Tool transport system, control method for tool transport system, and control program for tool transport system

Abstract

A tool transport system (10) includes: a plurality of machine tools (400) for processing a workpiece using tools; a tool storage unit (250) for storing a plurality of tools; a transport device (300) capable of transporting designated tools in a tool group including the tools inside the plurality of machine tools (400) and the tools inside the tool storage unit (250) to a designated transport destination; and a control unit (50) for controlling the tool transport system (10). The control unit (50) executes: a process for acquiring a transport schedule that specifies at least a transport destination for each of a plurality of tools scheduled to be transported; a process for referring to the transport schedule and determining, as targets for collective transport, a group of tools having transport destinations that are nearby each other among the plurality of tools scheduled to be transported; and a process for collectively transporting the group of tools that are targets for collective transport to the transport device (300).

Description

Tool transport system, tool transport system control method, and tool transport system control program

[0001] The present disclosure relates to a tool transport system, a control method for a tool transport system, and a control program for a tool transport system.

[0002] Japanese Patent No. 7001854 (Patent Document 1) discloses a tool transport system that automatically transports tools used in machining to a machine tool. The tool transport system has a tool storage unit that can store multiple tools and transports a specified tool to the machine tool. The tool transport system also removes unnecessary tools from the machine tool.

[0003] Patent No. 7001854

[0004] The tool transportation system disclosed in Patent Document 1 controls the order in which tools are transported according to a predetermined transport schedule. However, if the efficiency of tool transportation is poor, the tool transportation time will be long. Therefore, a technology for shortening the tool transportation time by the tool transportation system is desired.

[0005] In one example of the present disclosure, a tool transportation system includes a plurality of first machine tools for machining workpieces using tools, a tool storage unit for storing the plurality of tools, a first transport device capable of transporting a designated tool from a group of tools including the tools in the plurality of first machine tools and the tools in the tool storage unit to a designated destination, and a control unit for controlling the tool transportation system, wherein the control unit executes a process of acquiring a transport schedule that defines at least the destination for each of the plurality of tools to be transported, a process of referring to the transport schedule to determine, from the plurality of tools to be transported, a group of tools whose destinations are close to each other as targets for collective transport, and a process of transporting the group of tools to be collective transported collectively to the first transport device.

[0006] In an example of the present disclosure, the determining process includes a process of identifying one tool among the plurality of tools to be transported that has a scheduled transport timing closest to the present, and the group of tools to be transported together includes the one tool and tools having the same destination as the one tool.

[0007] In one example of the present disclosure, the tool storage unit includes a first storage area and a second storage area. The first transport device is configured to transport a designated tool from a tool group including tools inside the plurality of first machine tools and tools in the first storage area to a designated destination. The tool transport system further includes a second machine tool and a second transport device capable of transporting a designated tool from a tool group including tools inside the second machine tool and tools in the second storage area to a designated destination. The determining process includes a process of determining, from the tool group stored in the first storage area, a tool group whose destination is the second machine tool as the tool group to be transported collectively.

[0008] In one example of the present disclosure, the tool storage unit further includes a third storage area used by both the first transport device and the second transport device. The third storage area is located between the first storage area and the second storage area. The transport process includes controlling the first transport device to transport the group of tools to be transported collectively from the first storage area to the third storage area, and controlling the second transport device to transport the group of tools to be transported collectively from the third storage area directly or indirectly to the second machine tool after the group of tools to be transported collectively has been transported from the first storage area to the third storage area.

[0009] In one example of the present disclosure, the tool transport system further includes a transport path along which the first transport device travels.

[0010] In another example of the present disclosure, a control method for a tool transportation system includes: a plurality of first machine tools for machining a workpiece using tools; a tool storage unit for storing the plurality of tools; and a first transport device capable of transporting a designated tool from a group of tools including the tools in the plurality of first machine tools and the tools in the tool storage unit to a designated destination. The control method includes the steps of: acquiring a transport schedule that specifies at least a destination for each of the plurality of tools to be transported; determining, with reference to the transport schedule, a group of tools that are close to each other in destination from among the plurality of tools to be transported as tools to be transported collectively; and transporting the group of tools to be transported collectively by the first transport device.

[0011] In another example of the present disclosure, a control program for a tool transportation system includes a plurality of first machine tools for machining a workpiece using tools, a tool storage unit for storing the plurality of tools, and a first transport device capable of transporting a designated tool from a group of tools including tools in the plurality of first machine tools and tools in the tool storage unit to a designated destination. The control program causes the tool transportation system to execute the steps of: acquiring a transport schedule that defines at least a destination for each of the plurality of tools to be transported; determining, with reference to the transport schedule, a group of tools that are close to each other in destination from the plurality of tools to be transported as tools to be transported collectively; and transporting the group of tools to be transported collectively to the first transport device.

[0012] The above and other objects, features, aspects and advantages of the present invention will become apparent from the following detailed description of the invention taken in conjunction with the accompanying drawings.

[0013] 1 is a diagram showing the appearance of a tool transportation system. FIG. 1 is a diagram showing an example of the configuration of a drive mechanism of the tool transportation system. FIG. 2 is a diagram showing an example of the process of determining tools to be transported. FIG. 3 is a diagram showing an example of the functional configuration of the tool transportation system. FIG. 4 is a diagram showing an example of machining settings. FIG. 5 is a diagram showing an example of a workpiece database. FIG. 6 is a diagram showing an example of a tool database. FIG. 7 is a diagram showing an example of a state in which a group of tools to be transported collectively are transported collectively. FIG. 8 is a diagram showing an example of storage information. FIG. 9 is a diagram showing an example of a process in which tools are transported collectively from a tool storage unit to a machine tool. FIG. 10 is a diagram showing an example of a process in which tools are transported collectively from a machine tool to a work station. FIG. 11 is a diagram showing an example of the hardware configuration of a management device. FIG. 12 is a diagram showing an example of the hardware configuration of a PLC (Programmable Logic Controller). FIG. 13 is a diagram showing an example of the hardware configuration of an operation terminal. FIG. 14 is a diagram showing an example of the hardware configuration of a machine tool. FIG. 15 is a diagram showing a flowchart related to batch tool transport processing. FIG. 16 is a diagram showing an example of the device configuration of a tool transportation system according to a modified example. FIG. 17 is a diagram showing an example of a state in which a group of tools to be transported collectively in a storage area are transported collectively from one storage area to another. FIG. 10 is a diagram showing a state in which a group of tools to be transported together, which have been transported together to a storage area, are transported together to a machine tool.

[0014] Hereinafter, each embodiment according to the present invention will be described with reference to the drawings. In the following description, the same parts and components are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated. Note that each embodiment and each modified example described below may be selectively combined as appropriate.

[0015] <A. Appearance of Tool Conveyance System 10> First, a tool conveyance system 10 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing the appearance of the tool conveyance system 10.

[0016] As shown in FIG. 1 , the tool transport system 10 includes a work station 200 , a tool storage unit 250 , a transport device 300 , and a machine tool 400 .

[0017] The work station 200 is a place where an operator performs work on a tool. For example, the operator performs work of setting a tool or retrieving a tool at the work station 200.

[0018] The work station 200 includes an operation terminal 200 A. The operation terminal 200 A accepts various operations for the tool transportation system 10.

[0019] A plurality of tools can be stored in the tool storage section 250. The tool storage section 250 functions as a temporary storage area for the tools.

[0020] The transfer device 300 transfers a tool from a designated transfer source to a designated transfer destination. Examples of the transfer source of the tool include the work station 200, the tool storage unit 250, and the machine tool 400. Examples of the transfer destination of the tool include the work station 200, the tool storage unit 250, and the machine tool 400.

[0021] Hereinafter, the transport mode in which the transport device 300 transports a tool from the work station 200 to the tool storage section 250 or the machine tool 400, or the transport mode in which the transport device 300 transports a tool from the tool storage section 250 to the machine tool 400, will also be referred to as "transportation."

[0022] In addition, the transport mode in which the transport device 300 transports a tool from the tool storage section 250 or the machine tool 400 to the work station 200, or the transport mode in which the transport device 300 transports a tool from the machine tool 400 to the tool storage section 250, is also referred to as "transportation."

[0023] Furthermore, the term "transportation device" as used in this specification is a concept that encompasses various devices that have the function of transporting tools. In the following, an articulated robot with 4- to 7-axis drive will be described as an example of the transportation device 300, but the transportation device 300 is not limited to an articulated robot. As an example, the transportation device 300 may be a Cartesian robot (autoloader) with 2- to 3-axis drive. Alternatively, the transportation device 300 may be a self-propelled robot.

[0024] Conveyance device 300 includes, for example, an arm robot 330, a rail 331, and a carriage 332. Arm robot 330 is fixed onto carriage 332. Carriage 332 is configured to be able to travel on rail 331 (conveyance path). Tool storage unit 250 and machine tool 400 are arranged parallel to and on either side of rail 331 along rail 331.

[0025] Machine tool 400 is one of the destinations of tools transferred by conveyance device 300. Although six machine tools 400A to 400F are shown in Fig. 1 as machine tools 400, the number of machine tools 400 constituting tool conveyance system 10 may be two or more. Machine tool 400 machines a workpiece using a designated tool according to a pre-designed machining program.

[0026] The term "machine tool" as used herein is a concept that encompasses various devices that have the function of machining a workpiece. The machine tool 400 may be a horizontal machining center or a vertical machining center. Alternatively, the machine tool 400 may be a lathe, an additional processing machine, or any other cutting or grinding machine.

[0027] Although the above description has been given of an example in which the tool transport system 10 includes the work station 200, the tool transport system 10 does not necessarily need to include the work station 200.

[0028] <B. Driving Mechanism of Tool Conveying System 10> Next, various driving mechanisms in the tool conveying system 10 will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the configuration of the driving mechanism of the tool conveying system 10.

[0029] As shown in FIG. 2, the tool transport system 10 includes a control unit 50 , remote I / O (Input / Output) units 71 to 73 , a work station 200 , a transport device 300 , and a machine tool 400 .

[0030] The term "control unit" as used herein refers to a device that controls the tool transportation system 10. The control unit 50 may have any configuration. The control unit 50 may be configured with a single control unit or multiple control units. In the example of FIG. 2, the control unit 50 is configured with the management device 100, the PLC 150, and the above-mentioned operation terminal 200A. The control unit 50 may also include a CNC (Computer Numerical Control) 401.

[0031] The management device 100 is a main computer that manages the tool transportation system 10. The management device 100 may be composed of one computer or multiple computers. The PLC 150 is configured to be able to communicate with various industrial devices for automating the machining process and controls the industrial devices. The operation terminal 200A is a terminal for receiving various operations related to the loading and unloading of tools.

[0032] The management device 100, the PLC 150, and the operation terminal 200A may be connected to a network NW1. The management device 100, the PLC 150, and the operation terminal 200A may be connected to each other by wire or wireless communication. EtherNET (registered trademark) or the like is adopted as the network NW1. The management device 100 and the operation terminal 200A send control commands to the PLC 150 via the network NW1. The control commands specify the tool to be transported, the destination of the tool, start / stop of transport of the tool, etc.

[0033] The remote I / O units 71 to 73 and the PLC 150 are connected to a network NW2. It is preferable to use a field network that performs periodic communication and guarantees data arrival time as the network NW2. Examples of such a field network that performs periodic communication include EtherCAT (registered trademark), EtherNet / IP (registered trademark), CC-Link (registered trademark), and CompoNet (registered trademark).

[0034] The work station 200 includes one or more motor drivers 234 and one or more motors 235. In the example of Figure 2, two motor drivers 234A, 234B and two motors 235A, 235B are shown.

[0035] A remote I / O unit 71 is installed in or near the work station 200. The remote I / O unit 71 mediates the exchange of data between various drive units (e.g., motor driver 234) in the work station 200 and the PLC 150. As an example, the motor driver 234 receives control commands from the PLC 150 via the remote I / O unit 71 at regular intervals, and controls the driving of the motor 235 in accordance with the control commands.

[0036] The motor 235A controls, for example, the driving of a magazine M1 (see FIG. 9) (to be described later) located in the work station 200. The motor 235B controls, for example, the driving of an ATC (Automatic Train Control) 238 (see FIG. 9) (to be described later) located in the work station 200.

[0037] The motor driver 234 may be, for example, a driver for a servo motor or a driver for a stepping motor, and the motor 235 may be a servo motor or a stepping motor.

[0038] The transport device 300 includes one or more motor drivers 334 and one or more motors 335. In the example of Fig. 2, two motor drivers 334A and 334B and two motors 335A and 335B are shown.

[0039] A remote I / O unit 72 is installed in or near the transport device 300. The remote I / O unit 72 mediates data exchange between various drive units (e.g., motor driver 334) in the transport device 300 and the PLC 150. As an example, the motor driver 334 receives control commands from the PLC 150 via the remote I / O unit 72 at regular intervals and controls the driving of the motor 335 in accordance with the control commands.

[0040] The motor 335A controls, for example, the driving of the above-mentioned carriage 332 (see FIG. 1). The motor 335B controls, for example, the driving of the arm robot 330 (see FIG. 1). The motors 335B are provided according to the number of joints of the arm robot 330.

[0041] The motor driver 334 may be, for example, a driver for a servo motor or a driver for a stepping motor, and the motor 335 may be a servo motor or a stepping motor.

[0042] Remote I / O unit 73 is installed in or near machine tool 400. Machine tool 400 includes CNC 401. Remote I / O unit 73 mediates the exchange of data between PLC 150 and CNC 401. Upon receiving a machining start command from PLC 150, for example, CNC 401 controls various drive mechanisms within machine tool 400 in accordance with a machining program that has been designed in advance.

[0043] <C. Overview of Tool Transportation Processing> Next, an overview of the tool transportation processing by the tool transportation system 10 will be described with reference to Fig. 3. Fig. 3 is a diagram schematically showing the process of determining a tool to be transported.

[0044] The tool transportation system 10 transports a group of tools whose destinations are close to each other at the same time, thereby improving the efficiency of tool transportation and shortening the tool transportation time.

[0045] More specifically, the tool transportation system 10 first acquires a tool transportation schedule 126. The transportation schedule 126 defines at least the transportation destination for each of a plurality of tools scheduled for transportation. In the example of Fig. 3, the transportation schedule 126 defines, for each tool scheduled for transportation, the tool identification information, the scheduled transportation date and time of the tool, the storage location of the tool, and the transportation destination of the tool.

[0046] The tool identification information defined in the transfer schedule 126 is information for uniquely identifying a tool. The identification information is assigned to each tool in advance. For example, the identification information may be indicated by a tool number such as an ID (Identification) or by a tool name.

[0047] The scheduled transfer date and time specified in the transfer schedule 126 indicates the start timing of the tool transfer. In the example of Fig. 3, the start timing is specified by a date and time, but the start timing may be specified by the remaining time from the present until the start of transfer, or may be specified by other information capable of indicating the start timing.

[0048] The transfer origin defined in the transfer schedule 126 is information indicating the current storage location of the tool. The transfer origin is defined by information for uniquely identifying a location within the tool transfer system 10. As an example, the transfer origin indicates the storage position of the tool within the work station 200, the storage position of the tool within the tool storage unit 250, the storage position of the tool within the transfer device 300, or the storage position of the tool within the machine tool 400. These storage positions are indicated, for example, by coordinate values.

[0049] The transfer destination defined in the transfer schedule 126 is information indicating the destination of tool transfer by the transfer device 300. The transfer destination is defined by information for uniquely identifying a location within the tool transfer system 10. As an example, the transfer destination indicates the tool storage position within the work station 200, the tool storage position within the tool storage unit 250, the tool storage position within the transfer device 300, or the tool storage position within the machine tool 400. These storage positions are indicated, for example, by coordinate values.

[0050] The tool transportation system 10 refers to the transportation schedule 126 and determines a predetermined number of tools whose destinations are close to each other as tools to be transported together from among a plurality of tools to be transported. The tool transportation system 10 determines a group of tools to be transported together as tools to be loaded onto the transport device 300 at least at one time.

[0051] More specifically, the tool transportation system 10 first determines one reference tool to be transported by referring to the transportation schedule 126. The reference tool is, for example, the tool scheduled to be transported next. In the example of FIG. 3, "tool D" is determined as the reference tool.

[0052] Next, the tool transportation system 10 identifies a predetermined number of tools that are closest to the destination of the reference tool "tool D" from among the tools scheduled for transportation defined in the transportation schedule 126. In the example of Fig. 3, "tool G" and "tool Z" that have the same destination as "tool D" are identified. After that, the tool transportation system 10 determines "tool D", "tool G", and "tool Z" that have the same destination as "tool D" as targets for collective transportation, and causes the transportation device 300 to transport the group of tools to be collective transportation together.

[0053] In this way, the tool transport system 10 can transport tools efficiently and reduce the tool transport time by transporting a group of tools whose destinations are close to each other all at once.

[0054] In the above example, the tool transportation system 10 determines the group of tools to be transported together based on the destination of the tools. However, the group of tools to be transported together may be determined by taking into consideration not only the destination of the tools but also the source of the tools. As an example, the tool transportation system 10 determines, as the group of tools to be transported together, tool groups whose source and destination are close to each other. This allows the tool transportation system 10 to transport tool groups with similar transport routes together, thereby further shortening the transport time.

[0055] <D. Functional Configuration of Tool Conveyance System 10> Next, the functional configuration of the tool conveyance system 10 will be described with reference to Fig. 4 to Fig. 8. Fig. 4 is a diagram showing an example of the functional configuration of the tool conveyance system 10.

[0056] 4, the tool transport system 10 includes a control unit 50. The control unit 50 includes, as functional components, a schedule generation unit 52, a determination unit 54, and a transport control unit 56. These functional components will be described below in order.

[0057] Each functional configuration may be implemented in any device in the tool conveyance system 10. Some or all of the functional configurations shown in Fig. 4 may be implemented in the management device 100 (see Fig. 2), the PLC 150 (see Fig. 2), the operation terminal 200A (see Fig. 1), or the CNC 401 (see Fig. 2).

[0058] (D1. Schedule Generation Unit 52) ​​First, the function of the schedule generation unit 52 shown in FIG. 4 will be described with reference to FIGS.

[0059] The schedule generation unit 52 generates the above-mentioned transfer schedule 126 (see FIG. 3) based on the processing settings 123 shown in FIG. 5, the work database 124 shown in FIG. 6, and the tool database 130 shown in FIG. 7.

[0060] 5 is a diagram showing an example of the processing settings 123. The worker registers the workpieces to be processed in advance by registering the processing settings 123. The processing settings 123 are registered by the worker, for example, in the above-mentioned management device 100 or the above-mentioned operation terminal 200A. The contents registered by the worker include, for example, identification information of the workpieces to be processed, the number of workpieces to be processed, and the processing order of the workpieces.

[0061] In the example of Figure 5, processing tasks for 10 workpieces "A", processing tasks for 8 workpieces "D", processing tasks for 5 workpieces "C", and processing tasks for 4 workpieces "B" are registered in processing order.

[0062] 6 is a diagram showing an example of the workpiece database 124. The workpiece database 124 associates, for example, by workpiece identification information, a machining program for machining the workpiece, a tool to be used when machining the workpiece, a machining time required to machine the workpiece, and other information related to the machining of the workpiece.

[0063] The machining program defined in the workpiece database 124 is registered by an operator, for example, in the above-mentioned management device 100, the above-mentioned operation terminal 200A, or the above-mentioned machine tool 400. The method for generating the machining program is arbitrary. As an example, some machine tools 400 have a function that automatically generates a machining program by having an operator answer questions in an interactive format. The machining program is generated, for example, by this function. Alternatively, the machining program may be designed by an operator writing program code.

[0064] The tools to be used that are defined in the workpiece database 124 are, for example, set in advance by the user. Alternatively, the tools to be used may be identified from the machining program. More specifically, the machining program defines a command code for calling the tools to be used. The command code is, for example, a T-code for specifying the tool to be attached to the spindle. The schedule generation unit 52 searches for the T-code from each machining program to identify the identification information of the tool to be used in machining each workpiece.

[0065] The machining times defined in the workpiece database 124 are, for example, input in advance by an operator, or may be calculated from past machining results for each workpiece.

[0066] 7 is a diagram showing an example of the tool database 130. For example, the tool database 130 stores information about each tool, such as the tool's identification information, the tool classification assigned to the tool, the storage location of the tool, the available amount of the tool, the current amount of use of the tool, and the remaining life of the tool, all of which are associated with each other. The term "amount" here refers to a concept that includes time, distance, and number of times.

[0067] The tool identification information defined in the tool database 130 is information for uniquely identifying a tool. The identification information is assigned to each tool in advance. For example, the identification information may be indicated by a tool number such as an ID or by a tool name.

[0068] The tool classification defined in the tool database 130 is information indicating the type of tool and is assigned to each tool in advance. The tool classification is set in advance by an operator. The setting of the tool classification may be received, for example, by the management device 100 or by the work station 200. The type may be indicated by a group number such as an ID, or by a group name.

[0069] The storage locations defined in the tool database 130 are information indicating the location of the tool. The storage locations are updated every time a tool is transported. Examples of storage locations include the work station 200, the tool storage unit 250, the transport device 300, and the machine tool 400.

[0070] The usable amount defined in the tool database 130 indicates the maximum usable amount of a tool from when it is new until the end of its life. The usable amount of each tool is predetermined by the tool manufacturer or the like, and is registered in the tool database 130 in advance.

[0071] The current usage amount defined in the tool database 130 indicates the usage amount of the tool from when it was new to the present time. The current usage amount is periodically received from the machine tool 400.

[0072] The remaining life defined in the tool database 130 indicates the remaining amount of use of the tool from the present until the end of the tool's life. Typically, the remaining life corresponds to the result of subtracting the current amount of use of the tool from the maximum usable amount of the tool.

[0073] The current usage amount and remaining life specified in the tool database 130 are updated sequentially. The current usage amount and remaining life are monitored using various methods. As an example, the machining program for the machine tool 400 is specified in G-code and includes tool change commands for specifying the tool to be attached to the spindle and drive commands for rotating and feeding the spindle and tool. The tool transportation system 10 identifies the type of tool to be used in machining the workpiece based on the tool change commands specified in the machining program. Next, the tool transportation system 10 starts counting down the remaining life of the tool based on the execution of a drive command specified in the machining program. Subsequently, the tool transportation system 10 stops counting down the remaining life of the tool based on the execution of a stop command or the last command specified in the machining program. The remaining life is transmitted to the management device 100. As a result, the management device 100 updates the remaining life of each tool in the tool database 130.

[0074] The schedule generating unit 52 refers to the workpiece database 124 to identify tools required for machining each workpiece defined in the machining settings 123. Next, the schedule generating unit 52 refers to the tool database 130 to determine, among the identified tools, those that are not present in the machine tool 400 at the machining destination as tools to be transferred. Thereafter, the schedule generating unit 52 refers to the tool database 130 to identify tool information for each tool to be transferred, the scheduled date and time of transfer of the tool, the transfer source (storage location) of the tool, and the transfer destination of the tool, and writes this identified information into the transfer schedule 126. In this way, the transfer schedule 126 is generated.

[0075] (D2. Determination Unit 54) Next, the function of the determination unit 54 shown in FIG. 4 will be described with reference to FIG. 3 mentioned above.

[0076] The determination unit 54 refers to the transfer schedule 126 and determines, from among the tools scheduled for transfer, a predetermined number of tools whose transfer destinations are close to each other as tools to be transferred collectively. The timing for determining the tools to be transferred collectively is arbitrary. For example, the timing may be when the transfer time of any of the tools scheduled for transfer arrives, or may be a predetermined time before the transfer time.

[0077] Preferably, the determination unit 54 identifies, as a reference tool, one tool whose planned transfer timing is closest to the present among the tools scheduled for transfer defined in the transfer schedule 126. Next, the determination unit 54 identifies tools having the same transfer destination as the reference tool, and determines the identified tool and the reference tool as a group of tools to be transferred together. This enables the determination unit 54 to prioritize the transfer of the most recently used tool, while improving the efficiency of tool transfer.

[0078] Various methods are used to identify tools whose destinations are close to the reference tool. As one example, the determination unit 54 calculates the distance between the destination of the reference tool and the destinations of each of the other tools. The distance is calculated, for example, using position information (e.g., coordinate values) of the destinations. Next, the determination unit 54 identifies a predetermined number of tools whose calculated distances are shorter. Thereafter, the determination unit 54 determines the identified tools and the reference tool as a group of tools to be transported together.

[0079] As another example, the determination unit 54 calculates the similarity between the transfer route of the reference tool and the transfer routes of each of the other tools. More specifically, the determination unit 54 calculates a first distance between the transfer origin of the reference tool and the transfer origin of each of the other tools. Next, the determination unit 54 calculates a second distance between the transfer destination of the reference tool and the transfer destination of each of the other tools. Next, the determination unit 54 adds up the first distance and the second distance for each of the other tools, and calculates the calculation result as the similarity. Next, the determination unit 54 identifies a predetermined number of tools having a smaller calculated similarity. Thereafter, the determination unit 54 determines the reference tool and the identified tools as a group of tools to be transported together.

[0080] (D3. Transfer control unit 56) Next, the function of the transfer control unit 56 shown in Fig. 4 will be described with reference to Fig. 8. Fig. 8 is a diagram schematically showing how a group of tools to be transferred collectively are transferred together.

[0081] The transfer control unit 56 controls the transfer device 300 so that the group of tools to be transferred collectively, which has been determined by the determination unit 54, is transferred collectively.

[0082] More specifically, in steps S51A to S51C, the transfer device 300 acquires the group of tools to be transferred collectively from each location in the tool storage unit 250. The order in which the tools are acquired at this time is arbitrary. As an example, the transfer device 300 acquires the tools in order of furthest from the transfer destination. This allows the transfer device 300 to efficiently acquire the tools to be transferred collectively.

[0083] Next, in step S52, the transfer device 300 transfers the acquired group of tools to be transferred collectively to the designated transfer destination. In the example of Fig. 8, the group of tools to be transferred collectively is transferred from the tool storage unit 250 to the machine tool 400A.

[0084] 9 and 10 , a process of carrying tools from the work station 200 to the tool storage unit 250 will be described. Fig. 9 is a diagram schematically showing the flow of the process of carrying tools from the work station 200 to the tool storage unit 250.

[0085] In step S1, the operator sets the tool holder H1 to be loaded into the magazine M1 in the work station 200. The tool to be loaded is attached to the tool holder H1. The number of tool holders that can be stored in the work station 200 is smaller than the number of tool holders that can be stored in the tool storage unit 250.

[0086] A barcode or QR code (registered trademark) reader (not shown) is provided near the position where the worker sets the tool holder H1 in the magazine M1. The reader reads the barcode or QR code attached to the tool holder H1. This reads the identifier of the tool holder H1 to be carried in. When the worker has finished setting the tool holder H1, he or she performs a completion operation on the operation terminal 200A.

[0087] Next, in step S2, the control unit 50 controls the motor 235A (see FIG. 2) to drive the magazine M1 in the work station 200. As a result, the control unit 50 moves the tool holder H1 to be loaded to a predetermined tool change position. The ATC 238 is provided near the tool change position. The ATC 238 removes the tool holder H1 at the tool change position from the magazine M1 and rotates it half a turn.

[0088] Next, in step S3, the arm robot 330 removes the tool holder H1 from the ATC 238 and places the tool holder H1 in the temporary storage area 336 on the cart 332. If there are other tool holders to be carried in, steps S1 to S3 are repeated within the range that does not exceed the maximum number of tool holders that can be stored in the temporary storage area 336.

[0089] Next, in step S4, the control unit 50 controls the motor 335A (see FIG. 2) to drive the carriage 332. As a result, the control unit 50 moves the carriage 332 to the instructed tool loading position. The tool loading position is determined based on, for example, the storage information 175 shown in FIG. 10.

[0090] 10 is a diagram showing an example of storage information 175. The storage information 175 is information that defines the tool storage state in each tool storage location within the tool conveyance system 10.

[0091] More specifically, the storage location defined in the storage information 175 may be indicated by a number such as an ID, or by a storage location name. The coordinate values ​​of the storage location defined in the storage information 175 may be defined two-dimensionally or three-dimensionally. In the example of FIG. 10 , the coordinate values ​​are indicated by a coordinate value "x" in a direction parallel to the rail 331 and a coordinate value "z" in a vertical direction. The identification information of the tool defined in the storage information 175 may be indicated by a tool number such as an ID, or by a tool name. The storage status defined in the storage information 175 indicates, for example, whether the storage location is empty or whether the tool stored in the storage location is normal. The remaining life of the tool defined in the storage information 175 may be indicated by a current total usage time relative to a maximum usable time of the tool, or by a current total number of usage times relative to a maximum usable number of times of the tool.

[0092] The control unit 50 determines the storage destination of the tool holder H1 by referring to the empty storage locations defined in the storage information 175. When there are multiple empty storage locations, the control unit 50 may determine one storage location randomly selected from the multiple empty storage locations as the storage destination, or may determine one of the multiple empty storage locations that is closer to the conveying device 300 as the storage destination.

[0093] Next, in step S5, the arm robot 330 removes the tool holder H1 to be carried in from the temporary storage area 336 and stores the tool holder H1 in the determined storage location. After that, the control unit 50 updates the storage information 175 by associating the identifier of the tool holder H1 with the corresponding storage location.

[0094] If there are other tool holders to be carried in remaining in the temporary storage area 336, the control unit 50 repeats steps S4 and S5 until there are no more tool holders left in the temporary storage area 336.

[0095] <F. Tool Carry-in Process to Machine Tool 400> Next, the tool carrying-in process following Fig. 9 will be described with reference to Fig. 11. Fig. 11 is a diagram schematically showing the flow of the tool carrying-in process from tool storage unit 250 to machine tool 400.

[0096] The control unit 50 identifies the tool to be carried in and the machine tool 400 to which it is to be carried in accordance with the above-described transfer schedule 126. As a result, it is assumed that the tool holder H2 is identified as the tool to be carried in. In this case, the control unit 50 identifies the storage location of the tool holder H2 from the above-described storage information 175 (see FIG. 10). The control unit 50 then controls the motor 335A (see FIG. 2) to drive the carriage 332, and moves the carriage 332 to the front of the storage location of the tool holder H2.

[0097] Next, in step S11 , the arm robot 330 takes out the tool holder H2 to be transported from the tool storage section 250 and places the tool holder H2 in the temporary storage area 336 on the cart 332 .

[0098] Next, in step S12, the control unit 50 controls the motor 335A to drive the carriage 332 to the position of the machine tool 400 as the transfer destination.

[0099] Next, in step S13, the arm robot 330 delivers the tool holder H2 to the ATC 438 provided in the destination machine tool 400. Thereafter, the ATC 438 sets the tool holder H2 in a magazine in the machine tool 400.

[0100] <G. Process of Carrying Out Tool to Work Station 200> Next, the process of carrying out the tool will be described with reference to Fig. 12. Fig. 12 is a diagram schematically showing the flow of the process of carrying out the tool from the machine tool 400 to the work station 200.

[0101] Assume that the control unit 50 receives a tool holder retrieval instruction at a certain timing. Based on this, the control unit 50 identifies a tool holder to be retrieved from among the tool holders stored in the machine tool 400. As a result, it is assumed that tool holder H3 is identified as the tool holder to be retrieved. The control unit 50 identifies the storage location of tool holder H3 by referring to the storage information 175 (see FIG. 10 ). Thereafter, the control unit 50 controls the motor 335A (see FIG. 2 ) to drive the carriage 332 and move the carriage 332 in front of the machine tool 400 storing tool holder H3. Next, the arm robot 330 removes tool holder H3 from the machine tool 400 and places the tool holder H3 in the temporary storage area 336 on the carriage 332. The control unit 50 also deletes the identifier of tool holder H3 from the storage information 175 and rewrites the storage location of tool holder H3 to an empty state.

[0102] Next, in step S21, the control unit 50 controls the motor 335A to drive the carriage 332, and moves the carriage 332 from in front of the machine tool 400 to in front of the work station 200.

[0103] Next, in step S22, the arm robot 330 removes the tool holder H3 to be removed from the temporary storage area 336, and mounts the tool holder H3 on the ATC 238 (see FIG. 9 ) provided in the work station 200. Thereafter, the ATC 238 mounts the tool holder H3 on the magazine M1 of the work station 200.

[0104] Next, in step S23, the control unit 50 controls the motor 235A to drive the magazine M1, and moves the tool holder H3 to be removed to the front of the exit. After that, the worker removes the tool holder H3 from the exit.

[0105] <H. Hardware Configuration of Management Device 100> Next, the hardware configuration of the management device 100 shown in Fig. 2 will be described with reference to Fig. 13. Fig. 13 is a diagram showing an example of the hardware configuration of the management device 100.

[0106] The management device 100 includes a control circuit 101, a read-only memory (ROM) 102, a random access memory (RAM) 103, a communication interface 104, a display interface 105, an input interface 107, and an auxiliary storage device 120. These components are connected to a bus 110.

[0107] The control circuit 101 is configured by at least one integrated circuit, which may be configured by, for example, at least one central processing unit (CPU), at least one graphics processing unit (GPU), at least one application specific integrated circuit (ASIC), at least one field programmable gate array (FPGA), or a combination thereof.

[0108] The control circuit 101 controls the operation of the management device 100 by executing various programs such as a control program 122 and an operating system. Upon receiving an execution command for the control program 122, the control circuit 101 reads the control program 122 from the auxiliary storage device 120 or the ROM 102 into the RAM 103. The RAM 103 functions as a working memory and temporarily stores various data required for executing the control program 122.

[0109] A LAN (Local Area Network), an antenna, and the like are connected to the communication interface 104. The management device 100 is connected to the network NW1 via the communication interface 104. This allows the management device 100 to exchange data with external devices connected to the network NW1. The external devices include, for example, a PLC 150 and a server (not shown).

[0110] A display 106 is connected to the display interface 105. The display interface 105 sends an image signal for displaying an image to the display 106 in accordance with commands from the control circuit 101 or the like. The display 106 displays, for example, an operation screen for receiving interrupt instructions for processing. The display 106 is, for example, a liquid crystal display, an organic EL (Electro Luminescence) display, or other display device. The display 106 may be configured integrally with the management device 100 or may be configured separately from the management device 100.

[0111] An input device 108 is connected to the input interface 107. The input device 108 is, for example, a mouse, a keyboard, a touch panel, or any other device capable of accepting user operations. The input device 108 may be configured integrally with the management device 100 or may be configured separately from the management device 100.

[0112] The auxiliary storage device 120 is a storage medium such as a hard disk or a flash memory. The auxiliary storage device 120 stores the control program 122, the above-mentioned workpiece database 124, the above-mentioned transfer schedule 126, the above-mentioned tool database 130, etc. The storage location of these is not limited to the auxiliary storage device 120, but may be stored in a storage area of ​​the control circuit 101 (for example, a cache memory), the ROM 102, the RAM 103, another device (for example, a server, the PLC 150, or the operation terminal 200A), etc.

[0113] The control program 122 is a program for realizing some or all of the functional configuration shown in FIG. 4 above. The control program 122 may be provided not as a standalone program but as part of any other program. Even if the program does not include some of these modules, it does not deviate from the spirit of the control program 122 according to this embodiment. Furthermore, some or all of the functions provided by the control program 122 may be realized by dedicated hardware. Furthermore, the management device 100 may be configured in the form of a so-called cloud service in which at least one server executes part of the processing of the control program 122.

[0114] <I. Hardware Configuration of PLC 150> Next, an example of the hardware configuration of the PLC 150 shown in Fig. 2 will be described with reference to Fig. 14. Fig. 14 is a diagram showing an example of the hardware configuration of the PLC 150.

[0115] The PLC 150 includes a control circuit 151, a ROM 152, a RAM 153, communication interfaces 154 and 155, and an auxiliary storage device 170. These components are connected to a bus 160.

[0116] The control circuit 151 is configured by at least one integrated circuit, which may be configured by, for example, at least one CPU, at least one MPU (Micro Processing Unit), at least one ASIC, at least one FPGA, or a combination thereof.

[0117] The control circuit 151 controls the operations of the conveyance device 300, the machine tool 400, etc. by executing various programs such as the control program 172. Upon receiving an execution command for the control program 172, the control circuit 151 reads the control program 172 from the auxiliary storage device 170 to the ROM 152. The RAM 153 functions as a working memory and temporarily stores various data required for executing the control program 172.

[0118] A LAN, an antenna, and the like are connected to the communication interface 154. The PLC 150 is connected to the network NW1 via the communication interface 154. This allows the PLC 150 to exchange data with external devices connected to the network NW1. The external devices include, for example, the management device 100 and a server (not shown).

[0119] The communication interface 155 is an interface for connecting to the network NW2, which is a field network. The PLC 150 exchanges data with external devices connected to the network NW2 via the communication interface 155. The external devices include, for example, the above-mentioned remote I / O units 71 to 73.

[0120] The auxiliary storage device 170 is a storage medium such as a hard disk or flash memory. The auxiliary storage device 170 stores the control program 172, the storage information 175, and the like. The storage location of these is not limited to the auxiliary storage device 170, but may be a storage area (e.g., a cache area) of the control circuit 151, the ROM 152, the RAM 153, an external device (e.g., a server), or the like.

[0121] The control program 172 is a program for realizing some or all of the functional configuration shown in FIG. 4 described above. The control program 172 may be provided not as a standalone program but as part of an arbitrary program. In this case, the control processing according to this embodiment is realized in cooperation with the arbitrary program. Even a program that does not include some of these modules does not deviate from the spirit of the control program 172 according to this embodiment. Furthermore, some or all of the functions provided by the control program 172 may be realized by dedicated hardware. Furthermore, the PLC 150 may be configured in the form of a so-called cloud service in which at least one server executes part of the processing of the control program 172.

[0122] <J. Hardware Configuration of Operation Terminal 200A> Next, the hardware configuration of the operation terminal 200A shown in Fig. 2 will be described with reference to Fig. 15. Fig. 15 is a diagram showing an example of the hardware configuration of the operation terminal 200A.

[0123] The operation terminal 200A includes a control circuit 201, a ROM 202, a RAM 203, a communication interface 204, a display interface 205, an input interface 207, and an auxiliary storage device 220. These components are connected to a bus 210.

[0124] The control circuit 201 is configured by at least one integrated circuit. The integrated circuit may be configured by, for example, at least one CPU, at least one GPU, at least one ASIC, at least one FPGA, or a combination thereof.

[0125] The control circuit 201 controls the operation of the operation terminal 200A by executing various programs such as a control program 222 and an operating system. Upon receiving an execution command for the control program 222, the control circuit 201 reads the control program 222 from the auxiliary storage device 220 or the ROM 202 into the RAM 203. The RAM 203 functions as a working memory and temporarily stores various data required for executing the control program 222.

[0126] A LAN, an antenna, and the like are connected to the communication interface 204. The operation terminal 200A is connected to the network NW1 via the communication interface 204. This allows the operation terminal 200A to exchange data with external devices connected to the network NW1. The external devices include, for example, the PLC 150 and a server (not shown).

[0127] A display 206 is connected to the display interface 205. The display interface 205 sends an image signal for displaying an image to the display 206 in accordance with commands from the control circuit 201 or the like. The display 206 displays, for example, an operation screen for receiving a tool loading instruction, a tool selection screen for specifying a tool to be transported, or a machine tool selection screen for specifying machine tool 400 as a destination. The display 206 is, for example, a liquid crystal display, an organic EL display, or other display device. The display 206 may be configured integrally with the operation terminal 200A or may be configured separately from the operation terminal 200A.

[0128] An input device 208 is connected to the input interface 207. The input device 208 is, for example, a mouse, a keyboard, a touch panel, or any other device capable of accepting user operations. The input device 208 may be configured integrally with the operation terminal 200A or may be configured separately from the operation terminal 200A.

[0129] The auxiliary storage device 220 is a storage medium such as a hard disk or flash memory. The auxiliary storage device 220 stores a control program 222 for the operation terminal 200A. The control program 222 may not be stored in the auxiliary storage device 220, but may be stored in a storage area of ​​the control circuit 201 (for example, a cache memory), the ROM 202, the RAM 203, an external device (for example, a server), or the like.

[0130] <K. Hardware Configuration of Machine Tool 400> Next, an example of the hardware configuration of machine tool 400 shown in Fig. 2 above will be described with reference to Fig. 16. Fig. 16 is a diagram showing an example of the hardware configuration of machine tool 400.

[0131] Machine tool 400 includes a CNC 401, a ROM 402, a RAM 403, a communication interface 404, motor drivers 411A to 411D, motors 412A to 412D, encoders 413A to 413D, ball screws 414A and 414B, and a spindle 415 for attaching a tool. These devices are connected via a bus (not shown).

[0132] The CNC 401 is configured by at least one integrated circuit, which may be configured by, for example, at least one CPU, at least one MPU, at least one ASIC, at least one FPGA, or a combination thereof.

[0133] The CNC 401 controls the operation of the machine tool 400 by executing various programs such as a machining program 422. Upon receiving an execution command for the machining program 422, the CNC 401 reads the machining program 422 from the auxiliary storage device 420 to the ROM 402. The RAM 403 functions as a working memory and temporarily stores various data required for executing the machining program 422.

[0134] The communication interface 404 is an interface for realizing communication with the PLC 151 via the remote I / O unit 73. The CNC 401 exchanges data with the PLC 151 via the communication interface 404.

[0135] The CNC 401 controls the motor drivers 411A to 411D in accordance with the machining program 422. Each of the motor drivers 411A to 411D may be, for example, a driver for a servo motor or a driver for a stepping motor.

[0136] More specifically, the CNC 401 sequentially outputs control signals including a target rotation speed (or target position) to the motor driver 411A. The motor driver 411A calculates the actual rotation speed (or actual position) of the motor 412A from the feedback signal of the encoder 413A, and outputs a current to the motor 412A so as to reduce the difference between the actual rotation speed and the target rotation speed. In this way, the motor driver 411A sequentially receives feedback of the rotation speed of the motor 412A and causes the rotation speed of the motor 412A to approach the target rotation speed. In this way, the motor driver 411A moves the workpiece placement table connected to the ball screw 414A to any position in the X-axis direction.

[0137] Similarly, the CNC 401 sequentially outputs control signals including a target rotation speed (or target position) to the motor driver 411B. The motor driver 411B calculates the actual rotation speed (or actual position) of the motor 412B from the feedback signal of the encoder 413B, and outputs a current to the motor 412B so as to reduce the difference between the actual rotation speed and the target rotation speed. In this way, the motor driver 411B sequentially receives feedback of the rotation speed of the motor 412B and causes the rotation speed of the motor 412B to approach the target rotation speed. In this way, the motor driver 411B moves the workpiece placement table connected to the ball screw 414B to any position in the Y-axis direction.

[0138] Similarly, the CNC 401 sequentially outputs control signals including a target rotation speed (or target position) to the motor driver 411C. The motor driver 411C calculates the actual rotation speed (or actual position) of the motor 412C from the feedback signal of the encoder 413C, and outputs a current to the motor 412C so as to reduce the difference between the actual rotation speed and the target rotation speed. In this way, the motor driver 411C sequentially receives feedback of the rotation speed of the motor 412C and brings the rotation speed of the motor 412C closer to the target rotation speed. In this way, the motor driver 411C moves the spindle 415 to any position in the Z-axis direction.

[0139] Similarly, the CNC 401 sequentially outputs a control signal including a target rotation speed (or target position) to the motor driver 411D. The motor driver 411D calculates the actual rotation speed (or actual position) of the motor 412D from the feedback signal of the encoder 413D, and outputs a current to the motor 412D so as to reduce the difference between the actual rotation speed and the target rotation speed. In this way, the motor driver 411D sequentially receives feedback of the rotation speed of the motor 412D and causes the rotation speed of the motor 412D to approach the target rotation speed. In this way, the motor driver 411D controls the rotation speed of the spindle 415.

[0140] The auxiliary storage device 420 is a storage medium such as a hard disk or a flash memory. The auxiliary storage device 420 stores a machining program 422 and the like. The storage location of the machining program 422 is not limited to the auxiliary storage device 420, and may be stored in a storage area (e.g., a cache area) of the CNC 401, the ROM 402, the RAM 403, an external device (e.g., a server), or the like.

[0141] <L. Flowchart> Next, a control flow relating to the batch tool transport process will be described with reference to Fig. 17. Fig. 17 is a diagram showing a flowchart relating to the batch tool transport process.

[0142] 17 is realized by the control program executed by the control unit 50 of the tool conveyance system 10. In another aspect, part or all of the processing may be executed by circuit elements or other hardware.

[0143] In step S110, the control unit 50 determines whether a tool transfer event has occurred. The tool transfer event occurs at various times. For example, the tool transfer event occurs when a scheduled transfer date and time specified in the tool transfer schedule 126 (see FIG. 3) has arrived.

[0144] If the control unit 50 determines that a tool transport event has occurred (YES in step S110), the control proceeds to step S112. Otherwise (NO in step S110), the control unit 50 returns the control to step S110.

[0145] In step S112, the control unit 50 functions as the above-mentioned determination unit 54 (see FIG. 4), and refers to the transfer schedule 126 to identify the tool scheduled to be transferred next as the reference tool.

[0146] In step S114, the control unit 50 functions as the above-mentioned determination unit 54, and refers to the transfer schedule 126 to identify one or more tools whose transfer destinations are close to the reference tool identified in step S112.

[0147] In step S116, the control unit 50 functions as the above-mentioned conveying control unit 56 (see Figure 4) and causes the conveying device 300 to convey the tool identified in step S112 and one or more tools identified in step S114 as a group of tools to be conveyed together.

[0148] The number of tools transported in a batch is equal to or less than the maximum number that can be stored in the temporary storage area 336 (see FIG. 9 ) of the transport device 300. Preferably, the maximum number of tools transported in a batch is the maximum number that can be stored in the temporary storage area 336 minus 1. The transport device 300 leaves one storage location on the temporary storage area 336 open as a buffer, allowing tools to be exchanged via the buffer.

[0149] In step S118, the control unit 50 updates various information that defines the storage locations of the tools based on the fact that the group of tools to be transported collectively has been transported to each destination. Examples of the various information that is updated include the transport schedule 126, the tool database 130, and the storage information 175.

[0150] Upon completion of the process of step S118, the control unit 50 returns the control to step S110.

[0151] <M. Modification> Next, a tool conveyance system 10A according to a modification will be described with reference to Fig. 18. Fig. 18 is a diagram schematically showing the device configuration of the tool conveyance system 10A according to a modification.

[0152] The above-described tool transportation system 10 is configured with one transportation device 300. In contrast, the tool transportation system 10A according to this modified example is configured with multiple transportation devices 300. In the example of Fig. 18, the tool transportation system 10A is configured with two transportation devices 300R and 300L.

[0153] In the example of FIG. 18, the transport devices 300R and 300L are provided on the same rail, but the transport devices 300R and 300L may be provided on different rails.

[0154] As shown in FIG. 18, the tool transport system 10A includes a work station 200, a tool storage unit 250, transport devices 300R and 300L, and machine tools 400A to 400C.

[0155] In this modification, the tool storage section 250 is separated into storage areas AR1 to AR3. Each of the storage areas AR1 to AR3 may be a continuous area or may be physically separated areas.

[0156] Storage area AR1 (first storage area) is a tool storage area used by conveying device 300R but not by conveying device 300L. Storage area AR2 (second storage area) is a tool storage area used by conveying device 300L but not by conveying device 300R. Storage area AR3 (third storage area) is a tool storage area used by both conveying device 300R and conveying device 300L.

[0157] The transport device 300R is responsible for transporting tools to machine tools 400A and 400B among the machine tools 400A to 400C. Hereinafter, one or more machine tools to which the transport device 300R is responsible for transporting tools will also be referred to as "machine tool 400R" (first machine tool).

[0158] The transfer device 300R is configured to transfer a designated tool from a group of tools including the tools inside the machine tool 400R and the tools in the storage areas AR1 and AR3 to a designated destination. Examples of destinations for the tool transferred by the transfer device 300R include the work station 200, the storage area AR1, the storage area AR3, or the machine tool 400R.

[0159] The transport device 300L is responsible for transporting tools to the machine tool 400C among the machine tools 400A to 400C. Hereinafter, one or more machine tools transported by the transport device 300L will also be referred to as the "machine tool 400L" (second machine tool).

[0160] The transfer device 300L is configured to transfer a designated tool from a group of tools including the tools inside the machine tool 400L and the tools in the storage areas AR2 and AR3 to a designated destination. Examples of the destination of the tool transferred by the transfer device 300L include the storage area AR2, the storage area AR3, or the machine tool 400L.

[0161] When the control unit 50 of the tool transport system 10A transports a tool in the area covered by the transport device 300R to outside the area covered by the transport device 300R, it also transports other tools whose destinations are outside the area covered by the transport device 300R.

[0162] An example of transporting a group of tools collectively from within the area covered by transport device 300R to outside the area covered by transport device 300R will be described with reference to Figures 19 and 20. Figure 19 is a diagram showing how a group of tools to be collectively transported in storage area AR1 is transported collectively from storage area AR1 to storage area AR3. Figure 20 is a diagram showing how the group of tools to be collectively transported, which has been transported collectively to storage area AR3, is transported collectively to machine tool 400L.

[0163] As an example, assume that the next tool to be transported (hereinafter also referred to as the "reference tool") is stored in storage area AR1, and the destination of the reference tool is machine tool 400L. In this case, control unit 50 determines that the reference tool and one or more other tools stored in storage area AR1 that have the same destination as the reference tool as a group of tools to be transported together.

[0164] Then, in step S61, the control unit 50 controls the transfer device 300R so that the group of tools to be transferred collectively is transferred from the storage area AR1 to the storage area AR3. Then, in step S62, the control unit 50 controls the transfer device 300L so that the group of tools to be transferred collectively is transferred directly or indirectly from the storage area AR3 to the machine tool 400L.

[0165] In this case, the group of tools to be collectively transported may be ultimately transported to the machine tool 400L. That is, the group of tools to be collectively transported may be directly transported from the storage area AR3 to the machine tool 400L, or may be transported from the storage area AR3 to the storage area AR2 and then transported from the storage area AR2 to the machine tool 400L.

[0166] As another example, assume that the next tool to be transported (i.e., the reference tool) is stored in storage area AR2 and the destination of the reference tool is machine tool 400R. In this case, control unit 50 determines that the reference tool and one or more other tools stored in storage area AR2 that have the same destination as the reference tool as a group of tools to be transported together.

[0167] Thereafter, the control unit 50 controls the transfer device 300L so that the group of tools to be transferred collectively is transferred from the storage area AR2 to the shared storage area AR3. Thereafter, the control unit 50 controls the transfer device 300R so that the group of tools to be transferred collectively is transferred directly or indirectly from the storage area AR3 to the machine tool 400R.

[0168] In this case, the group of tools to be collectively transported may be ultimately transported to the machine tool 400R. That is, the group of tools to be collectively transported may be directly transported from the storage area AR3 to the machine tool 400R, or may be transported from the storage area AR3 to the storage area AR1 and then transported from the storage area AR1 to the machine tool 400R.

[0169] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0170] 10 Tool transport system, 10A Tool transport system, 50 Control unit, 52 Schedule generation unit, 54 Determination unit, 56 Transport control unit, 71 Remote I / O unit, 72 Remote I / O unit, 73 Remote I / O unit, 100 Management device, 101 Control circuit, 102 ROM, 103 RAM, 104 Communication interface, 105 Display interface, 106 Display, 107 Input interface, 108 Input device, 110 Bus, 120 Auxiliary storage device, 122 Control program, 123 Machining setting, 124 Work database, 126 Transport schedule, 130 Tool database, 151 Control circuit, 152 ROM, 153 RAM, 154 Communication interface, 155 Communication interface, 160 Bus, 170 Auxiliary storage device, 172 Control program, 175 Storage information, 200 Work station, 200A 2. Operation terminal, 201 control circuit, 202 ROM, 203 RAM, 204 communication interface, 205 display interface, 206 display, 207 input interface, 208 input device, 210 bus, 220 auxiliary storage device, 222 control program, 234 motor driver, 234A motor driver, 234B motor driver, 235 motor, 235A motor, 235B motor, 250 tool storage section, 300 conveyance device, 300L conveyance device, 300R conveyance device, 330 arm robot, 331 rail, 332 dolly, 334 motor driver, 334A motor driver, 334B motor driver, 335 motor, 335A motor, 335B motor, 336 temporary storage area, 400 machine tool, 400A machine tool, 400B Machine tool, 400C machine tool, 400D machine tool, 400E machine tool, 400F machine tool, 400L machine tool, 400R machine tool, 402 ROM, 403 RAM, 404 communication interface, 411A motor driver, 411B motor driver, 411C motor driver, 411D motor driver, 412A motor, 412B motor, 412C motor, 412D motor, 413A encoder, 413B encoder, 413C encoder, 413D encoder, 414A ball screw,414B ball screw, 415 spindle, 420 auxiliary storage device, 422 machining program, AR1 storage area, AR2 storage area, AR3 storage area, H1 tool holder, H2 tool holder, H3 tool holder, M1 magazine, NW1 network, NW2 network.

Claims

1. A tool transportation system comprising: a plurality of first machine tools for machining a workpiece using tools; a tool storage unit for storing a plurality of tools; a first transport device capable of transporting a specified tool from a group of tools including the tools inside the plurality of first machine tools and the tools inside the tool storage unit to a specified destination; and a control unit for controlling the tool transportation system, wherein the control unit executes the following processes: a process of obtaining a transport schedule that specifies at least the destination for each of a plurality of tools to be transported; a process of referring to the transport schedule to determine, from the plurality of tools to be transported, groups of tools whose destinations are close to each other as targets for collective transport; and a process of transporting the group of tools to be collective transported together to the first transport device.

2. The tool transport system of claim 1, wherein the determining process includes a process of identifying one tool among the multiple tools scheduled to be transported that has a scheduled transport timing closest to the present, and the group of tools to be transported together includes the one tool and tools that have the same destination as the one tool.

3. A tool transport system as described in claim 1 or 2, wherein the tool storage section includes a first storage area and a second storage area, the first transport device is configured to transport a designated tool from a tool group including tools inside the plurality of first machine tools and tools in the first storage area to a designated destination, the tool transport system further includes a second machine tool and a second transport device capable of transporting a designated tool from a tool group including tools inside the second machine tool and tools in the second storage area to a designated destination, and the determining process includes a process of determining a tool group stored in the first storage area, the tool group having a destination of the second machine tool, as the tool group to be transported collectively.

4. A tool transport system as described in claim 3, wherein the tool storage section further includes a third storage area utilized by both the first transport device and the second transport device, the third storage area being located between the first storage area and the second storage area, and the transporting process includes: a process of controlling the first transport device so that the group of tools to be transported collectively are transported from the first storage area to the third storage area; and a process of controlling the second transport device so that after the group of tools to be transported collectively have been transported from the first storage area to the third storage area, the group of tools to be transported collectively are transported from the third storage area directly or indirectly to the second machine tool.

5. A tool transport system according to any one of claims 1 to 4, further comprising a transport path along which the first transport device runs.

6. A control method for a tool transportation system, the tool transportation system comprising: a plurality of first machine tools for machining a workpiece using tools; a tool storage unit for storing a plurality of tools; and a first transport device capable of transporting a specified tool from a group of tools including the tools inside the plurality of first machine tools and the tools inside the tool storage unit to a specified destination, the control method comprising the steps of: acquiring a transport schedule that specifies at least the destination for each of the plurality of tools to be transported; referring to the transport schedule, determining, from the plurality of tools to be transported, a group of tools whose destinations are close to each other as targets for collective transport; and transporting the group of tools to be collective transported together to the first transport device.

7. A control program for a tool transportation system, the tool transportation system comprising: a plurality of first machine tools for machining a workpiece using tools; a tool storage unit for storing a plurality of tools; and a first transport device capable of transporting a specified tool from a group of tools including the tools inside the plurality of first machine tools and the tools inside the tool storage unit to a specified destination, the control program causing the tool transportation system to execute the steps of: acquiring a transport schedule that specifies at least the destination for each of a plurality of tools to be transported; referring to the transport schedule, determining, from the plurality of tools to be transported, a group of tools whose destinations are close to each other as targets for collective transport; and transporting the group of tools to be collective transported together to the first transport device.