machining program creation step (first step ST1) may be omitted.

[0202] (Step 2, ST2) In the second step ST2, the workpiece transport data is edited. The second step ST2 is the first editing process. The workpiece transport data is data set up to transport a workpiece using the transport robot 3. As illustrated in Figure 34, the workpiece transport data includes, for example, data that identifies the first robot hand 2a used to transport the first workpiece W1, and data that identifies the second robot hand 2b used to transport the second workpiece W2.

[0203] The first editing step may include displaying an edited image IM2, which contains the edited work transport data, on the display E3. Since the edited image IM2 has already been explained, a repetitive explanation of the edited image IM2 will be omitted.

[0204] The first editing step (second step ST2) may include associating a first work identifier Dw1 that identifies a first workpiece W1 with a first hand identifier D2a (for example, a name that identifies the first robot hand 2a) that identifies a first robot hand 2a used to transport the first workpiece W1 and storing them in memory E1. The first editing step (second step ST2) may also include associating a second work identifier Dw2 that identifies a second workpiece W2 with a second hand identifier D2b (for example, a name that identifies the second robot hand 2b) that identifies a second robot hand 2b used to transport the second workpiece W2 and storing them in memory E1.

[0205] The first editing step (second step ST2) may be omitted. For example, if data for transporting a workpiece using the transport robot 3 is pre-set, or if the computer E (e.g., the numerical control device 6) receives such data from another computer, the first editing step (second step ST2) may be omitted.

[0206] (Step 3, ST3) In the third step ST3, processing quantity data DN, multiple processing programs PM, and the execution order ER of the multiple processing programs PM are acquired. The third step ST3 is the first acquisition process.

[0207] In the first acquisition step (third step ST3), the computer E (e.g., numerical control device 6) acquires processing quantity data DN, which includes the processing quantity of the first workpiece W1 and the processing quantity of the second workpiece W2; a plurality of processing programs PM, which include a first processing program PM1 that defines the processing operations for processing the first workpiece W1 and a second processing program PM2 that defines the processing operations for processing the second workpiece W2; and the execution order ER of the plurality of processing programs PM.

[0208] The first acquisition step (third step ST3) may include displaying the processing schedule editing image IM3 on the display E3. The first acquisition step (third step ST3) may also include the computer E (e.g., numerical control device 6) acquiring processing quantity data DN, multiple processing programs PM, and the execution order ER of the multiple processing programs PM based on the data entered in the input fields of the processing schedule editing image IM3 and the data entered in the input fields of other editing images (e.g., processing program editing image IM1, editing image IM2 for editing work transport data, etc.).

[0209] A setup support method for a machine tool system may include a machining schedule creation step (more specifically, a step of creating a machining schedule SC based on machining quantity data DN, multiple machining programs PM, and the execution order ER of the multiple machining programs PM). The creation of the machining schedule SC is performed by the arithmetic unit E2 of the computer E (for example, the first arithmetic unit 62 of the numerical control device 6).

[0210] Since the process for creating the processing schedule and the processing schedule editing image IM3 have already been explained, a repetitive explanation of the process for creating the processing schedule and the processing schedule editing image IM3 will be omitted.

[0211] (Step 4, ST4) In the fourth step ST4, the timing TM at which setup work is required for at least one robot hand 2 is derived. The fourth step ST4 is a timing derivation process.

[0212] The timing derivation step (fourth step ST4) includes deriving the timing TM at which setup work is required for at least one robot hand 2 that can be attached to the transfer robot 3 that transports workpieces to the machine tool 7, based on the processing quantity data DN, a plurality of processing programs PM, and the execution order ER of the plurality of processing programs PM. The timing derivation step (fourth step ST4) may also include the calculation unit E2 performing the timing derivation process U4 described above.

[0213] As illustrated in Figure 36 or Figure 39, the above-described timing TM may include (1) a first timing TM1 which requires a first setup operation for at least one robot hand 2 (e.g., first robot hand 2a), and (2) a second timing TM2 which requires a second setup operation for at least one robot hand 2 (e.g., first robot hand 2a or second robot hand 2b). More specifically, the timing derivation step may include (1) deriving a first timing TM1 which requires a first setup operation for at least one robot hand 2 based on machining quantity data DN, a plurality of machining programs PM, and the execution order ER of the plurality of machining programs PM, and (2) deriving a second timing TM2 which requires a second setup operation for at least one robot hand 2 based on machining quantity data DN, a plurality of machining programs PM, and the execution order of the plurality of machining programs PM.

[0214] Additionally, the aforementioned timing TM may include a third timing which requires a third setup operation for at least one robot hand 2.

[0215] Setup operations for at least one robot hand 2 may include adjusting the position of the workpiece gripping claws 27 relative to the claw support 21 of at least one robot hand 2 (see Figure 18). Alternatively, or additionally, setup operations for at least one robot hand 2 may include replacing the workpiece gripping claws 27 supported by at least one robot hand 2 with workpiece gripping claws of other sizes (see Figure 20).

[0216] (Step 5, ST5) In the fifth step ST5, the time to identify the timing TM at which setup work is required for at least one robot hand 2 is displayed on the display E3. The fifth step ST5 is a timing display step.

[0217] The time required to identify the timing TM for setting up at least one robot hand 2 may be displayed on the display E3 in graph format or in table format. As illustrated in Figure 36, the timing display step (fifth step ST5) may include displaying the timing TM for setting up at least one robot hand 2 (e.g., a mark indicating the timing TM) on the display E3, along with a time scale F. In the example shown in Figure 36, the mark indicating the timing TM is a line segment LS indicating the timing TM. As illustrated in Figure 36, the timing display step (fifth step ST5) may also include displaying the total time required to execute the machining schedule SC (see dashed arrow AR3) on the display E3, along with the time required to identify the timing TM described above.

[0218] As illustrated in Figure 36, the timing display step (5th step ST5) may include displaying a first time for identifying the first timing TM1 and a second time for identifying the second timing TM2 on the display E3. As illustrated in Figure 36, the timing display step (5th step ST5) may also include displaying the first time for identifying the first timing TM1 and the second time for identifying the second timing TM2 simultaneously on the display E3.

[0219] The timing display step (5th step ST5) may include simultaneously displaying on the display E3 the first time for identifying the first timing TM1, the second time for identifying the second timing TM2, and the third time for identifying the third timing.

[0220] The timing display step (5th step ST5) may include the arithmetic unit E2 executing the timing display process U5 described above. The timing display step (5th step ST5) may also include displaying the first image IM4 described above on the display E3. Since the timing display process U5 and the first image IM4 have already been explained, a repetitive explanation of the timing display process U5 and the first image IM4 will be omitted.

[0221] In the examples shown in Figures 36, 38, 39, and 41, the timing indication step (5th step ST5) is performed before the execution of multiple machining programs PM begins (more specifically, before the execution of machining schedule SC begins).

[0222] Additionally, as illustrated in Figure 42, the timing indication step (5th step ST5) may be performed during the execution of multiple machining programs PM (more specifically, during the execution of a machining schedule SC).

[0223] As illustrated in Figure 42, after the execution of multiple machining programs PM has started (more specifically, after the execution of machining schedule SC has started), the time elapsed from the current time until the timing TM arrives may be displayed on display E3. The time elapsed from the current time (see dashed arrow AR11) until the timing TM arrives may be displayed on display E3 in graph format (see dashed arrow AR12) or in countdown format (see dashed arrow AR13).

[0224] As illustrated in Figure 42, after the execution of multiple machining programs PM has started (more specifically, after the execution of the machining schedule SC has started), the processed quantity of the first workpiece W1 may be displayed on the display E3 along with the time that identifies the timing TM described above.

[0225] (Display of instruction image IM5) As illustrated in Figure 43, a setup support method for a machine tool system may include a step of displaying an instruction image IM5 on the display E3 when a timing TM occurs that requires setup work for at least one robot hand 2. More specifically, a setup support method for a machine tool system may include a step of displaying an instruction image IM5 on the display E3 as a pop-up when the timing TM occurs. Since the instruction image IM5 has already been explained, a repeated explanation of the instruction image IM5 will be omitted.

[0226] (Program PG) The program PG in the embodiment is a program for causing at least one computer E to execute a setup support method comprising: (1) acquiring processing quantity data DN including the processing quantity of a first workpiece W1 and the processing quantity of a second workpiece W2; a plurality of processing programs PM including a first processing program PM1 that defines the processing operation for processing the first workpiece W1 and a second processing program PM2 that defines the processing operation for processing the second workpiece W2; and the execution order ER of the plurality of processing programs PM; (2) deriving a timing TM at which setup work is required for at least one robot hand 2 that can be attached to a transport robot 3 that transports workpieces to a machine tool 7, based on the processing quantity data DN, the plurality of processing programs PM, and the execution order ER of the plurality of processing programs PM; and (3) displaying the time that identifies the timing TM on a display E3.

[0227] More specifically, the program PG in the embodiment is a program that causes at least one computer E to execute the setup support method for the machine tool system described above.

[0228] The execution of the program PG by at least one computer E provides the same effect as the setup support method for the machine tool system in the embodiment.

[0229] The program PG in the embodiment may be a program that causes at least one computer E to execute a setup support method for the machine tool system described above, which includes at least the first acquisition step (third step ST3), the timing derivation step (fourth step ST4), and the timing display step (fifth step ST5). Since the first acquisition step, the timing derivation step, and the timing display step have already been described, a repetitive explanation of the first acquisition step, the timing derivation step, and the timing display step will be omitted.

[0230] The above setup support method may include a step of displaying the above machining program editing image IM1 on the display E3. The above setup support method may include a step of displaying the above editing image IM2 on the display E3. The above setup support method may include a step of displaying the above machining schedule editing image IM3 on the display E3. The above setup support method may include a step of displaying the above first image IM4 on the display E3. The above setup support method may include a step of displaying the above instruction image IM5 on the display E3.

[0231] Since the machining program editing image IM1, the editing image IM2, the machining schedule editing image IM3, the first image IM4, and the instruction image IM5 have been described, repetitive descriptions thereof are omitted.

[0232] 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-temporary computer-readable storage medium) that records the above program PG. The non-volatile storage medium that records the above program PG may be a portable storage medium 5M as illustrated in FIG. 47.

[0233] It is clear that the present invention is not limited to the above embodiments or each modification, and within the scope of the technical idea of the present invention, each embodiment or each modification can be appropriately deformed or changed. Also, various techniques used in each embodiment or each modification are applicable to other embodiments or other modifications as long as no technical contradiction occurs. Furthermore, any additional configuration in each embodiment or each modification can be appropriately omitted.

Explanation of Reference Numerals

[0234] 1, 1A, 1B... Machine tool system, 2... Robot hand, 2D... Double-handed robot hand, 2S... Single-handed robot hand, 2a... First robot hand, 2b... Second robot hand, 2c... Third robot hand, 2d... Fourth robot hand, 3... Transport robot, 3a... Articulated transport 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 for the first robot hand, 21b... Claw support for the second robot hand, 22... Second cutter Pulling, 23…Rod body, 24…Jaw drive device, 27…Workpiece gripping jaw, 27L…Large size workpiece gripping jaw, 27S…Small size workpiece gripping jaw, 27a…Workpiece gripping jaw of the first robot hand, 27b…Workpiece gripping jaw of the second robot hand, 27k…Workpiece gripping jaw of other sizes, 28…Operating member, 28a…First operating member, 28b…Second operating member, 31…Hand support, 32…First coupling, 37…Arm drive device, 61…First memory, 62…First processing unit, 62a…Processor, 63…First display, 64…First input device, 64a…Touch panel, 64b… Button, 65...First communication circuit, 68...Bus, 71...Work support device, 72...Machining head, 74...Moving device, 74a...Machining head moving device, 75...Wall, 78...Tailstock, 79...Tailstock moving device, 91...Second memory, 92...Second arithmetic unit, 92a...Rosesser, 93...Second display, 94...Second input device, 94a...Touch panel, 95...Second communication circuit, 98...Bus, 111...Support member, 111a...First groove, 111b...Second groove, 191...Memory, 192...Arithmetic unit, 193...Display, 194...Input device, 195...Communication circuit, 211a...First claw support , 216a...Second jaw support, 241...First jaw drive device, 242...Second jaw drive device, 271a...First gripping jaw, 276a...Second gripping jaw, 711...Chuck, 711a...Chuck body, 711b...Jaws, 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, AM...Arm, AM1...Tip arm, AX1...First axis, AX2...Second axis, AX3...Third axis, B1...Ball, B2...Pin, BA...First button,BB… Button, BN1… Add Button, BN2… First Confirmation Button, BR… Bar, BR1… First Bar, BR2… Second Bar, BT… Bar, D2a… First Hand Identifier, D2b… Second Hand Identifier, DA… Work-Related Data, DA1… First Work-Related Data, DA2… Second Work-Related Data, DA3… Third Work-Related Data, DA4… Fourth Work-Related Data, DN… Processing Quantity Data, DN1… First Processing Quantity Data, DN2… Second Processing Quantity Data, DN3… Third Processing Quantity Data, DN4… Fourth Processing Quantity Data, DT… Work Size Data, DT1… First Size Data, DT1-1… Data Indicating the Size of the First Work Before Processing, DT1-2… Data Indicating the Size of the First Work After Processing, DT2… Second Size Data, DT2-1… Data Indicating the Size of the Second Work Before Processing, DT2-2… Data Indicating the Size of the Second Work After Processing, DT3… Third Size Data, DT3-1… Data Indicating the Size of the Third Work Before Processing, DT3-2… Data Indicating the Size of the Third Work After Processing, DT4… Fourth Size Data, DT4-1… Data Indicating the Size of the Fourth Work Before Processing, DT4-2… Data Indicating the Size of the Fourth Work Before Processing After Processing, Dp1… First Identifier for Identifying the First Processing Program, Dw1… First Work Identifier, Dw2… Second Work Identifier, Dw3… Third Work Identifier, Dw4… Fourth Work Identifier, E Computer, E1… Memory, E2… Arithmetic Unit, E3…Display, E4…Input device, E5…Communication circuit, E8…Bus, ER…Execution order of multiple machining programs, F…Time scale, G1…First gripper identifier, G2…Second gripper identifier, GR…Groove, HA…Hole, IM1…Machining program editing image, IM2…Editing image for editing workpiece transport data, IM3…Machining schedule editing image, IM3-1…Second image, IM4…First image, IM5…Instruction image, IN1-1…Workpiece data input field, IN1-2…Machining condition input field, IN1-3…Machining program name input Column, IN2...Input field, IN2-1...Input field for 1st processing quantity data, IN2-2...Input field for 2nd processing quantity data, IN2-3...Input field for 3rd processing quantity data, IN2-4...Input field for 4th processing quantity data, IN3-1...Input field for hand identifier to identify robot hand, IN3-2...Input field for 1st gripper identifier, IN3-3...Input field for 2nd gripper identifier, JT...Joint, LS...Line segment, LS1...1st line segment, LS2...2nd line segment, LT1...1st list, LT2...2nd list, MK...Setup work instruction mark, MT...Motor, NU ...Numbers indicating the execution order of multiple processing programs, OP...Opening, PG...Program, PM...Processing program, PM1...First processing program, PM2...Second processing program, PM3...Third processing program, PM4...Fourth processing program, PR...Robot control program, RG...Storage area, RG1...First storage area, RG2...Second storage area, RG3...Third storage area, RG4...Fourth storage area, SA...Control command, SB...Control command, SC...Processing schedule, SC1...First processing schedule, SC2...Second processing schedule, SC3... Third machining schedule, SC4…Fourth machining schedule, SC5…Fifth machining schedule, T…Tool, T1…Turning tool, TM…Timing, TM1…First timing, TM2…Second timing, U1…First display processing, U2…Second display processing, U3…Third display processing, U4…Timing derivation processing, U5…Timing display processing, U6…Fourth display processing, W…Workpiece, W1…First workpiece, W1-1…First workpiece before machining, W1-2…First workpiece after machining, W2…Second workpiece, W3…Third workpiece, W4…Fourth workpiece, W5…Fifth workpiece

Claims

1. A step of acquiring processing quantity data including the processing quantity of a first workpiece and the processing quantity of a second workpiece, a plurality of processing programs including a first processing program that defines the processing operation for processing the first workpiece and a second processing program that defines the processing operation for processing the second workpiece, and the execution order of the plurality of processing programs. A process of creating a processing schedule based on the processing quantity data, the multiple processing programs, and the execution order of the multiple processing programs, A step of deriving the timing at which setup work is required for at least one robot hand that can be attached to a transfer robot that transports a workpiece to a machine tool, based on the processing quantity data, the plurality of processing programs, and the execution order of the plurality of processing programs, The process of displaying the time for determining the timing on the display and It is equipped with, The time used to identify the timing is the time from the start of the processing schedule until the need to adjust the position of the workpiece gripping claws relative to the claw support of the at least one robot hand. Setup support method for machine tool systems.

2. The step of displaying the time includes displaying the total time required to execute the processing schedule on the display, along with the time that identifies the timing. A setup support method for a machine tool system according to claim 1.

3. The aforementioned timing is, A first timing at which a first setup operation is required for at least one robot hand, A second timing is required for the second setup operation for at least one of the robot hands. Includes, The step of displaying the time includes displaying a first time for identifying the first timing and a second time for identifying the second timing on the display. A setup support method for a machine tool system according to claim 1 or 2.

4. The step of displaying the time includes displaying the first time and the second time simultaneously on the display. A setup support method for a machine tool system according to claim 3.

5. A step of acquiring processing quantity data including the processing quantity of a first workpiece and the processing quantity of a second workpiece, a plurality of processing programs including a first processing program that defines processing operations for processing the first workpiece and a second processing program that defines processing operations for processing the second workpiece, and the execution order of the plurality of processing programs, A step of deriving the timing at which setup work is required for at least one robot hand that can be attached to a transfer robot that transports a workpiece to a machine tool, based on the processing quantity data, the plurality of processing programs, and the execution order of the plurality of processing programs, The process of displaying the time for determining the timing on the display and It is equipped with, The aforementioned transport robot can be selectively fitted with a plurality of robot hands, including a first robot hand and a second robot hand. The aforementioned timing is, The first timing at which a first setup operation is required for the first robot hand, The second timing at which a second setup operation is required for the second robot hand and Includes, The step of displaying the time includes displaying a first time for identifying the first timing and a second time for identifying the second timing on the display. Setup support method for machine tool systems.

6. The aforementioned time is displayed in graph format on the display. A setup support method for a machine tool system according to claim 1 or 2.

7. The process includes displaying, in chronological order, on the display first processing quantity data indicating the number of first workpieces processed by the machine tool, second processing quantity data indicating the number of second workpieces processed by the machine tool, and the timing. A setup support method for a machine tool system according to claim 1 or 2.

8. The setup operation includes replacing the workpiece gripping claws supported by the at least one robot hand with workpiece gripping claws of a different size. A setup support method for a machine tool system according to claim 1 or 2.

9. The system further comprises the step of displaying an instruction image on the display that shows the details of the setup work when the aforementioned timing arrives. A setup support method for a machine tool system according to claim 1 or 2.

10. After the execution of the aforementioned processing programs begins, the length of time from the current time until the timing described above is displayed on the display. A setup support method for a machine tool system according to claim 1 or 2.

11. After the execution of the multiple machining programs is started, the number of the first workpieces that have been machined is displayed on the display along with the time that specifies the timing. A setup support method for a machine tool system according to claim 1 or 2.

12. A machine tool for processing multiple types of workpieces, including a first workpiece and a second workpiece, A transport robot that uses at least one robotic hand to load the multiple types of workpieces into the machine tool and unload the multiple types of workpieces from the machine tool, A calculation device that derives the timing at which setup work is required for at least one robot hand based on processing quantity data including the processing quantity of the first workpiece and the processing quantity of the second workpiece, a plurality of processing programs including a first processing program that defines processing operations for processing the first workpiece and a second processing program that defines processing operations for processing the second workpiece, and the execution order of the plurality of processing programs, A display that shows the time at which the aforementioned timing was determined. It is equipped with, Based on the processing quantity data, the multiple processing programs, and the execution order of the multiple processing programs, a processing schedule is created. The time used to identify the timing is the time from the start of the processing schedule until the need to adjust the position of the workpiece gripping claws relative to the claw support of the at least one robot hand. Machine tool systems.

13. A stocker capable of storing at least one of the robot hands, A robot control device that controls the transport robot and such that the first robot hand attached to the hand support of the transport robot is automatically replaced with a second robot hand stored in the stocker. It further comprises The machine tool system according to claim 12.

14. A step of acquiring processing quantity data including the processing quantity of a first workpiece and the processing quantity of a second workpiece, a plurality of processing programs including a first processing program that defines the processing operation for processing the first workpiece and a second processing program that defines the processing operation for processing the second workpiece, and the execution order of the plurality of processing programs. A process of creating a processing schedule based on the processing quantity data, the multiple processing programs, and the execution order of the multiple processing programs, A step of deriving the timing at which setup work is required for at least one robot hand that can be attached to a transfer robot that transports a workpiece to a machine tool, based on the processing quantity data, the plurality of processing programs, and the execution order of the plurality of processing programs, The process of displaying the time for determining the timing on the display and It is equipped with, The time used to identify the timing is the time from the start of the processing schedule until the need to adjust the position of the workpiece gripping claws relative to the claw support of the at least one robot hand. A program that causes at least one computer to execute a setup support method.

Images