Gantry loader control method

Abstract

A plurality of gantry loaders, a machine tool, and a peripheral device are included in one guide beam to configure an automation line. A gantry loader control device shares information of the plurality of gantry loaders, the machine tool, and the peripheral device to prevent the plurality of gantry loaders from interfering with each other and to be controlled according to priority. When the gantry loader or machine tool is broken, the gantry loader control device inactivates the broken gantry loader or machine tool and excludes same from operation so as to allow the automation line to operate without interruption, thereby improving productivity of the automation line.

Description

Control method of gantry loader

[0001] The present invention relates to a gantry loader for supplying and discharging workpiece materials to a machine tool, and more specifically, to controlling a plurality of gantry loaders installed on a single guide beam.

[0002] In general, a gantry loader, as illustrated in Fig. 1, is installed as an additional device on a machine tool (60) such as a turning center, and performs the function of supplying materials to the machining section of the machine tool (60) or discharging and loading processed materials from the machining section in conjunction with a peripheral device (70) capable of supplying or loading materials. Such a gantry loader (10) has a horizontal guide beam (20) installed on the upper portion of the machine tool (60) in the direction of the rotation axis of the machining section of the machine tool (60), an arm (11) that slides on the guide beam (20), and a gripper that holds the material when supplying and discharging the material is provided at the tip of the arm (11). In addition, a peripheral device (70) capable of loading materials is installed on one side of the machine tool (60) and the gantry loader (10).

[0003] A gantry loader (10) like this can be installed on each machine tool (60), and in some cases, one gantry loader (10) can be installed in an extended form on top of two or more machine tools (60) installed in series to supply or discharge materials to each machine tool (60).

[0004] However, if a gantry loader (10) is installed for each machine tool (60), there is a problem that the installation area and cost increase. In addition, if one gantry loader (10) is installed to cover two or more machine tools (60), the operation of the gantry loader (10) may not match the material discharge and supply cycle of the machine tool (60), which may delay the operation of the machine tool (60) and lower the productivity of the automated line.

[0005] Meanwhile, in order to overcome these problems, it can be assumed that two or more gantry loaders (10) are installed and operated on one guide beam (20). However, in this case, when two or more gantry loaders (10) are installed on one guide beam (20) and are linked with multiple machine tools (60), the operating range of each gantry loader (10) must be limited to avoid collision or interference between the multiple gantry loaders (10) installed on one guide beam (20).

[0006] Ultimately, even if multiple gantry loaders (10) are installed on one guide beam (20), there is no advantage other than each gantry loader (10) sharing one guide beam (20).

[0007] In addition, in an automated line consisting of a continuous processing process, when a plurality of gantry loaders (10) are installed on one guide beam (20) and independently controlled, a sufficient distance must be provided between each gantry loader (10) to avoid collision or interference between each gantry loader (10), so not only does the size of the automated line increase, but also the productivity of the continuous automated line decreases due to unnecessary controls such as waiting time and stopping operation according to a set speed and work sequence.

[0008] In addition, in an automation line in which multiple gantry loaders (10) are installed on one guide beam (20), if one gantry loader (10) or machine tool (60) breaks down, the entire multiple gantry loaders (10) and machine tool (60) that constitute the automation line must be stopped, resulting in a problem in which the operation of the automation line is halted.

[0009] Meanwhile, Patent Document 1 is a structure in which one gantry loader is installed in each of a plurality of machine tool groups, each consisting of two machine tools (60). In addition, Patent Document 1 implements an automated system that reduces operator intervention in a continuous processing line by controlling the gantry loader to move in the direction of processing of a workpiece in a series of continuous processing lines. However, as previously pointed out, this system may delay the operation of the machine tool because one gantry loader handles at least two machine tools, and the operation of the gantry loader may not match the material discharge and supply cycle of the machine tool.

[0010] In addition, FIG. 1 of Patent Document 2 discloses a structure in which multiple carriages are installed on a single transverse carriage (guide beam) in order to install multiple gantry loaders on a single guide beam, and independently controlled gantry loaders are installed on each carriage. However, this Patent Document 2 relates to transmitting control commands in the form of wireless communication through a TCP / IP module between a main control panel installed on the ground and a sub-control panel installed on the carriage, and only installs multiple independently controlled gantry loaders on a single guide beam. Therefore, in order to avoid collisions or interference between gantry loaders, unnecessary waiting times and stoppages occur according to a set speed and work sequence, resulting in a decrease in the productivity of the continuous automation line, and in addition, a problem occurs in that the operation of the automation line must be stopped if a specific gantry loader or one of the machine tools constituting the automation line breaks down.

[0011] [Prior Art Literature]

[0012] (Patent Document 1) Korean Patent Publication No. 10-2308542

[0013] (Patent Document 2) Korean Patent Publication No. 10-2008-0099075

[0014] The purpose of the present invention to solve the above-mentioned problems is to share basic information such as work status, location, path, target point, and speed among a plurality of gantry loaders, machine tools, and peripheral devices installed on a single guide beam, so that each gantry loader is sequentially controlled according to priority in the order of entry or speed in the machining area of ​​the machine tool according to the work order, thereby improving the productivity of the automated line.

[0015] Another object of the present invention is to minimize the downtime of the automation line by enabling the automation line to be operated only with the gantry loaders or machine tools that are operating normally, excluding the gantry loaders or machine tools that are inoperable without stopping the operation of the entire automation line when one of the gantry loaders or machine tools installed in multiple units becomes unusable due to a breakdown or the like, thereby excluding the gantry loaders or machine tools that are inoperable and operating the automation line without stopping the operation of the entire automation line.

[0016] Another object of the present invention is to reduce the size of an automated line by reducing the installation interval of gantry loaders by performing optimal control of a plurality of gantry loaders according to priority.

[0017] The control method of the gantry loader of the present invention to solve the above problems is as follows:

[0018] In a preferred embodiment, in an automated line having a plurality of machine tools (60) for processing materials, a plurality of peripheral devices (70) for loading materials, and a plurality of gantry loaders (10) that reciprocate on a single guide beam (20) installed to supply or discharge materials between the machine tools (60) and the peripheral devices (70), a gantry loader control method for controlling each gantry loader (10) by sharing information with the machine tools (60) and the peripheral devices (70) through a control device (30),

[0019] A priority setting step (S10) for setting control priorities according to the working status of the above gantry loader (10), machine tool (60), and peripheral device (70);

[0020] An information acquisition step (S20) in which information of each gantry loader (10), the machine tool (60), and the peripheral device (70) is acquired from a control device (30) that controls the plurality of gantry loaders (10) and is shared with the control device (30) of the adjacent gantry loader (10) through a communication line (40);

[0021] A priority assignment step (S30) for assigning a priority value set in the priority setting step (S10) to each variable corresponding to the gantry loader (10), machine tool (60), and peripheral device (70) based on the information acquired in the information acquisition step (S20);

[0022] A priority value comparison step (S40) of the gantry loader to compare whether the priority of the gantry loader (10) is the same as the priority of the machine tool (60) or the peripheral device (70);

[0023] In the priority value comparison step (S40) of the gantry loader, if the priority of the gantry loader (10) is not the same as the priority of the machine tool (60) or the peripheral device (70), a priority value comparison step (S41) of the machine tool that compares the priority of the machine tool (60) and the priority of the peripheral device (70);

[0024] A gantry loader movement command step (S50) consisting of a machine tool entry command step (S51) that commands the movement of the gantry loader (10) to the machine tool (60) or a peripheral device entry command step (S52) that commands the movement of the gantry loader (10) to a peripheral device (70);

[0025] When the above gantry loader (10) receives a movement command and moves from the current gantry loader position (An) to the target gantry loader position (Bn), the current gantry loader position (A) adjacent to the movement section of the gantry loader (10) n-1 ) is included in the moving section interference judgment step (S60);

[0026] In the above movement section interference judgment step (S60), the current position (A) of the gantry loader adjacent to the current movement section of the gantry loader (10) n-1 ) is included, the priority value of the current gantry loader (10) and the adjacent gantry loader (10) assigned in the priority assignment step (S30) is compared and determined, and the gantry loader (10) with a lower priority is instructed to avoid or wait in a predetermined safety zone that does not interfere with the gantry loader (10) with a higher priority from moving to the target position (Bn).

[0027] In the above movement section interference determination step (S60), if the current gantry loader (10) does not interfere with the adjacent gantry loader (10), the current gantry loader (10) is commanded to move to the gantry loader target position (Bn), and if the current gantry loader (10) interferes with the adjacent gantry loader (10), in the above work operation priority determination step (S70), the priority values ​​of the current gantry loader (10) and the adjacent gantry loader (10) are compared, and the gantry loader (10) with the higher priority is commanded to move to the gantry loader target position (Bn), and after the movement command, a work execution step (S80) is included to return to the information acquisition step (S20).

[0028] In a preferred embodiment, in the priority setting step (S10), the control priority by work status is set to the first priority when the gantry loader (10) is in a state of waiting to input or discharge materials to or from the machine tool (60) according to the content of the control signal commanded to operate the gantry loader (10) and the machine tool (60) or the peripheral device (70), the second priority is set when the gantry loader (10) has received a priority command (Pre-call) to handle materials, the third priority is set when the gantry loader (10) is in a state of discharging materials from the peripheral device (70), and the fourth priority is set when the gantry loader (10) is in a state of loading materials onto the peripheral device (70).

[0029] In a preferred embodiment, the information acquired in the information acquisition step (S20) includes the current position of the gantry loader (An), the target position of the gantry loader (Bn), and the machine tool status (G n ), peripheral status (H n ), and is characterized by including gantry loader status (In) information.

[0030] In a preferred embodiment, the information acquired in the information acquisition step (S20) is gantry loader alarm information (J n ), machine tool alarm information (K n ), bypass on / off information (L n ) is further characterized by including:

[0031] In a preferred embodiment, in the priority assignment step (S30), if the gantry loader (10) is holding the material, the priority value of the gantry loader (10) according to the gantry loader status (In) becomes 1, and if the machine tool (60) is waiting after completing material processing, the priority value of the machine tool status (G n ) the priority value of the machine tool (60) is 1, and when the peripheral device (70) is waiting to discharge the material, the peripheral device status (H n) is characterized by a priority value of 3.

[0032] In a preferred embodiment, the priority value comparison step (S40) of the gantry loader is performed by comparing the priority value according to the gantry loader status (In) assigned in the priority assignment step (S30) with the priority value of the machine tool status (Gn) and the peripheral device status (H). n ) priority value, but the priority value of the machine tool status (Gn) is the same as the priority value of the gantry loader status (In), or the peripheral device status (H n ) is characterized by comparing whether the priority value is the same as the gantry loader status (In) priority value.

[0033] In a preferred embodiment, the priority value comparison step (S41) of the machine tool is performed when the priority value of the machine tool status (Gn) and the priority value of the gantry loader status (In) are not the same, or when the priority value of the peripheral device status (H) is different from the priority value of the gantry loader status (In). n ) priority value and the gantry loader status (In) priority value are not the same, the machine tool status (Gn) priority value is higher than the peripheral status (H n ) is characterized by comparing whether it is greater than or less than the priority value.

[0034] In a preferred embodiment, the machine tool entry command step (S51) is performed when the priority value of the machine tool status (Gn) and the priority value of the gantry loader status (In) are the same in the priority value comparison step (S40) of the gantry loader, or when the priority value of the machine tool status (Gn) is the same as the priority value of the peripheral device status (H) in the priority value comparison step (S41) of the machine tool. n ) If the priority value is less than the priority value, an operation command is applied to the servo motor (12) to cause the gantry loader (10) to enter the machine tool (60),

[0035] The above peripheral device entry command step (S52) is performed in the peripheral device status (H) in the priority value comparison step (S40) of the gantry loader. n) If the priority value and the gantry loader status (In) priority value are the same, or if the priority value of the machine tool status (Gn) is higher than the priority value of the peripheral device status (H) in the priority value comparison step (S41) of the machine tool n ) is characterized in that an operation command is applied to the servo motor (12) to cause the gantry loader (10) to enter the peripheral device (70) when the priority value is greater than the priority value.

[0036] In a preferred embodiment, in the task operation priority determination step (S70), the priority value of the current gantry loader (10) and the adjacent gantry loader (10) assigned in the priority assignment step (S30) is compared with the machine tool status (G) priority value of the gantry loader status (In) of the current gantry loader (10). n ) priority value or peripheral status (H n ) The value of the added priority value is the gantry loader status (In) of the adjacent gantry loader (10). -1 ) machine tool status (G) in priority value n-1 ) priority value or peripheral status (H n-1 ) is characterized by determining whether the value is smaller than the added priority value.

[0037] In a preferred embodiment, the above-described work order determination step (S70) includes a safety zone avoidance command step (S71) that commands the adjacent gantry loader (10) to avoid a predetermined safety zone that does not interfere with the path along which the current gantry loader (10) moves, if the priority by work status of the current gantry loader (10) takes precedence over the priority by work status of the adjacent gantry loader (10);

[0038] It is characterized by including a safety zone standby command step (S72) that commands the current gantry loader (10) to standby in a predetermined safety zone that does not interfere with the path along which the adjacent gantry loader (10) moves when the priority by work status of the current gantry loader (10) is lower than the priority by work status of the adjacent gantry loader (10).

[0039] In a preferred embodiment, the safety zone pre-determined in the safety zone avoidance command step (S71) and the safety zone standby command step (S72) is characterized by being set to a distance that is the sum of a mechanical part non-contact distance (α) value that can exclude contact between the mechanical parts of the current gantry loader (10) and an adjacent gantry loader (10) and a braking distance (β) when the gantry loader (10) stops at the maximum speed.

[0040] In a preferred embodiment, after the information acquisition step (S20), the gantry loader alarm information (J) acquired in the information acquisition step (S20) n ) determines whether it is an emergency stop and the above gantry loader alarm information (J n ) is not an emergency stop, the gantry loader alarm information judgment step (S110) that returns the control step to the information acquisition step (S20);

[0041] In the above gantry loader alarm information judgment step (S110), the above gantry loader alarm information (J n ) is an emergency stop, the above gantry loader alarm information (J n ) and a gantry loader inactivation processing step (S120) of moving the gantry loader (10) in an emergency stop state to a parking position where it does not interfere with the movement of the adjacent gantry loader (10);

[0042] The above gantry loader alarm information (J n ) cuts off the power of the servo motor (12) of the gantry loader (10) in an emergency stop, and at the same time, invalidates the information of the gantry loader (10) acquired in the information acquisition step (S20) so that the gantry loader alarm information (Jn) excludes the gantry loader (10) in an emergency stop from the control target, and then returns the control step to the information acquisition step (S20) in an information invalidation step (S130);

[0043] It further includes a gantry loader normalization step (S140) for removing the cause of the emergency stop signal of the gantry loader (10) disabled in the above-mentioned acquisition information invalidation step (S130) to normalize the disabled gantry loader (10) and return the control step to the information acquisition step (10).

[0044] In a preferred embodiment, the gantry loader insolubility processing step (S120) includes a gantry loader servo motor usability determination step (S121) for determining whether an encoder signal is generated from a servo motor (12) that performs movement of the gantry loader (10);

[0045] In the step (S121) of determining whether the gantry loader servo motor is available, if it is determined that an encoder signal is generated from the servo motor (12), the gantry loader alarm information (J n ) controls the servo motor (12) of the gantry loader (10) in emergency stop in manual mode to move the gantry loader (10) in emergency stop to a parking position where it does not interfere with the movement of the adjacent gantry loader (10), and if it is determined that the encoder signal is not generated from the servo motor (12), the gantry loader alarm information (J n ) includes a gantry loader parking position movement step (S122) of forcibly moving the gantry loader (10) which is in an emergency stop state to a parking position where it does not interfere with the operation of an adjacent gantry loader (10), and inputting the current position (An) of the gantry loader, which is to be disabled in the control device (30) after being forcibly moved to the parking position, as the parking position.

[0046] In a preferred embodiment, after the acquisition information invalidation step (S130), the current position (An) information of the disabled gantry loader (10) is reset to the parking position.

[0047] In a preferred embodiment, after the information acquisition step (S20), a machine tool alarm information judgment step (S210) is provided, which determines whether the machine tool alarm information (Kn) acquired in the information acquisition step (S20) is an emergency, and if the machine tool alarm information (Kn) is an emergency, returns the control step to the information acquisition step (S20);

[0048] In the above machine tool alarm information judgment step (S210), the machine tool alarm information (K n ) in case of emergency, the gantry loader (10) is used to provide machine tool alarm information (K n ) to determine whether to bypass the machine tool (60) in which the bypass occurred, the control device (30) transmits bypass on / off information (L n ) is selected to on; and a step (S220) for determining whether the bypass function is selected;

[0049] In the step (S220) of determining whether to select the above bypass function, bypass on / off information (L) n ) is selected to on, the bypass function of the gantry loader (10) is activated so that the gantry loader (10) can output machine tool alarm information (K n ) controls to skip the process of introducing materials into the emergency machine tool (60) and to bypass, and at the same time initializes the acquired information of the machine tool (60) acquired in the information acquisition step (S20), and controls the control step to return to the information acquisition step (S20), and in the step (S220) of determining whether to select the bypass function, bypass on / off information (L) is provided. n ) is selected as off, the machine tool alarm information (K n ) is transmitted to the control device (30) of the gantry loader (10) and machine tool alarm information (K n ) and a machine tool inactivation step (S230) that stops the operation of the gantry loader (10) and machine tool (60) in which the problem occurred;

[0050] After repairing the machine tool (60) in which the machine tool alarm information (Kn) was generated in the above machine tool inoperability step (S230), a machine tool normalization step (S240) is further included to normalize the inoperable machine tool (60) and return it to the information acquisition step (S20).

[0051] In a preferred embodiment, after the information acquisition step (S20), a machine tool alarm information judgment step (S210) is provided, which determines whether the machine tool alarm information (Kn) acquired in the information acquisition step (S20) is an emergency, and if the machine tool alarm information (Kn) is an emergency, returns the control step to the information acquisition step (S20);

[0052] In the above machine tool alarm information judgment step (S210), the machine tool alarm information (K n ) in case of an emergency, the bypass function of the gantry loader (10) is activated so that the gantry loader (10) can transmit machine tool alarm information (K n ) controls the machine tool (60) to skip the process of introducing the material into the emergency machine tool and pass through a detour, and at the same time initializes the information acquired of the machine tool (60) acquired in the information acquisition step (S20), and controls the control step to return to the information acquisition step (S20) and the machine tool inactivity step (S230);

[0053] In the above machine tool disablement step (S230), a machine tool normalization step (S240) is further included to repair the machine tool (60) in which the machine tool alarm information (Kn) was generated, normalize the disabled machine tool (60), and return it to the information acquisition step (S20).

[0054]

[0055] In a preferred embodiment, another gantry loader control method is

[0056] In an automated line having a plurality of machine tools (60) for processing materials, a plurality of peripheral devices (70) for loading materials, and a plurality of gantry loaders (10) that reciprocate on a single guide beam (20) installed to supply or discharge materials between the machine tools (60) and the peripheral devices (70), a gantry loader control method for controlling each gantry loader (10) by sharing information with the machine tools (60) and the peripheral devices (70) through a control device (30),

[0057] In the control device (30) that controls the above plurality of gantry loaders (10), the gantry loader alarm information (J) of each gantry loader (10) n ) and sharing it with the control device (30) of the adjacent gantry loader (10) through the communication line (40) (S20);

[0058] The gantry loader alarm information (J) acquired in the above information acquisition step (S20) n ) determines whether it is an emergency stop and the above gantry loader alarm information (J n ) is not an emergency stop, the gantry loader alarm information judgment step (S110) returns the control step to the information acquisition step (S20);

[0059] In the above gantry loader alarm information judgment step (S110), the above gantry loader alarm information (J n ) is an emergency stop, the above gantry loader alarm information (J n ) is a gantry loader inactivation processing step (S120) that moves the gantry loader (10) in an emergency stop state to a parking position where it does not interfere with the movement of the adjacent gantry loader (10);

[0060] The above gantry loader alarm information (J n) cuts off the power of the servo motor (12) of the gantry loader (10) in an emergency stop, and at the same time, invalidates the information of the gantry loader (10) acquired in the information acquisition step (S20) so that the gantry loader alarm information (Jn) excludes the gantry loader (10) in an emergency stop from the control target, and returns the control step to the information acquisition step (S20) in an information invalidation step (S130);

[0061] It includes a gantry loader normalization step (S140) that removes the cause of the emergency stop signal of the gantry loader (10) that has been disabled in the above-mentioned acquisition information invalidation step (S130) to normalize the disabled gantry loader (10) and return the control step to the information acquisition step (10).

[0062] In a preferred embodiment, the gantry loader insolubility processing step (S120) includes a gantry loader servo motor usability determination step (S121) for determining whether an encoder signal is generated from a servo motor (12) that performs movement of the gantry loader (10);

[0063] In the step (S121) of determining whether the gantry loader servo motor is available, if it is determined that an encoder signal is generated from the servo motor (12), the gantry loader alarm information (J n ) controls the servo motor (12) of the gantry loader (10) in emergency stop in manual mode to move the gantry loader (10) in emergency stop to a parking position where it does not interfere with the movement of the adjacent gantry loader (10), and if it is determined that the encoder signal is not generated from the servo motor (12), the gantry loader alarm information (J n ) includes a gantry loader parking position movement step (S122) of forcibly moving the gantry loader (10) which is in an emergency stop state to a parking position where it does not interfere with the operation of an adjacent gantry loader (10), and inputting the current position (An) of the gantry loader, which is to be disabled in the control device (30) after being forcibly moved to the parking position, as the parking position.

[0064] In a preferred embodiment, after the acquisition information invalidation step (S130), the current position (An) information of the disabled gantry loader (10) is reset to the parking position.

[0065]

[0066] In a preferred embodiment, another gantry loader control method is:

[0067] In an automated line having a plurality of machine tools (60) for processing materials, a plurality of peripheral devices (70) for loading materials, and a plurality of gantry loaders (10) that reciprocate on a single guide beam (20) installed to supply or discharge materials between the machine tools (60) and the peripheral devices (70), a gantry loader control method for controlling each gantry loader (10) by sharing information with the machine tools (60) and the peripheral devices (70) through a control device (30),

[0068] An information acquisition step (S20) in which information of each gantry loader (10) and the machine tool (60) is acquired from a control device (30) that controls the plurality of gantry loaders (10) and the information is shared with the control device (30) of an adjacent gantry loader (10) through a communication line (40);

[0069] A machine tool alarm information determination step (S210) for determining whether the machine tool alarm information (Kn) acquired in the above information acquisition step (S20) is an emergency, and returning the control step to the information acquisition step (S20) if the machine tool alarm information (Kn) is an emergency;

[0070] In the above machine tool alarm information judgment step (S210), the machine tool alarm information (K n ) in case of emergency, the gantry loader (10) is used to provide machine tool alarm information (K n ) to determine whether to bypass the machine tool (60) in which the bypass occurred, the control device (30) transmits bypass on / off information (L n) is selected to on; and a step (S220) for determining whether the bypass function is selected;

[0071] In the step (S220) of determining whether to select the above bypass function, bypass on / off information (L) n ) is selected to on, the bypass function of the gantry loader (10) is activated so that the gantry loader (10) can output machine tool alarm information (K n ) controls to skip the process of introducing materials into the emergency machine tool (60) and to bypass, and at the same time initializes the acquired information of the machine tool (60) acquired in the information acquisition step (S20), and controls the control step to return to the information acquisition step (S20), and in the step (S220) of determining whether to select the bypass function, bypass on / off information (L) is provided. n ) is selected as off, the machine tool alarm information (K n ) is transmitted to the control device (30) of the gantry loader (10) and machine tool alarm information (K n ) and a machine tool inactivation step (S230) that stops the operation of the gantry loader (10) and machine tool (60) in which the problem occurred;

[0072] In the above machine tool disablement step (S230), after repairing the machine tool (60) in which the machine tool alarm information (Kn) was generated, a machine tool normalization step (S240) is further included to normalize the disabled machine tool (60) and return it to the information acquisition step (S20).

[0073]

[0074] In a preferred embodiment, another gantry loader control method is:

[0075] In an automated line having a plurality of machine tools (60) for processing materials, a plurality of peripheral devices (70) for loading materials, and a plurality of gantry loaders (10) that reciprocate on a single guide beam (20) installed to supply or discharge materials between the machine tools (60) and the peripheral devices (70), a gantry loader control method for controlling each gantry loader (10) by sharing information with the machine tools (60) and the peripheral devices (70) through a control device (30),

[0076] An information acquisition step (S20) in which information of each gantry loader (10) and the machine tool (60) is acquired from a control device (30) that controls the plurality of gantry loaders (10) and the information is shared with the control device (30) of an adjacent gantry loader (10) through a communication line (40);

[0077] A machine tool alarm information determination step (S210) for determining whether the machine tool alarm information (Kn) acquired in the above information acquisition step (S20) is an emergency, and returning the control step to the information acquisition step (S20) if the machine tool alarm information (Kn) is an emergency;

[0078] In the above machine tool alarm information judgment step (S210), the machine tool alarm information (K n ) in case of an emergency, the bypass function of the gantry loader (10) is activated so that the gantry loader (10) can transmit machine tool alarm information (K n ) controls the machine tool (60) to skip the process of introducing the material into the emergency machine tool and pass through a detour, and at the same time initializes the information acquired of the machine tool (60) acquired in the information acquisition step (S20), and controls the control step to return to the information acquisition step (S20) and the machine tool inactivity step (S230);

[0079] In the above machine tool disablement step (S230), a machine tool normalization step (S240) is further included to repair the machine tool (60) in which the machine tool alarm information (Kn) was generated, normalize the disabled machine tool (60), and return it to the information acquisition step (S20).

[0080] The present invention improves the productivity of the automation line by installing a plurality of gantry loaders (10) on one guide beam (20) and executing the operation of the gantry loaders (10) according to the work priority in an automation line that operates in conjunction with a machine tool (60) and peripheral devices (70), and further, even if the gantry loader (10) or the machine tool (60) breaks down, the automation line can be operated without interruption only with a gantry loader (10) or the machine tool (60) that is operating normally, so that the operation interruption of the automation line can be minimized.

[0081] In addition, the present invention can minimize the distance between each gantry loader (10) through optimized control of each gantry loader (10) configured in multiple units, thereby optimizing the size of the automated line.

[0082] FIG. 1 is a conceptual diagram of an automation line showing a state of connection between a plurality of gantry loaders installed on one guide beam and a machine tool and peripheral devices as an embodiment of the present invention.

[0083] FIG. 2 is a control concept diagram of multiple gantry loaders installed on one guide beam as an embodiment of the present invention.

[0084] FIG. 3 is a flowchart illustrating a movement sequence control of a plurality of gantry loaders installed on one guide beam as an embodiment of the present invention.

[0085] FIG. 4 is a control flowchart for excluding a malfunctioning gantry loader or machine tool from among a plurality of gantry loaders or machine tools cooperating with these gantry loaders from the operation of an automated line by rendering them inoperable, as an embodiment of the present invention.

[0086] FIG. 5 is a control flowchart for excluding a disabled machine tool from among machine tools cooperating with a gantry loader, as another embodiment of the present invention.

[0087] Hereinafter, a preferred embodiment of the present invention will be described with reference to FIGS. 1 to 5.

[0088] FIG. 1 is a conceptual diagram of an automation line showing a state of connection between a plurality of gantry loaders (10) installed on one guide beam (20), a machine tool (60), and peripheral devices (70) as an embodiment of the present invention.

[0089] Referring to FIG. 1, the automated line of the present embodiment comprises a plurality of machine tools (60) for processing materials, a plurality of peripheral devices (70) for loading materials, and a plurality of gantry loaders (10) that reciprocate on a single guide beam (20) installed horizontally on the upper portion of the machine tool (60) to supply or discharge materials between the machine tool (60) and the peripheral devices (70). Each gantry loader (10) is provided with a control device (30) that includes information of the gantry loader (10) and information of the machine tool (60) and the peripheral devices (70), and the control devices (30) of each gantry loader (10) are configured to share information with the control device (30) of an adjacent gantry loader (10) via a communication line (40).

[0090] More specifically, the gantry loader (10) installs one guide beam (20) in a horizontal direction. An arm (11) is installed in a vertical direction on the guide beam (20), and a plurality of gantry loaders (10) that horizontally reciprocate by a servo motor (12) on the arm (11) are installed. In addition, the plurality of gantry loaders (10) include a control device (30) that communicates a motor command signal and a feedback signal to control the servo motor (12).

[0091] Meanwhile, the above control device (30) may control multiple gantry loaders (10) by having one control device (30) take charge of them.

[0092] In addition, these gantry loaders (10) are linked so that each control device (30) can share control information with each other through a communication line (40), and are also linked so as to share control information with the machine tool (60) and peripheral devices (70).

[0093] Meanwhile, each of the above control devices (30) is configured to control the current position (A) of the gantry loader (10), machine tool (60), and peripheral devices. n ), target position (B n ), speed (C n ), performance task information (D n ), maximum speed parameter (E n ), synchronous control command (F n ), machine tool status (G n ), peripheral status (H n ), gantry loader status (In), gantry loader alarm information (J n ), machine tool alarm information (K n ), bypass on / off information (L n ) and share it between each control device (30).

[0094]

[0095] FIG. 2 is a control concept diagram of multiple gantry loaders (10) installed on one guide beam (20) as an embodiment of the present invention.

[0096] Referring to FIG. 2, the control device (30) of each gantry loader (10) shares the above information to control collision prevention, synchronization control, and movement order between each gantry loader (10) moving on one guide beam (20).

[0097] More specifically, the above collision prevention function performs the functions of interlocking the transfer axis of the servo motor (12), decelerating, transfer waiting, and emergency stop to avoid collision with an adjacent gantry loader (10) in the process of controlling the servo motor (12) to move the gantry loader (10) from the current position of the gantry loader (10) to the target position information.

[0098] In addition, the above-described synchronous control function provides information such as the current position and target position information of the preceding gantry loader (10), speed control parameters including the maximum speed and time constant, etc., to the succeeding gantry loader (10), thereby controlling the succeeding gantry loader (10) to follow the operation command of the preceding gantry loader (10). At this time, the preceding gantry loader (10) operates an interlock function to prevent collision with the succeeding gantry loader (10) according to the motion command, and the succeeding gantry loader (10) is controlled to operate an interlock function to maintain a safe distance during synchronous operation with the preceding gantry loader (10) according to the motion command.

[0099] In addition, the above movement order control function shares information between the gantry loader (10), the machine tool (60), and the peripheral device (70) and controls the operation priority of the gantry loader (10) according to the work status.

[0100]

[0101] FIG. 3 is a flowchart of a movement sequence control of a plurality of gantry loaders (10) installed on one guide beam (20) as an embodiment of the present invention.

[0102] Referring to FIG. 3, each control device (30) controls each gantry loader (10) to move to the machine tool (60) or peripheral device (70) according to priority to supply or discharge materials while avoiding collision with adjacent gantry loaders (10), as follows.

[0103]

[0104] First, the priority setting step (S10) is executed.

[0105] This step sets the control priority according to the work status of the gantry loader (10), the machine tool (60), and the peripheral device (70). The priority according to the work status is determined as follows according to the content of the control signal commanded to operate the gantry loader (10), the machine tool (60), or the peripheral device (70).

[0106] Preferably, when the gantry loader (10) is in a state of waiting to input or output materials to or from the machine tool (60), it is set to the first priority. In addition, when the gantry loader (10) has received a priority command (pre-call) to handle materials, it is set to the second priority. In addition, when the gantry loader (10) is in a state of outputting materials from the peripheral device (70), it is set to the third priority. In addition, when the gantry loader (10) is in a state of loading materials into the peripheral device (70), it is set to the fourth priority.

[0107] Meanwhile, the above priority settings can be further subdivided to optimize the degree of interference and operation with the machine tool (60) or peripheral device (70) when the gantry loader (10) performs an operation of supplying or discharging materials to the machine tool (60) or peripheral device (70).

[0108]

[0109] Next, the information acquisition step (S20) is executed.

[0110] This step is to control each control device (30) of multiple gantry loaders (10) installed on one guide beam (20) to determine the current position (A) of the gantry loader (10). n ), target position (B n ), machine tool status (G n ), peripheral status (H n ), gantry loader status (In), gantry loader alarm information (J n ), machine tool alarm information (K n ), bypass on / off information (L n ) and recognizes information such as

[0111] The above information may be generated from the control device (30) of each gantry loader (10) or may be generated or commanded by a control device such as a numerical control device of a machine tool (60) or a separate PMC that controls the machine tool (60) and peripheral devices (70) in conjunction with the numerical control device, and in the absence of a command, may be set to a value corresponding to the origin position of the gantry loader (10).

[0112] Additionally, each control device (30) shares the above information with the control devices (30) of other gantry loaders (10) installed on the guide beam (20) through a communication line (40).

[0113]

[0114] Next, the priority assignment step (S30) is executed.

[0115] This step acquires the machine tool status (G) acquired in the information acquisition step (S20) from each control device (30). n ), peripheral status (H n ), based on the gantry loader status (In) information, the priority value set in the priority setting step (S10) is assigned to each variable corresponding to the gantry loader (10), machine tool (60), and peripheral device (70).

[0116] For example, if the gantry loader (10) is holding the material, the priority value of the gantry loader (10) according to the gantry loader status (In) becomes 1, and if the machine tool (60) is waiting after completing the material processing, the machine tool status (G n ) the priority value of the machine tool (60) is 1, and when the peripheral device (70) is waiting to discharge the material, the peripheral device status (H n ) the priority value is 3.

[0117]

[0118] Next, the priority value comparison step (S40) of the gantry loader is executed.

[0119] This step is a step for comparing and determining whether the priority of the gantry loader (10) in each control device (30) is the same as the priority of the machine tool (60) or the peripheral device (70), and the priority value according to the gantry loader status (In) assigned in the priority assignment step (S30) is compared with the priority value of the machine tool status (Gn) and the peripheral device status (H). n ) priority value, but the priority value of the machine tool status (Gn) is the same as the priority value of the gantry loader status (In), or the peripheral device status (H n ) Compares whether the priority value is the same as the gantry loader status (In) priority value.

[0120]

[0121] Next, the priority value comparison step (S41) of the machine tool is executed.

[0122] This step is a step of comparing the priority of the machine tool (60) and the priority of the peripheral device (70) when the priority of the gantry loader (10) is not the same as the priority of the machine tool (60) or the peripheral device (70) in the priority value comparison step (S40) of the gantry loader, that is, when the priority value of the machine tool status (Gn) and the priority value of the gantry loader status (In) are not the same, or the priority value of the peripheral device status (H) is n ) priority value and the gantry loader status (In) priority value are not the same, the machine tool status (Gn) priority value is higher than the peripheral status (H n ) Compares whether it is greater than or less than the priority value.

[0123]

[0124] Next, the gantry loader movement command step (S50) is executed.

[0125] This step consists of a machine tool entry command step (S51) that commands the gantry loader (10) to move to a machine tool (60), and a peripheral device entry command step (S52) that commands the gantry loader (10) to move to a peripheral device (70).

[0126] The above machine tool entry command step (S51) is performed when the priority value of the machine tool status (Gn) and the priority value of the gantry loader status (In) are the same in the priority value comparison step (S40) of the gantry loader, or when the priority value of the machine tool status (Gn) is greater than the priority value of the peripheral device status (H) in the priority value comparison step (S41) of the machine tool. n ) If it is less than the priority value, the control device (30) applies an operation command to the servo motor (12) of the gantry loader (10) to enter the machine tool (60).

[0127] In addition, the peripheral device entry command step (S52) compares the peripheral device status (H) in the priority value comparison step (S40) of the gantry loader. n ) If the priority value and the gantry loader status (In) priority value are the same, or if the priority value of the machine tool status (Gn) is higher than the priority value of the peripheral device status (H) in the priority value comparison step (S41) of the machine tool n ) If the priority value is greater than the priority value, the control device (30) applies an operation command to the servo motor (12) of the gantry loader (10) to enter the peripheral device (70).

[0128]

[0129] Next, the moving section interference judgment step (S60) is executed.

[0130] This step is a step for determining whether there is interference with an adjacent gantry loader (10) when the current gantry loader (10) receives a movement command and moves from the current gantry loader position (An) to the gantry loader target position (Bn), that is, when moving to a machine tool (60) or a peripheral device (70), and the current gantry loader position (A) adjacent to the section moving from the current gantry loader current position (An) to the gantry loader target position (Bn) n-1 ) is included.

[0131]

[0132] Next, the task order determination step (S70) is executed.

[0133] This step is the current position (A) of the gantry loader adjacent to the section in which the current gantry loader (10) moves from the current gantry loader position (An) to the gantry loader target position (Bn) in the above-mentioned moving section interference judgment step (S60). n-1 ) is included and interference occurs with an adjacent gantry loader (10), the priority values ​​for each work status of the current gantry loader (10) and the adjacent gantry loader (10) assigned in the priority assignment step (S30) are compared and determined.

[0134] That is, the machine tool status (G) is the priority value of the gantry loader status (In) of the current gantry loader (10). n ) priority value or peripheral status (H n ) The value of the added priority value is the gantry loader status (In) of the adjacent gantry loader (10). -1 ) machine tool status (G) in priority value n-1 ) priority value or peripheral status (H n-1 ) determines whether the value is less than the added priority value.

[0135] As a result of the judgment, the gantry loader (10) with a lower priority is instructed to evade or wait in a predetermined safety zone that does not interfere with the gantry loader (10) with a higher priority from moving to the target position (Bn).

[0136] The step of commanding the gantry loader (10) with lower priority in the operation priority judgment step (S70) to avoid or wait in the safe zone includes a safe zone avoidance command step (S71) and a safe zone wait command step (S72).

[0137] First, the safety zone avoidance command step (S71) commands the adjacent gantry loader (10) to avoid a predetermined safety zone that does not interfere with the path along which the current gantry loader (10) moves if the priority by work status of the current gantry loader (10) takes precedence over the priority by work status of the adjacent gantry loader (10) in the main work operation priority judgment step (S70).

[0138] More specifically, the safety zone avoidance command step (S71) is performed in the current operation order judgment step (S70) by adding the machine tool state (G) to the gantry loader state (In) priority value of the current gantry loader (10). n ) priority value or peripheral status (H n ) The value of the added priority value is the gantry loader status (In) of the adjacent gantry loader (10). -1 ) machine tool status (G) in priority value n-1 ) priority value or peripheral status (H n-1 ) If the priority value is less than the added value, the control device (30) of the adjacent gantry loader (10) commands the adjacent gantry loader (10) to avoid a predetermined safety area that does not interfere with the movement path of the current gantry loader (10).

[0139]

[0140] In addition, the safety zone standby command step (S72) commands the current gantry loader (10) to standby in a predetermined safety zone that does not interfere with the path along which the adjacent gantry loader (10) moves if the priority by work status of the current gantry loader (10) does not take precedence over the priority by work status of the adjacent gantry loader (10) in the main work operation priority judgment step (S70).

[0141] More specifically, the safety zone standby command step (S72) is the step of judging the priority of the current operation (S70) of the gantry loader (10) in the priority value of the gantry loader status (In) and the machine tool status (G). n ) priority value or peripheral status (H n ) The value of the added priority value is the gantry loader status (In) of the adjacent gantry loader (10). -1 ) machine tool status (G) in priority value n-1 ) priority value or peripheral status (H n-1) If the priority value is greater than the added value, the control device (30) of the current gantry loader (10) commands the current gantry loader (10) to wait in a predetermined safety area that does not interfere with the movement path of the adjacent gantry loader (10).

[0142]

[0143] Meanwhile, the safety zone pre-determined in the safety zone avoidance command step (S71) and the safety zone standby command step (S72) is set to the distance obtained by adding the mechanical part non-contact distance (α) value that can exclude contact between the mechanical parts of the current gantry loader (10) and the adjacent gantry loader (10) and the braking distance (β) when the gantry loader (10) stops at the maximum speed.

[0144]

[0145] Next, the work execution step (S80) is executed.

[0146] In this step, if the current gantry loader (10) does not interfere with an adjacent gantry loader (10) in the movement section interference determination step (S60), the current gantry loader (10) is commanded to move to the gantry loader target position (Bn), and if the current gantry loader (10) interferes with an adjacent gantry loader (10) in the movement section interference determination step (S60), the priority values ​​of the current gantry loader (10) and the adjacent gantry loader (10) are compared in the work operation priority determination step (S70), and the gantry loader (10) with a higher priority is commanded to move to the gantry loader target position (Bn), and after the movement command, the process returns to the information acquisition step (S20).

[0147]

[0148] As in the above embodiment, multiple gantry loaders (10) installed on one guide beam (20) can improve the processing productivity of the automated line by supplying or discharging materials while moving on the guide beam (20) to the machine tool (60) or peripheral device (70) without causing collision or interference with each other according to the work priority.

[0149]

[0150] Meanwhile, in another embodiment of the present invention, a situation may occur where one of the multiple gantry loaders (10) installed on one guide beam (20) or one of the machine tools (60) cooperating with the gantry loader (10) cannot operate normally due to a failure, etc. In this case, the control device (30) of the gantry loader (10) disables the gantry loader (10) or machine tool (60) that cannot operate normally, thereby excluding it from the operation of the automation line, and continuously operating the automation line with only the gantry loader (10) or machine tool (60) that can operate normally, thereby enabling uninterrupted operation of the automation line.

[0151]

[0152] FIG. 4 is a control flowchart for excluding a malfunctioning gantry loader (10) or machine tool (60) among a plurality of gantry loaders (10) or among machine tools (60) that cooperate with these gantry loaders (10) from the automated line operation by rendering it ineffective, as an embodiment of the present invention.

[0153] Referring to FIG. 4, after the information acquisition step (S20) of the above embodiment, the disabled gantry loader (10) or machine tool (60) can be excluded and the automation line can be continuously operated only with the normal gantry loader (10) or machine tool (60).

[0154] In this embodiment, the information acquisition step (S20) is performed by each control device (30) of multiple gantry loaders (10) installed on one guide beam (20) to determine the current position (A) of the gantry loader (10). n ), target position (B n ), machine tool status (G n ), peripheral status (H n ), gantry loader status (In) information, and gantry loader alarm information (J n ), machine tool alarm information (K n ), bypass on / off information (L n) to acquire more recognition.

[0155] The above gantry loader alarm information (J n ) can be divided into alarm messages (Message) for warning purposes, cycle stop, and emergency stop. In this embodiment, the gantry loader alarm information (J n ) is designed to recognize only emergency stop signals for convenience.

[0156] Meanwhile, the gantry loader alarm information (J) added to the above information acquisition step (S20) n ), machine tool alarm information (K n ), bypass on / off information (L n ) are, respectively, gantry loader alarm information (J n ) and bypass on / off information (L n ) is generated in the control device (30) of the gantry loader (10), and machine tool alarm information (K n ) can be generated in a control unit such as a numerical control device of a machine tool (60) and provided to a control device (30) of a gantry loader (10).

[0157] In addition, the information acquired by the control device (30) of each gantry loader (10) is also shared with the control devices (30) of other gantry loaders (10) installed on the guide beam (20) through a communication line (40).

[0158]

[0159] After the above information acquisition step (S20), the control device (30) can be divided into a gantry loader (10) inactivation control that excludes the inactivated gantry loader (10) and a machine tool (60) inactivation control that excludes the inactivated machine tool (60).

[0160]

[0161] First, the insolubility control process of the gantry loader (10) is described.

[0162] The gantry loader (10) inactivation control executed after the above information acquisition step (S20) is comprised of the following steps.

[0163] First, the gantry loader alarm information judgment step (S110) is executed.

[0164] This step is the gantry loader alarm information (J) acquired in the above information acquisition step (S20). n ) determines whether it is an emergency stop and provides gantry loader alarm information (J n ) is not an emergency stop, that is, if the gantry loader (10) is operating normally, control is executed to return to the information acquisition step (S20).

[0165]

[0166] Next, the gantry loader insolubility treatment step (S120) is executed.

[0167] In the above gantry loader alarm information judgment step (S110), the above gantry loader alarm information (J n ) is an emergency stop, the above gantry loader alarm information (J n ) moves the gantry loader (10) in emergency stop to a parking position where it does not interfere with the movement of the adjacent gantry loader (10).

[0168] More specifically, the above gantry loader insolubility processing step (S120) is performed by gantry loader alarm information (J n ) can be divided into a gantry loader servo motor usability judgment step (S121) and a gantry loader parking position movement step (S122) depending on whether the gantry loader (10) in emergency stop can be moved to the parking position by the servo motor (12) driving the gantry loader (10).

[0169] First, the step (S121) of determining whether the gantry loader servo motor is available is performed in the step (S110) of determining the gantry loader alarm information (J n) is an emergency stop, it is determined whether an encoder signal is generated from the servo motor (12) that performs the movement of the gantry loader (10) to move the gantry loader (10) to the parking position. This is to determine whether the servo motor (12) can be manually controlled to move the gantry loader (10) if the encoder signal is generated normally from the servo motor (12).

[0170] Next, the gantry loader parking position movement step (S122) determines whether the gantry loader servo motor is available (S121) and if it is determined that an encoder signal is generated from the servo motor (12), the gantry loader alarm information (J n ) monitors the encoder signal of the servo motor (12) of the gantry loader (10) in emergency stop and arbitrarily controls it in manual mode to move the gantry loader (10) in emergency stop to a parking position where it does not interfere with the movement of the adjacent gantry loader (10), and if it is determined that the encoder signal is not generated from the servo motor (12), the gantry loader alarm information (J n ) is forcibly moved to a parking position where the gantry loader (10) in emergency stop does not interfere with the operation of the adjacent gantry loader (10), and after being forcibly moved to the parking position, the current position (An) of the gantry loader, which is to be disabled, is input to the control device (30) as the parking position.

[0171]

[0172] Next, the acquisition information invalidation step (S130) is executed.

[0173] This step is for Gantry Loader Alarm Information (J n ) cuts off the power of the servo motor (12) of the gantry loader (10) in emergency stop, and at the same time, invalidates the information of the gantry loader (10) acquired in the information acquisition step (S20), and performs control to exclude the gantry loader (10) in emergency stop from the control target based on the gantry loader alarm information (Jn) and then return to the information acquisition step (S20).

[0174] That is, the disabled gantry loader (10) is moved to the parking position to prevent collision or interference with an adjacent gantry loader (10), and the information acquired in the information acquisition step (S20) is initialized and invalidated. However, the current gantry loader position (An) information of the disabled gantry loader (10) is reset to the parking position. This is to prevent malfunction and to exclude collision or interference with another adjacent gantry loader (10) by utilizing the acquired information of the gantry loader (10) that has been disabled and moved to the parking position by the control device (30).

[0175] In this way, in the insoluble action step (S130), an emergency stop signal (J n ) is disabled, and the automation line can continue to operate only with the remaining gantry loaders (10).

[0176]

[0177] Next, the gantry loader normalization step (S140) is executed.

[0178] This step repairs the gantry loader (10) to eliminate the cause of the emergency stop signal of the disabled gantry loader (10) in the above-mentioned acquisition information invalidation step (S130), and then executes control to normalize the disabled gantry loader (10) and return the control step to the above-mentioned information acquisition step (10). As a result, the disabled gantry loader (10) is normalized and operates the automation line normally in conjunction with adjacent gantry loaders (10), thereby improving process efficiency.

[0179]

[0180] As in the above embodiment, when a specific gantry loader (10) among the gantry loaders (10) installed in multiple numbers on the guide beam (20) breaks down, the broken gantry loader (10) is moved to a parking position and rendered inactive so as to prevent collision or interference with an adjacent gantry loader (10), thereby enabling the automation work to continue to be performed only with the gantry loaders (10) that are operating normally without stopping the entire automation line.

[0181] Accordingly, even if a specific gantry loader (10) breaks down, the productivity of the automation line can be improved in that the automation line can continue to operate only with the gantry loaders (10) that are operating normally without stopping the entire automation line including multiple gantry loaders (10).

[0182]

[0183] As another practical example, referring to FIG. 4, after the information acquisition step (S20) of the above embodiment, the inactive control of the machine tool (60) can be executed to exclude the inactive machine tool (60) as follows.

[0184] First, the machine tool alarm information judgment step (S210) is executed.

[0185] This step is to obtain the machine tool alarm information (K) obtained in the above information acquisition step (S20). n ) determines whether it is an emergency and provides machine tool alarm information (K n ) is not an emergency, that is, if the machine tool (60) can normally perform the operation of supplying or discharging materials with the gantry loader (10), control is executed to return to the information acquisition step (S20).

[0186]

[0187] Next, the step (S220) for determining whether to select the bypass function is executed.

[0188] This step is the machine tool alarm information judgment step (S210) in which the machine tool alarm information (K) is determined. n) in case of emergency, the gantry loader (10) sends machine tool alarm information (K n ) to determine whether to bypass the machine tool (60) in which the bypass occurred, bypass on / off information (L) is sent to the control device (30). n ) determines whether it is selected as on.

[0189]

[0190] Next, the machine tool insolubility step (S230) is executed.

[0191] This step is to determine whether to select the bypass function (S220) and to determine whether the bypass on / off information (L) is provided. n ) is selected to on, the bypass function of the gantry loader (10) is activated so that the gantry loader (10) can output machine tool alarm information (K n ) controls the machine tool (60) to skip the process of introducing the material into the emergency machine tool and to bypass it, and at the same time, initializes the information acquired from the machine tool (60) acquired in the information acquisition step (S20) and controls the machine tool to return to the information acquisition step (S20).

[0192] Machine tool alarm information (K) like this n ) is an emergency, but bypass on / off information (L n ) is selected to on, the gantry loader (10) can be bypassed by the machine tool (60) that generated the emergency signal, allowing the automation line to continue to operate without interruption.

[0193] In addition, this step determines whether to select the bypass function (S220) and bypass on / off information (L) n ) is selected as off, the machine tool alarm information (K n ) is transmitted to the control device (30) of the gantry loader (10) and machine tool alarm information (K n ) to stop the operation of the gantry loader (10) and machine tool (60) in which the problem occurred.

[0194]

[0195] Next, the machine tool normalization step (S240) is executed.

[0196] This step repairs the machine tool (60) in which the machine tool alarm information (Kn) has been generated in order to remove the cause of the machine tool alarm information (Kn) of the machine tool (60) disabled in the machine tool disablement step (S230), and then executes control to normalize the disabled machine tool (60) and return it to the information acquisition step (S20).

[0197] As a result, the machine tool (60) that had been disabled is normalized and the automated line is operated normally in conjunction with the gantry loader (10).

[0198]

[0199] As in the above embodiment, when a machine tool (60) that cooperates with multiple gantry loaders (10) installed on a guide beam (20) breaks down, the broken machine tool (60) and the gantry loader (10) entering the machine tool (60) are stopped, or the gantry loader (10) is bypassed from the broken machine tool (60), thereby preventing a collision or interference between the gantry loader (10) and the machine tool (60) due to the broken machine tool (60). Furthermore, by stopping only the broken machine tool (60) and bypassing the gantry loader (10) from the broken machine tool (60), the productivity of the automation line can be improved in that the automation line can be continuously operated without stopping the entire automation line in an automation line that processes the same material, with only the broken machine tool (60) stopped.

[0200]

[0201] Meanwhile, in another embodiment, FIG. 5 is a control flowchart for excluding a disabled machine tool from among machine tools that cooperate with a gantry loader, as another embodiment of the present invention.

[0202] Referring to Fig. 5, in the process of controlling the inactivation of the machine tool (60) that excludes the inactivated machine tool (60), in the information acquisition step (S20), bypass on / off information (L) n ) information is not acquired or is set to always be on, and the step (S220) of determining whether to select the bypass function is omitted.

[0203] Therefore, in the machine tool inoperability step (S230), if the machine tool alarm information (Kn) is an emergency in the machine tool alarm information judgment step (S210), the bypass function of the gantry loader (10) is immediately activated so that the gantry loader (10) can output the machine tool alarm information (Kn). n ) can be controlled to skip the process of entering the material into the emergency machine tool (60) and bypass it, and at the same time, the information acquired from the machine tool (60) acquired in the information acquisition step (S20) can be initialized and controlled to return to the information acquisition step (S20).

[0204] In addition, in the machine tool normalization step (S240) following the machine tool inoperability step (S230), as in the above embodiment, in order to remove the cause of the machine tool alarm information (Kn) of the machine tool (60) inoperable in the machine tool inoperability step (S230), the machine tool (60) in which the machine tool alarm information (Kn) was generated is repaired, and then the disabled machine tool (60) is normalized to return to the information acquisition step (S20).

[0205]

[0206] As in the above embodiment, by installing multiple gantry loaders (10) on one guide beam (20) and executing the operation of the gantry loaders (10) according to the work priority in an automated line that operates in conjunction with a machine tool (60) and peripheral devices (70), the productivity of the automated line is improved, and further, even if the gantry loader (10) or the machine tool (60) breaks down, the automated line can be operated without interruption only with a normally operating gantry loader (10) or machine tool (60), so that the operation interruption of the automated line can be minimized.

[0207] In addition, the present invention can minimize the distance between each gantry loader (10) through optimized control of each gantry loader (10) configured in multiple units, thereby optimizing the size of the automated line.

[0208]

[0209] As described above, although the present invention has been described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various modifications and changes may be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below.

[0210] <Explanation of symbols>

[0211] 10 gantry loaders

[0212] 11 Cancer

[0213] 12 servo motors

[0214] 20 guide beams

[0215] 30 Control Unit

[0216] 40 communication lines

[0217] 60 machine tools

[0218] 70 peripherals

[0219] S10 Priority Setting Step

[0220] S20 information acquisition stage

[0221] S30 Priority Assignment Stage

[0222] S40 Gantry Loader Priority Value Comparison Step

[0223] S41 Machine Tool Priority Value Comparison Step

[0224] S50 gantry loader movement command stage

[0225] S51 Machine Tool Entry Command Stage

[0226] S52 Peripheral Device Entry Command Stage

[0227] S60 moving section interference judgment stage

[0228] S70 work order priority determination stage

[0229] S71 Safe Zone Avoidance Command Stage

[0230] S72 Safe Zone Standby Command Stage

[0231] S80 work execution steps

[0232] S110 Gantry Loader Alarm Information Decision Step

[0233] S120 gantry loader insolubility treatment stage

[0234] S121 Gantry Loader Servo Motor Usability Determination Step

[0235] S122 Gantry Loader Parking Position Movement Step

[0236] S130 Gantry Loader Dissolution Steps

[0237] S140 Gantry Loader Normalization Steps

[0238] S210 Machine Tool Alarm Information Determination Step

[0239] Step to determine whether to select the S220 bypass function

[0240] S230 Machine tool insolubility stage

[0241] S240 machine tool normalization stage

Claims

1. In an automated line having a plurality of machine tools (60) for processing materials, a plurality of peripheral devices (70) for loading materials, and a plurality of gantry loaders (10) that reciprocate on a single guide beam (20) installed to supply or discharge materials between the machine tools (60) and the peripheral devices (70), a gantry loader control method for controlling each gantry loader (10) by sharing information with the machine tools (60) and the peripheral devices (70) through a control device (30), A priority setting step (S10) for setting control priorities according to the working status of the above gantry loader (10), machine tool (60), and peripheral device (70); An information acquisition step (S20) in which information of each gantry loader (10), the machine tool (60), and the peripheral device (70) is acquired from a control device (30) that controls the plurality of gantry loaders (10) and is shared with the control device (30) of the adjacent gantry loader (10) through a communication line (40); A priority assignment step (S30) for assigning a priority value set in the priority setting step (S10) to each variable corresponding to the gantry loader (10), machine tool (60), and peripheral device (70) based on the information acquired in the information acquisition step (S20); A priority value comparison step (S40) of the gantry loader to compare whether the priority of the gantry loader (10) is the same as the priority of the machine tool (60) or the peripheral device (70); In the priority value comparison step (S40) of the gantry loader, if the priority of the gantry loader (10) is not the same as the priority of the machine tool (60) or the peripheral device (70), a priority value comparison step (S41) of the machine tool that compares the priority of the machine tool (60) and the priority of the peripheral device (70); A gantry loader movement command step (S50) consisting of a machine tool entry command step (S51) that commands the movement of the gantry loader (10) to the machine tool (60) or a peripheral device entry command step (S52) that commands the movement of the gantry loader (10) to a peripheral device (70); When the above gantry loader (10) receives a movement command and moves from the current gantry loader position (An) to the target gantry loader position (Bn), the current gantry loader position (A) adjacent to the movement section of the gantry loader (10) n-1 ) is included in the moving section interference judgment step (S60); In the above movement section interference judgment step (S60), the current position (A) of the gantry loader adjacent to the current movement section of the gantry loader (10) n-1 ) is included, the priority value of the current gantry loader (10) and the adjacent gantry loader (10) assigned in the priority assignment step (S30) is compared and determined, and the gantry loader (10) with a lower priority is instructed to avoid or wait in a predetermined safety zone that does not interfere with the gantry loader (10) with a higher priority from moving to the target position (Bn). A gantry loader control method comprising a work execution step (S80) in which, if the current gantry loader (10) does not interfere with an adjacent gantry loader (10) in the above-mentioned movement section interference judgment step (S60), the current gantry loader (10) is commanded to move to the gantry loader target position (Bn), and if the current gantry loader (10) interferes with an adjacent gantry loader (10), the priority values ​​of the current gantry loader (10) and the adjacent gantry loader (10) are compared in the work operation priority judgment step (S70), and the gantry loader (10) having a higher priority is commanded to move to the gantry loader target position (Bn), and after the movement command, the work execution step (S80) in which the work returns to the information acquisition step (S20).

2. In the first paragraph, in the priority setting step (S10), the control priority by work status is set to 1st priority when the gantry loader (10) is in a state of waiting to input or discharge materials to or from the machine tool (60) according to the content of the control signal commanded to operate the gantry loader (10) and the machine tool (60) or the peripheral device (70), 2nd priority when the gantry loader (10) is in a state of receiving a priority command (Pre-call) to handle materials, 3rd priority when the gantry loader (10) is in a state of discharging materials from the peripheral device (70), and 4th priority when the gantry loader (10) is in a state of loading materials onto the peripheral device (70). A gantry loader control method.

3. In the first paragraph, the information acquired in the information acquisition step (S20) includes the current position of the gantry loader (An), the target position of the gantry loader (Bn), and the machine tool status (G n ), peripheral status (H n ), a gantry loader control method characterized in that it includes gantry loader status (In) information.

4. In the third paragraph, the information acquired in the information acquisition step (S20) is gantry loader alarm information (J n ), machine tool alarm information (K n ), bypass on / off information (L n ) is further included. A gantry loader control method.

5. In the first paragraph, if the gantry loader (10) is holding the material in the priority assignment step (S30), the priority value of the gantry loader (10) according to the gantry loader status (In) becomes 1, and if the machine tool (60) is waiting after completing the material processing, the machine tool status (G n ) the priority value of the machine tool (60) is 1, and when the peripheral device (70) is waiting to discharge the material, the peripheral device status (H n ) is characterized in that the priority value according to the gantry loader control method is 3.

6. In the first paragraph, the priority value comparison step (S40) of the gantry loader compares the priority value according to the gantry loader status (In) assigned in the priority assignment step (S30) with the priority value of the machine tool status (Gn) and the peripheral device status (H). n ) priority value, but the priority value of the machine tool status (Gn) is the same as the priority value of the gantry loader status (In), or the peripheral device status (H n ) A gantry loader control method characterized in that the priority value is compared to the gantry loader status (In) priority value.

7. In the first paragraph, the priority value comparison step (S41) of the machine tool is performed when the priority value of the machine tool status (Gn) and the priority value of the gantry loader status (In) are not the same, or the peripheral device status (H) is n ) priority value and the gantry loader status (In) priority value are not the same, the machine tool status (Gn) priority value is higher than the peripheral status (H n ) A gantry loader control method characterized by comparing whether the priority value is greater than or less than the priority value.

8. In the first paragraph, the machine tool entry command step (S51) is performed when the priority value of the machine tool status (Gn) and the priority value of the gantry loader status (In) are the same in the priority value comparison step (S40) of the gantry loader, or when the priority value of the machine tool status (Gn) is the same as the priority value of the peripheral device status (H) in the priority value comparison step (S41) of the machine tool. n ) If the priority value is less than the priority value, an operation command is applied to the servo motor (12) to cause the gantry loader (10) to enter the machine tool (60), The above peripheral device entry command step (S52) is performed in the peripheral device status (H) in the priority value comparison step (S40) of the gantry loader. n ) If the priority value and the gantry loader status (In) priority value are the same, or if the priority value of the machine tool status (Gn) is higher than the priority value of the peripheral device status (H) in the priority value comparison step (S41) of the machine tool n ) A gantry loader control method characterized in that an operation command is applied to the servo motor (12) to cause the gantry loader (10) to enter the peripheral device (70) when the priority value is greater than the priority value.

9. In the first paragraph, in the task operation priority determination step (S70), the priority value of the current gantry loader (10) and the adjacent gantry loader (10) assigned in the priority assignment step (S30) is compared with the machine tool status (G) priority value of the gantry loader status (In) of the current gantry loader (10). n ) priority value or peripheral status (H n ) The value of the added priority value is the gantry loader status (In) of the adjacent gantry loader (10). -1 ) machine tool status (G) in priority value n-1 ) priority value or peripheral status (H n-1 ) A gantry loader control method characterized in that it determines whether the value is smaller than the added priority value.

10. In the first paragraph, the work operation priority determination step (S70) includes a safety zone avoidance command step (S71) that commands the adjacent gantry loader (10) to avoid a predetermined safety zone that does not interfere with the path along which the current gantry loader (10) moves, if the priority by work status of the current gantry loader (10) takes precedence over the priority by work status of the adjacent gantry loader (10); A gantry loader control method characterized by including a safety zone standby command step (S72) that commands the current gantry loader (10) to standby in a predetermined safety zone that does not interfere with the path along which the adjacent gantry loader (10) moves when the priority by work status of the current gantry loader (10) is lower than the priority by work status of the adjacent gantry loader (10).

11. A gantry loader control method characterized in that, in the 10th paragraph, the safety zone pre-determined in the safety zone avoidance command step (S71) and the safety zone standby command step (S72) is set to a distance that is the sum of a mechanical part non-contact distance (α) value that can exclude contact between the mechanical parts of the current gantry loader (10) and an adjacent gantry loader (10) and a braking distance (β) when the gantry loader (10) stops at the maximum speed.

12. In the first paragraph, after the information acquisition step (S20), the gantry loader alarm information (J) acquired in the information acquisition step (S20) n ) determines whether it is an emergency stop and the above gantry loader alarm information (J n ) is not an emergency stop, the gantry loader alarm information judgment step (S110) that returns the control step to the information acquisition step (S20); In the above gantry loader alarm information judgment step (S110), the above gantry loader alarm information (J n ) is an emergency stop, the above gantry loader alarm information (J n ) and a gantry loader inactivation processing step (S120) of moving the gantry loader (10) in an emergency stop state to a parking position where it does not interfere with the movement of the adjacent gantry loader (10); The above gantry loader alarm information (J n ) cuts off the power of the servo motor (12) of the gantry loader (10) in an emergency stop, and at the same time, invalidates the information of the gantry loader (10) acquired in the information acquisition step (S20) so that the gantry loader alarm information (Jn) excludes the gantry loader (10) in an emergency stop from the control target, and then returns the control step to the information acquisition step (S20) in an information invalidation step (S130); A gantry loader control method further comprising a gantry loader normalization step (S140) for removing the cause of the emergency stop signal of the gantry loader (10) disabled in the above-mentioned acquisition information invalidation step (S130) to normalize the disabled gantry loader (10) and return the control step to the above-mentioned information acquisition step (10).

13. In the 12th paragraph, the gantry loader insolubility processing step (S120) includes a gantry loader servo motor usability determination step (S121) for determining whether an encoder signal is generated from a servo motor (12) that performs movement of the gantry loader (10), In the step (S121) of determining whether the gantry loader servo motor is available, if it is determined that an encoder signal is generated from the servo motor (12), the gantry loader alarm information (J n ) controls the servo motor (12) of the gantry loader (10) in emergency stop in manual mode to move the gantry loader (10) in emergency stop to a parking position where it does not interfere with the movement of the adjacent gantry loader (10), and if it is determined that the encoder signal is not generated from the servo motor (12), the gantry loader alarm information (J n ) is forcibly moved to a parking position where the operation of the adjacent gantry loader (10) does not interfere with the operation of the gantry loader (10) which is in an emergency stop state, and after being forcibly moved to the parking position, a gantry loader parking position moving step (S122) is included in which the current position (An) of the gantry loader which is to be disabled is input as the parking position to the control device (30).

14. A gantry loader control method characterized in that, after the acquisition information invalidation step (S130) in the 12th paragraph, the current position (An) information of the disabled gantry loader (10) is reset to the parking position.

15. In the first paragraph, after the information acquisition step (S20), a machine tool alarm information judgment step (S210) for determining whether the machine tool alarm information (Kn) acquired in the information acquisition step (S20) is an emergency, and returning the control step to the information acquisition step (S20) if the machine tool alarm information (Kn) is an emergency; In the above machine tool alarm information judgment step (S210), the machine tool alarm information (K n ) in case of emergency, the gantry loader (10) is used to provide machine tool alarm information (K n ) to determine whether to bypass the machine tool (60) in which the bypass occurred, the control device (30) transmits bypass on / off information (L n ) is selected to on; and a step (S220) for determining whether the bypass function is selected; In the step (S220) of determining whether to select the above bypass function, bypass on / off information (L) n ) is selected to on, the bypass function of the gantry loader (10) is activated so that the gantry loader (10) can output machine tool alarm information (K n ) controls to skip the process of introducing materials into the emergency machine tool (60) and to bypass, and at the same time, initializes the information acquired of the machine tool (60) acquired in the information acquisition step (S20), and controls the control step to return to the information acquisition step (S20), and in the step (S220) of determining whether to select the bypass function, bypass on / off information (L) n ) is selected as off, the machine tool alarm information (K n ) is transmitted to the control device (30) of the gantry loader (10) and machine tool alarm information (K n ) and a machine tool inactivation step (S230) that stops the operation of the gantry loader (10) and machine tool (60) in which the problem occurred; A gantry loader control method further comprising a machine tool normalization step (S240) for normalizing the disabled machine tool (60) and returning it to the information acquisition step (S20) after repairing the machine tool (60) in which the machine tool alarm information (Kn) was generated in the machine tool inoperability step (S230).

16. In the first paragraph, after the information acquisition step (S20), a machine tool alarm information judgment step (S210) for determining whether the machine tool alarm information (Kn) acquired in the information acquisition step (S20) is an emergency, and returning the control step to the information acquisition step (S20) if the machine tool alarm information (Kn) is an emergency; In the above machine tool alarm information judgment step (S210), the machine tool alarm information (K n ) in case of an emergency, the bypass function of the gantry loader (10) is activated so that the gantry loader (10) can transmit machine tool alarm information (K n ) controls the machine tool (60) to skip the process of introducing the material into the emergency machine tool and pass through a detour, and at the same time initializes the information acquired of the machine tool (60) acquired in the information acquisition step (S20), and controls the control step to return to the information acquisition step (S20) and the machine tool inactivity step (S230); A gantry loader control method further comprising a machine tool normalization step (S240) of repairing a machine tool (60) in which machine tool alarm information (Kn) has been generated in the above machine tool inoperability step (S230) to normalize the disabled machine tool (60) and return it to the information acquisition step (S20).

17. In an automated line having a plurality of machine tools (60) for processing materials, a plurality of peripheral devices (70) for loading materials, and a plurality of gantry loaders (10) that reciprocate on a single guide beam (20) installed to supply or discharge materials between the machine tools (60) and the peripheral devices (70), a gantry loader control method for controlling each gantry loader (10) by sharing information with the machine tools (60) and the peripheral devices (70) through a control device (30), In the control device (30) that controls the above plurality of gantry loaders (10), the gantry loader alarm information (J) of each gantry loader (10) n ) and sharing it with the control device (30) of the adjacent gantry loader (10) through the communication line (40) (S20); The gantry loader alarm information (J) acquired in the above information acquisition step (S20) n ) determines whether it is an emergency stop and the above gantry loader alarm information (J n ) is not an emergency stop, the gantry loader alarm information judgment step (S110) returns the control step to the information acquisition step (S20); In the above gantry loader alarm information judgment step (S110), the above gantry loader alarm information (J n ) is an emergency stop, the above gantry loader alarm information (J n ) is a gantry loader inactivation processing step (S120) that moves the gantry loader (10) in an emergency stop state to a parking position where it does not interfere with the movement of the adjacent gantry loader (10); The above gantry loader alarm information (J n ) cuts off the power of the servo motor (12) of the gantry loader (10) in an emergency stop, and at the same time invalidates the information of the gantry loader (10) acquired in the information acquisition step (S20), so that the gantry loader alarm information (Jn) excludes the gantry loader (10) in an emergency stop from the control target, and returns the control step to the information acquisition step (S20); A gantry loader control method including a gantry loader normalization step (S140) for removing the cause of the emergency stop signal of the gantry loader (10) disabled in the above-mentioned acquisition information invalidation step (S130) to normalize the disabled gantry loader (10) and return the control step to the above-mentioned information acquisition step (10).

18. In the 17th paragraph, the gantry loader insolubility processing step (S120) includes a gantry loader servo motor usability judgment step (S121) for judging whether an encoder signal is generated from a servo motor (12) that performs movement of the gantry loader (10), In the step (S121) of determining whether the gantry loader servo motor is available, if it is determined that an encoder signal is generated from the servo motor (12), the gantry loader alarm information (J n ) controls the servo motor (12) of the gantry loader (10) in emergency stop in manual mode to move the gantry loader (10) in emergency stop to a parking position where it does not interfere with the movement of the adjacent gantry loader (10), and if it is determined that the encoder signal is not generated from the servo motor (12), the gantry loader alarm information (J n ) is forcibly moved to a parking position where the gantry loader (10) in an emergency stop state does not interfere with the operation of an adjacent gantry loader (10), and after being forcibly moved to the parking position, the current position (An) of the gantry loader, which is to be disabled, is input as the parking position to the control device (30). A method for establishing a gantry loader, including a gantry loader parking position movement step (S122).

19. A gantry loader control method characterized in that, after the acquisition information invalidation step (S130) in the 17th paragraph, the current position (An) information of the disabled gantry loader (10) is reset to the parking position.

20. In an automated line having a plurality of machine tools (60) for processing materials, a plurality of peripheral devices (70) for loading materials, and a plurality of gantry loaders (10) that reciprocate on a single guide beam (20) installed to supply or discharge materials between the machine tools (60) and the peripheral devices (70), a gantry loader control method for controlling each gantry loader (10) by sharing information with the machine tools (60) and the peripheral devices (70) through a control device (30), An information acquisition step (S20) in which information of each gantry loader (10) and the machine tool (60) is acquired from a control device (30) that controls the plurality of gantry loaders (10) and the information is shared with the control device (30) of an adjacent gantry loader (10) through a communication line (40); A machine tool alarm information determination step (S210) for determining whether the machine tool alarm information (Kn) acquired in the above information acquisition step (S20) is an emergency, and returning the control step to the information acquisition step (S20) if the machine tool alarm information (Kn) is an emergency; In the above machine tool alarm information judgment step (S210), the machine tool alarm information (K n ) in case of emergency, the gantry loader (10) is used to provide machine tool alarm information (K n ) to determine whether to bypass the machine tool (60) in which the bypass occurred, the control device (30) transmits bypass on / off information (L n ) is selected to on; and a step (S220) for determining whether the bypass function is selected; In the step (S220) of determining whether to select the above bypass function, bypass on / off information (L) n ) is selected to on, the bypass function of the gantry loader (10) is activated so that the gantry loader (10) can output machine tool alarm information (K n ) controls to skip the process of introducing materials into the emergency machine tool (60) and to bypass, and at the same time, initializes the information acquired of the machine tool (60) acquired in the information acquisition step (S20), and controls the control step to return to the information acquisition step (S20), and in the step (S220) of determining whether to select the bypass function, bypass on / off information (L) n ) is selected as off, the machine tool alarm information (K n ) is transmitted to the control device (30) of the gantry loader (10) and machine tool alarm information (K n ) and a machine tool inactivation step (S230) that stops the operation of the gantry loader (10) and machine tool (60) in which the problem occurred; A gantry loader control method further comprising a machine tool normalization step (S240) for normalizing the disabled machine tool (60) and returning it to the information acquisition step (S20) after repairing the machine tool (60) in which the machine tool alarm information (Kn) was generated in the machine tool inoperability step (S230).

21. In an automated line having a plurality of machine tools (60) for processing materials, a plurality of peripheral devices (70) for loading materials, and a plurality of gantry loaders (10) that reciprocate on a single guide beam (20) installed to supply or discharge materials between the machine tools (60) and the peripheral devices (70), a gantry loader control method for controlling each gantry loader (10) by sharing information with the machine tools (60) and the peripheral devices (70) through a control device (30), An information acquisition step (S20) in which information of each gantry loader (10) and the machine tool (60) is acquired from a control device (30) that controls the plurality of gantry loaders (10) and the information is shared with the control device (30) of an adjacent gantry loader (10) through a communication line (40); A machine tool alarm information determination step (S210) for determining whether the machine tool alarm information (Kn) acquired in the above information acquisition step (S20) is an emergency, and returning the control step to the information acquisition step (S20) if the machine tool alarm information (Kn) is an emergency; In the above machine tool alarm information judgment step (S210), the machine tool alarm information (K n ) in case of an emergency, the bypass function of the gantry loader (10) is activated so that the gantry loader (10) can transmit machine tool alarm information (K n ) controls the machine tool (60) to skip the process of introducing the material into the emergency machine tool and pass through a detour, and at the same time initializes the information acquired of the machine tool (60) acquired in the information acquisition step (S20), and controls the control step to return to the information acquisition step (S20) and the machine tool inactivity step (S230); A gantry loader control method further comprising a machine tool normalization step (S240) of repairing a machine tool (60) in which machine tool alarm information (Kn) has been generated in the above machine tool inoperability step (S230) to normalize the disabled machine tool (60) and return it to the information acquisition step (S20).

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