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

Abstract

A tool transport system (10) includes: a machine tool (400) that machines a workpiece using a tool; a tool storage unit (250) for storing a plurality of tools; a transport device (300) capable of transporting a tool specified from among tools in the machine tool (400) and the tools in the tool storage unit (250) to a specified transport destination among destinations of the machine tool (400) and the tool storage unit (250); and a control unit (50) for controlling the transport device (300). The control unit (50) executes: processing for specifying, on the basis of the occurrence of a predetermined event, a second machining scheduled to be executed after a first machining; and processing for carrying out, from the machine tool (400) to the tool storage unit (250), a tool that is other than a tool scheduled to be used in the first machining and is scheduled to be used in the second machining.

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 Laid-Open Publication No. 2022-024522 (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] Japanese Patent Application Laid-Open No. 2022-024522

[0004] A tool transportation system removes tools from a machine tool to ensure free space in a tool storage area within the machine tool. At this time, if a tool scheduled for use nearby is removed from the machine tool, the tool transportation system must immediately load the removed tool back into the machine tool. As a result, tool transportation efficiency decreases. Therefore, there is a need for a technology that can ensure free space in a tool storage area within a machine tool without reducing tool transportation efficiency. However, Patent Document 1 does not disclose such a technology.

[0005] In one example of the present disclosure, there is provided a tool transportation system including a machine tool for machining a workpiece using tools, a tool storage unit for storing a plurality of tools, a transportation device capable of transporting a specified tool from either the machine tool or the tool storage unit to a specified destination between the machine tool and the tool storage unit, and a control unit for controlling the transportation device. The control unit performs a process of identifying a second machining operation to be performed after a first machining operation based on the occurrence of a predetermined event, and a process of transporting a tool other than the tool to be used in the first machining operation, which is to be used in the second machining operation, from the machine tool to the tool storage unit.

[0006] In one example of the present disclosure, the predetermined event includes an interrupt event that causes the first processing to be executed with priority over other processing.

[0007] In one example of the present disclosure, after executing the removal process, the control unit further executes a process of transporting the tool to be used in the first machining from the tool storage unit to the machine tool.

[0008] In one example of the present disclosure, the second processing includes a processing that is scheduled to be executed last among the processing scheduled in the processing schedule.

[0009] In one example of the present disclosure, if there is an unusable tool within the machine tool, the control unit further performs a process of transporting the unusable tool from the machine tool to the tool storage unit before performing the transport process.

[0010] In another example of the present disclosure, there is provided a control method for a tool transportation system including a machine tool, a tool storage unit for storing a plurality of tools, and a transport device capable of transporting a specified tool from among a tool in the machine tool and a tool in the tool storage unit to a specified destination between the machine tool and the tool storage unit. The control method includes the steps of: identifying a second machining operation to be performed after a first machining operation based on an occurrence of a predetermined event; and transporting a tool to be used in the second machining operation, which is other than the tool to be used in the first machining operation, from the machine tool to the tool storage unit.

[0011] In another example of the present disclosure, there is provided a control program for a tool transportation system including a machine tool, a tool storage unit for storing a plurality of tools, and a transport device capable of transporting a specified tool from among a tool in the machine tool and a tool in the tool storage unit to a specified destination between the machine tool and the tool storage unit. The control program causes the tool transportation system to execute the steps of: identifying a second machining operation to be performed after a first machining operation based on the occurrence of a predetermined event; and transporting from the machine tool to the tool storage unit tools other than the tool to be used in the first machining operation, the tools being the tools to be used in the second machining operation.

[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. 2 is a diagram showing an example of the configuration of a drive mechanism of the tool transportation system. FIG. 3 is a diagram showing roughly a method for determining a tool to be transported out of a machine tool. FIG. 4 is a diagram showing an example of the functional configuration of the tool transportation system. FIG. 5 is a diagram showing an example of tool information. FIG. 6 is a diagram showing an example of an input to a transportation control unit and an output of the transportation control unit in response to the input. FIG. 7 is a diagram showing roughly a method for determining a tool to be transported out. FIG. 8 is a diagram showing roughly a method for determining a tool to be transported in. FIG. 9 is a diagram showing roughly a transport order of a tool to be transported out and a tool to be transported in. FIG. 10 is a diagram showing roughly a flow of a process for transporting a tool from a work station to a tool storage unit. FIG. 11 is a diagram showing roughly a flow of a process for transporting a tool from a tool storage unit to a machine tool. FIG. 12 is a diagram showing roughly a flow of a process for transporting a tool from a machine tool to a work station. FIG. 13 is a diagram showing an example of the hardware configuration of a management device. FIG. 14 is a diagram showing an example of the hardware configuration of a PLC (Programmable Logic Controller). FIG. 15 is a diagram showing an example of the hardware configuration of a machine tool. FIG. 16 is a diagram showing a flowchart relating to a tool transportation process when a tool transportation event occurs. FIG. 17 is a diagram showing a tool transportation system according to a modified example.

[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 transport device 300 transports a specified tool from among the tools in the work station 200, the tools in the tool storage unit 250, and the tools in the machine tool 400 to a specified destination from among 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] The transport device 300 includes an arm robot 330, a rail 331, and a carriage 332. The arm robot 330 is fixed on the carriage 332. The carriage 332 is configured to be movable on the rail 331. The tool storage unit 250 and the machine tool 400 are arranged parallel to and on either side of the rail 331 along the rail 331.

[0025] The machine tool 400 is one of the destinations of the tool transported by the transport device 300. Although six machine tools 400A to 400F are shown in Fig. 1 as the machine tools 400, the number of machine tools 400 constituting the tool transport system 10 may be one or more. The machine tool 400 machines a workpiece using a designated tool in accordance with 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. 10) (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. 10) (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 Removal Processing> Next, a method for determining a tool to be removed will be described with reference to Fig. 3. Fig. 3 is a diagram schematically showing a method for determining a tool to be removed from machine tool 400.

[0044] When there is no free space for storing tools in the machine tool 400, the conveyance device 300 carries out the tools from the machine tool 400. At this time, the tool conveyance system 10 determines the tools to be carried out from the machine tool 400 based on the machining schedule 124.

[0045] The machining schedule 124 defines, for example, the order of each machining operation and the tools used in each machining operation in each machine tool 400. In the example of Fig. 3, the machining schedule 124 for machine tool 400A is shown. The order of each machining operation in machine tool 400A may be defined by the machining start time or by the arrangement order of data.

[0046] The tools to be used specified in the machining schedule 124 indicate the tools required for each machining operation. The tools to be used can be associated with various machining units. As one example, the tools to be used are associated with each machining program. As another example, the tools to be used are associated with each pallet. A pallet is a base for fixing a workpiece to be machined. As yet another example, the tools to be used are associated with each workpiece to be machined.

[0047] The control unit 50 of the tool transportation system 10 determines a tool to be removed from the machine tool 400 based on the occurrence of a predetermined event (hereinafter also referred to as a "tool removal event"). The tool removal event can occur at various times. Examples of such times include when the machining schedule 124 is updated, when an interrupt process occurs that prioritizes one machining operation over another, and when machining in each machining unit is completed.

[0048] The control unit 50 identifies the machining 125A (first machining) scheduled to be executed immediately after the tool removal event has occurred. The machining 125A is, for example, a machining unit scheduled to be executed next after the current time. Note that the machining 125A may be the most recent machining unit in the machining order, or a predetermined number of machining units scheduled to be executed consecutively from the current machining.

[0049] Next, the control unit 50 identifies a machining operation 125B (second machining operation) scheduled to be executed after the machining operation 125A. The machining operation 125B is, for example, the last machining operation scheduled to be executed among the machining operations scheduled in the machining schedule 124. Note that the machining operation 125B may be a single machining operation that is the last in the machining order, or may be one of a predetermined number of machining operations that are executed later in the machining order.

[0050] Thereafter, the control unit 50 determines tools other than those scheduled for use in machining 125A but scheduled for use in machining 125B as tools to be transferred from the machine tool 400 to the tool storage unit 250. In the example of FIG. 3 , the control unit 50 determines "tools B, D, E" used in machining 125A as tools not to be transferred, and "tools B, F, G" used in machining 125B as tools to be temporarily transferred. The control unit 50 removes "tools B, D, E" from the "tools B, F, G" that are temporarily scheduled for transfer, and finally determines the remaining "tools F, G" as tools to be transferred. This allows the tool transportation system 10 to secure free tool storage space within the machine tool 400 while avoiding the transfer of tools scheduled for immediate use. As a result, the number of times tools are transferred is reduced, improving tool transportation efficiency.

[0051] In the above description, an example has been described in which the last processing 125B scheduled in the processing schedule 124 is selected as the processing after the processing 125A, but the processing after the processing 125A is not limited to this. As an example, the processing scheduled next after the processing 125A may be selected as the processing after the processing 125A.

[0052] <D. Functional Configuration of Tool Transportation System 10> Next, a functional configuration for realizing tool transportation processing will be described with reference to Fig. 4 to Fig. 9. Fig. 4 is a diagram showing an example of the functional configuration of the tool transportation system 10.

[0053] 4, the tool transport system 10 includes, as functional components, a monitoring unit 52, a transport control unit 54, and a determination unit 56. These components will be described below in order.

[0054] 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).

[0055] (D1. Monitoring Unit 52) ​​First, the function of the monitoring unit 52 shown in Fig. 4 will be described with reference to Fig. 5. Fig. 5 is a diagram showing tool information 174 as an example.

[0056] The monitoring unit 52 monitors the status of each tool in the tool transportation system 10 and writes the status to the tool information 174. The tool information 174 associates, for each tool in the tool transportation system 10, the identification information of the tool, the available amount of the tool, the currently used amount of the tool, the remaining life of the tool, and the status of the tool.

[0057] The tool identification information defined in the tool information 174 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.

[0058] Monitoring unit 52 monitors machining program 422 of machine tool 400, and counts the amount of use of each tool in machine tool 400 from when it was new to the present. The term "amount" here is a concept that includes time, distance, and number of times. The "amount of use of a tool" includes, for example, the total time used in machining from when it was new to the present, the total distance traveled during machining from when it was new to the present, and the total number of times it has been used in machining from when it was new to the present.

[0059] The usable amount specified in the tool information 174 indicates the maximum usable amount of a tool from the time of purchase until the end of its life. The usable amount of each tool is predetermined by the tool manufacturer or the like.

[0060] The current usage amount defined in the tool information 174 indicates the amount of usage of the tool from when it was new to the present. The current usage amount is updated by the monitoring unit 52.

[0061] The remaining life specified in the tool information 174 indicates the remaining amount of tool use 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 tool use from the maximum usable amount of the tool. When the monitoring unit 52 updates the current amount of tool use specified in the tool information 174, it also updates the remaining life.

[0062] An example of a method for monitoring the remaining life of a tool will be described. The machining program of the machine tool 400 is specified in G-code and includes tool change commands for specifying the tool to be attached to the spindle, drive commands for rotating and feeding the spindle and tool, and the like. The monitoring unit 52 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 monitoring unit 52 starts counting down the remaining life of the tool based on the execution of a drive command specified in the machining program. Next, the monitoring unit 52 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. In this way, the monitoring unit 52 monitors the remaining life of each tool in the storage information 175.

[0063] The tool states defined in the tool information 174 include, for example, a usable state indicating that the tool can be used for machining, and an unusable state indicating that the tool cannot be used for machining.

[0064] In the example of Figure 5, a tool that is in a usable state is indicated as "normal" or "life warning." "Life warning" indicates that the tool is nearing the end of its life. As an example, when the remaining life of a tool falls below a predetermined threshold, the monitoring unit 52 changes the tool's state in the storage information 175 from "normal" to "life warning."

[0065] 5, an unusable tool is indicated as "end of life" or "damaged." An "unusable tool" refers to a tool that is not recommended for use in machining a workpiece. Typically, an "unusable tool" refers to a tool other than a "usable tool."

[0066] For example, unusable tools include tools whose lifespan has expired due to wear, etc., and damaged tools. Types of tool damage include deformation of the tool due to excessive force, chipping of the tool blade, and breakage of the tool.

[0067] For example, when the life of a tool reaches zero, the monitoring unit 52 changes the state of the tool in the storage information 175 from "life warning" to "life expired."

[0068] (D2. Conveyance control unit 54) Next, the function of the conveyance control unit 54 shown in Fig. 4 will be described with reference to Fig. 6. Fig. 6 is a diagram showing an example of an input to the conveyance control unit 54 and an output of the conveyance control unit 54 in response to the input.

[0069] The transport control unit 54 receives, for example, the machining schedule 124 and the storage information 175 as inputs, and outputs a tool transport command to the transport device 300 .

[0070] The machining schedule 124 defines, for example, the planned timing for machining each workpiece in each machine tool 400 and the tools to be used in each machining process. In the example of Fig. 6, the machining schedule 124 for the machine tool 400A is shown.

[0071] The storage information 175 associates, for each storage location of each tool within the tool transport system 10, the identification information of the tool stored in that storage location with the identification information of the tool held in that tool.

[0072] The storage location defined in the storage information 175 is information for uniquely identifying the location of the tool within the tool transport system 10. As an example, the storage location 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 transport device 300, or the storage position of the tool within the machine tool 400.

[0073] The tool holder identification information defined in the storage information 175 is information for uniquely identifying the tool holder. The identification information is assigned in advance to each tool holder. The identification information may be indicated by a tool holder number such as an ID, or may be indicated by a tool holder name.

[0074] The tool identification information defined in the storage information 175 is information for uniquely identifying a tool. The identification information is assigned in advance to each tool. The identification information may be indicated by a tool number such as an ID, or may be indicated by a tool name. The identification information corresponds to the tool identification information defined in the above-mentioned tool information 174 (see FIG. 5).

[0075] The transport control unit 54 refers to the machining schedule 124 and identifies the tool scheduled to be used in the machine tool 400 before machining of the workpiece is started. Next, the transport control unit 54 refers to the storage information 175, and if the tool scheduled to be used is not present in the target machine tool 400, controls the transport device 300 to carry the tool scheduled to be used from the work station 200 or the tool storage unit 250 into the target machine tool 400.

[0076] Furthermore, the transfer control unit 54 causes the transfer device 300 to transfer out the tools in the machine tool 400. As an example, when the above-mentioned tool transfer event occurs, the transfer control unit 54 controls the transfer device 300 to transfer out the tools to be transferred out, which have been determined by the determination unit 56 described below, from the machine tool 400. Thereafter, the transfer control unit 54 controls the transfer device 300 to transfer the tools to be transferred in, which have been determined by the determination unit 56 described below, from the tool storage unit 250 to the machine tool 400.

[0077] (D3. Determination Unit 56) Next, the function of the determination unit 56 shown in Fig. 4 will be described with reference to Fig. 7 to Fig. 9. Fig. 7 is a diagram schematically showing a method for determining tools to be carried out.

[0078] The determination unit 56 determines a tool to be removed from the machine tool 400A based on the occurrence of a tool removal event in the machine tool 400A. As an example, the tool removal event occurs due to an interrupt operation that prioritizes the machining of one workpiece over the machining of another workpiece. The interrupt operation may be accepted by the above-described management device 100 or by the work station 200, for example.

[0079] 7, an interruption of the processing 125A occurs. Based on this, the determination unit 56 updates the processing schedule 124 so that the processing 125A is executed with the highest priority.

[0080] Next, the determination unit 56 identifies a processing 125B that is scheduled to be executed after the processing 125A. In the example of Fig. 7, the last processing 125B scheduled in the processing schedule 124 is identified.

[0081] Thereafter, the determination unit 56 determines tools other than the tools scheduled to be used in machining 125A and scheduled to be used in machining 125B as tools to be transferred from machine tool 400A to tool storage unit 250. In the example of FIG. 7 , the determination unit 56 determines "tools B, D, E" to be used in machining 125A as tools not to be transferred, and "tools B, F, G" to be used in machining 125B as tools to be transferred. The determination unit 56 removes "tools B, D, E" that are not to be transferred from the "tools B, F, G" to be transferred, and determines the remaining "tools F and G" as tools to be transferred.

[0082] Next, the determination unit 56 determines a tool to be carried in from the machine tool 400 A. Fig. 8 is a diagram schematically showing a method for determining a tool to be carried in.

[0083] Referring to Figure 8, the determination unit 56 determines a tool other than the tools held by the machine tool 400A that is scheduled to be used in processing 125A as the tool to be transported from the tool storage unit 250 to the machine tool 400.

[0084] The tools held by machine tool 400A are identified, for example, based on the storage information 175 described above. In the example of FIG. 8 , machine tool 400A holds "tools A, B, C, F." Therefore, determination unit 56 sets "tools A, B, C, F" held by machine tool 400A as non-carry-in targets, and sets "tools B, D, E" used in the most recent machining 125A as tentative carry-in targets. Determination unit 56 removes "tools A, B, C, F" that are not to be carried-in from "tools B, D, E" that are tentative carry-in targets, and finally determines the remaining "tools D and E" as the carry-in targets.

[0085] Preferably, when there is an unusable tool in machine tool 400A, determination unit 56 transfers the unusable tool from machine tool 400A to tool storage unit 250 before executing the process of transferring the tool to be transferred. In other words, determination unit 56 prioritizes the unusable tool as a tool to be transferred over a tool to be transferred that has been determined based on the machining order.

[0086] If machine tool 400 has an unusable tool, tool storage space within machine tool 400 will be wasted. Therefore, by determining that an unusable tool is the tool to be removed rather than a usable tool, determination unit 56 can prevent tool storage space within machine tool 400 from being wasted. Whether machine tool 400 has an unusable tool is determined based on the above-mentioned tool information 174 (see FIG. 5) and the above-mentioned storage information 175 (see FIG. 6).

[0087] The determination unit 56 determines the tools to be carried out so that the number of available tool storage locations in the machine tool 400A is greater than the number of tools to be carried in. At this time, the determination unit 56 typically determines the tools to be carried out in order of the tools that are scheduled to be used later, based on the machining schedule 124.

[0088] The tool to be carried out determined by the determination unit 56 and the tool to be carried in determined by the determination unit 56 are output to the transfer control unit 54 described above.

[0089] 9 is a diagram schematically illustrating the order of transport of tools to be removed and tools to be loaded. Referring to FIG. 9, in step S51, the transport control unit 54 controls the transport device 300 to transport the tools to be removed, determined by the determination unit 56, from the machine tool 400A to the tool storage unit 250. The transport control unit 54 then determines that the transport process of step S51 is complete. Based on this, in step S52, the transport control unit 54 controls the transport device 300 to transport the tools to be loaded, determined by the determination unit 56, from the tool storage unit 250 to the machine tool 400. This allows the tool transport system 10 to preferentially load tools to be used in the most recent machining into the machine tool 400A, thereby improving machining efficiency.

[0090] <E. Process of Carrying Tools into the Tool Storage Unit 250> Next, the process of carrying tools from the work station 200 to the tool storage unit 250 will be described with reference to Fig. 10. Fig. 10 is a diagram schematically showing the flow of the process of carrying tools from the work station 200 to the tool storage unit 250.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] Next, in step S4, the control unit 50 controls the motor 335A 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 above-mentioned storage information 175 (see FIG. 6).

[0096] 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.

[0097] 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.

[0098] 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.

[0099] <F. Tool Carry-in Process to Machine Tool 400> Next, with reference to Fig. 11, the tool carrying-in process following Fig. 10 will be described. Fig. 11 is a diagram schematically showing the flow of the tool carrying-in process from tool storage unit 250 to machine tool 400.

[0100] The control unit 50 identifies the tool to be carried in and the machine tool 400 to which the tool is to be transferred in accordance with the above-described machining schedule 124. 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. 6). 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.

[0101] 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 .

[0102] 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.

[0103] 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.

[0104] <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.

[0105] 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. 6 ). 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.

[0106] 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.

[0107] 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. 10 ) provided in the work station 200. Thereafter, the ATC 238 mounts the tool holder H3 on the magazine M1 of the work station 200.

[0108] 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.

[0109] <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 illustrating an example of the hardware configuration of the management device 100.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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).

[0114] 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.

[0115] 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.

[0116] 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 machining schedule 124, etc. The storage location of the control program 122 and the machining schedule 124 is not limited to the auxiliary storage device 120, and may be stored in a memory 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.

[0117] 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 an arbitrary program. In this case, the transport control process by the control program 122 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 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.

[0118] <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.

[0119] The PLC 150 includes a control circuit 151, a read only memory (ROM) 152, a random access memory (RAM) 153, communication interfaces 154 and 155, and an auxiliary storage device 170. These components are connected to a bus 160.

[0120] 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.

[0121] 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.

[0122] 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).

[0123] 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.

[0124] 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 above-mentioned tool information 174, the above-mentioned storage information 175, etc. The storage location of these is not limited to the auxiliary storage device 170, but may be stored in 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), etc.

[0125] 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.

[0126] <J. Hardware Configuration of Machine Tool 400> Next, an example of the hardware configuration of machine tool 400 will be described with reference to Fig. 15. Fig. 15 is a diagram showing an example of the hardware configuration of machine tool 400.

[0127] 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).

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] <K. Flowchart> Next, a control flow when a tool transport event occurs will be described with reference to Fig. 16. Fig. 16 is a flowchart showing a tool transport process when a tool transport event occurs.

[0138] 16 is realized by control unit 50 executing a control program. In another aspect, some or all of the processing may be performed by circuit elements or other hardware.

[0139] In step S110, the control unit 50 determines whether a tool removal event has occurred. If the control unit 50 determines that a tool removal event has occurred (YES in step S110), the control unit 50 switches control to step S112. If not (NO in step S110), the control unit 50 returns control to step S110.

[0140] In step S112, control unit 50 functions as the above-mentioned determination unit 56 (see FIG. 4 ) and determines the tool to be transferred from machine tool 400 to work station 200 or tool storage unit 250. The method for determining the tool to be transferred is as described above, and therefore the description thereof will not be repeated.

[0141] In step S114, control unit 50 functions as the above-mentioned determination unit 56 and determines the tool to be carried from work station 200 or tool storage unit 250 to machine tool 400. The method for determining the tool to be carried is as described above, and therefore the description thereof will not be repeated.

[0142] In step S116, the control unit 50 functions as the above-mentioned transport control unit 54 (see Figure 4) and controls the transport device 300 to transport the tool to be removed, which was determined in step S112, from the machine tool 400 to the tool storage unit 250.

[0143] In step S120, the control unit 50 determines whether the unloading process in step S116 has ended. If the control unit 50 determines that the unloading process in step S116 has ended (YES in step S120), the control unit 50 switches control to step S122. If not (NO in step S120), the control unit 50 returns control to step S120.

[0144] In step S122, the control unit 50 functions as the above-mentioned transport control unit 54 and controls the transport device 300 to transport the tool to be loaded determined in step S114 from the work station 200 or the tool storage unit 250 to the machine tool 400.

[0145] <L. Modified Example of Tool Transport System 10> Next, a modified example of the tool transport system 10 will be described with reference to Fig. 17. Fig. 17 is a diagram showing a tool transport system 10A according to the modified example.

[0146] The tool transportation system 10A according to this modified example differs from the above-described tool transportation system 10 in that it further has a function of transporting a workpiece to the machine tool 400 in addition to a function of transporting a tool to the machine tool 400.

[0147] 17, the tool transport system 10A includes a work station 200, a tool storage unit 250, a transport device 300, a machine tool 400, a work station 500, a workpiece storage unit 550, and a transport device 600. The work station 200, the tool storage unit 250, the transport device 300, and the machine tool 400 have been described above, and therefore their description will not be repeated.

[0148] The work station 500 is a place where an operator works on a workpiece. For example, the operator works at the work station 500 to set a workpiece to be machined or to collect a machined workpiece.

[0149] A plurality of workpieces can be stored in the workpiece storage section 550. The workpiece storage section 550 functions as a temporary storage area for the workpieces.

[0150] The conveying device 600 conveys a specified workpiece from among a workpiece in the machine tool 400, a workpiece in the work station 500, and a workpiece in the work storage unit 550 to a specified destination from among the machine tool 400, the work station 500, and the work storage unit 550.

[0151] Conveyance device 600 includes an arm robot 630 and rails 631. Arm robot 630 is fixed onto a carriage (not shown). The carriage is configured to be movable on rails 631. Machine tool 400 and workpiece storage unit 550 are arranged parallel to and on either side of rails 631 along rails 631.

[0152] 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.

[0153] 10 Tool transport system, 10A Tool transport system, 50 Control unit, 52 Monitoring unit, 54 Transport control unit, 56 Determination 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, 124 Machining schedule, 125A Machining, 125B Machining, 151 Control circuit, 152 ROM, 153 RAM, 154 Communication interface, 155 Communication interface, 160 Bus, 170 Auxiliary storage device, 172 Control program, 174 Tool information, 175 Storage information, 200 Work station, 200A Operation terminal, 234 Motor driver, 234A Motor driver, 234B Motor driver, 235 Motor, 235A Motor, 235B Motor, 250 Tool storage section, 300 Conveyance device, 330 Arm robot, 331 Rail, 332 Cart, 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, 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, 500 work station, 550 workpiece storage unit, 600 conveyance device, 630 arm robot, 631 rail, H1 tool holder, H2 tool holder, H3 tool holder, M1 magazine, NW1 network, NW2 network.

Claims

1. A tool transportation system comprising: a machine tool that machines a workpiece using a tool; a tool storage unit for storing a plurality of tools; a transportation device capable of transporting a specified tool from among a tool in the machine tool and a tool in the tool storage unit to a specified destination between the machine tool and the tool storage unit; and a control unit for controlling the transportation device, wherein the control unit performs a process of identifying a second machining operation to be performed after a first machining operation based on the occurrence of a predetermined event; and a process of transporting a tool other than a tool to be used in the first machining operation, which is to be used in the second machining operation, from the machine tool to the tool storage unit.

2. The tool transport system according to claim 1, wherein the predetermined event includes an interrupt event for executing the first machining process with priority over other machining processes.

3. A tool transport system as described in claim 1 or 2, wherein the control unit further executes a process of transporting a tool to be used in the first machining from the tool storage unit to the machine tool after executing the removal process.

4. A multi-claim tool transport system according to any one of claims 1 to 3, wherein the second processing includes a processing that is scheduled to be executed last among the processing scheduled in the processing schedule.

5. A tool transport system as described in any one of claims 1 to 4, wherein the control unit further executes a process to transport an unusable tool from the machine tool to the tool storage unit before executing the removal process if there is an unusable tool within the machine tool.

6. A control method for a tool transportation system, the tool transportation system comprising: a machine tool; a tool storage unit for storing a plurality of tools; and a transport device capable of transporting a specified tool from among a tool in the machine tool and a tool in the tool storage unit to a specified destination between the machine tool and the tool storage unit, the control method comprising the steps of: identifying a second machining operation to be performed after a first machining operation based on the occurrence of a predetermined event; and transporting a tool other than the tool to be used in the first machining operation, the tool to be used in the second machining operation, from the machine tool to the tool storage unit.

7. A control program for a tool transportation system comprising: a machine tool; a tool storage unit for storing a plurality of tools; and a transportation device capable of transporting a specified tool from among a tool in the machine tool and a tool in the tool storage unit to a specified destination between the machine tool and the tool storage unit, the control program causing the tool transportation system to execute the steps of: identifying a second machining operation to be performed after a first machining operation based on the occurrence of a predetermined event; and transporting a tool other than the tool to be used in the first machining operation, the tool to be used in the second machining operation, from the machine tool to the tool storage unit.

Images