WO2023149134A1 - Machine tool - Google Patents
Machine tool Download PDFInfo
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- WO2023149134A1 WO2023149134A1 PCT/JP2022/047803 JP2022047803W WO2023149134A1 WO 2023149134 A1 WO2023149134 A1 WO 2023149134A1 JP 2022047803 W JP2022047803 W JP 2022047803W WO 2023149134 A1 WO2023149134 A1 WO 2023149134A1
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- WIPO (PCT)
- Prior art keywords
- tool
- hand
- tools
- transfer
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- Prior art date
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- 238000003754 machining Methods 0.000 claims abstract description 36
- 238000012546 transfer Methods 0.000 claims description 174
- 238000003860 storage Methods 0.000 claims description 89
- 238000005520 cutting process Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 description 73
- 230000008569 process Effects 0.000 description 61
- 230000032258 transport Effects 0.000 description 54
- 230000033001 locomotion Effects 0.000 description 34
- 238000010586 diagram Methods 0.000 description 32
- 238000012545 processing Methods 0.000 description 26
- 210000000078 claw Anatomy 0.000 description 20
- 230000008859 change Effects 0.000 description 19
- 230000010365 information processing Effects 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 9
- 238000013500 data storage Methods 0.000 description 8
- 238000007726 management method Methods 0.000 description 6
- 238000005457 optimization Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 239000000470 constituent Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
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- 230000009471 action Effects 0.000 description 1
- FFBHFFJDDLITSX-UHFFFAOYSA-N benzyl N-[2-hydroxy-4-(3-oxomorpholin-4-yl)phenyl]carbamate Chemical compound OC1=C(NC(=O)OCC2=CC=CC=C2)C=CC(=C1)N1CCOCC1=O FFBHFFJDDLITSX-UHFFFAOYSA-N 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
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- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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- 239000000843 powder Substances 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B29/00—Holders for non-rotary cutting tools; Boring bars or boring heads; Accessories for tool holders
- B23B29/24—Tool holders for a plurality of cutting tools, e.g. turrets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the present invention relates to tool changing technology for machine tools.
- Machine tools include devices that cut workpieces into desired shapes and devices that create workpieces by laminating metal powder.
- Machine tools for cutting include a turning center that processes the workpiece by applying a cutting tool to the rotating workpiece, and a machining center that processes the workpiece by applying a rotating tool to the workpiece. These functions are combined. There is a multitasking machine equipped with.
- a machine tool equipped with a turret may have multiple tools attached to it.
- a machine tool processes a workpiece while moving the tool post three-dimensionally according to a machining program prepared in advance and selecting a tool to be applied to the workpiece from among a plurality of tools mounted on the tool post.
- Some machine tools have a tool storage section that stores a large number of tools. When the required tool is not attached to the tool post, the machine tool attaches the designated tool from the tool storage section to the tool post and then continues machining the workpiece.
- the tool attached to the tool rest will be referred to as the "work tool”
- the tool stored in the tool storage section will be referred to as the "reserve tool”. They are simply referred to as "tools” when they are not distinguished from each other (see Patent Documents 1 to 3).
- the turret has multiple areas called stations, holders are attached to the stations, and tools are attached to the holders.
- a machine tool processes a workpiece while changing working tools at any time.
- a combination of work tools held on the tool post will be referred to as a "tool pattern”.
- internal exchange exchanging the mounting position of one working tool with another
- external exchange exchanging the working tool on the turret with a spare tool stored in the tool storage section
- a machine tool includes a tool post having a plurality of holders capable of holding a plurality of tools, and a machining control unit for controlling the tools held by the tool post and machining a workpiece according to a machining program.
- a tool storage unit for storing a plurality of tools
- a tool transport unit capable of transporting tools
- a schedule generation unit for generating a transport schedule indicating the order of tool transport
- a tool transport unit for controlling the tool transport unit according to the transport schedule.
- a tool transfer control unit that changes the holding position of the tool on the tool rest.
- the schedule generator moves the tools that have been placed on the tool post to empty holders according to pre-placement information that indicates the placement of the tools before replacement on the tool post and target placement information that indicates the placement of the tools after transfer.
- the transfer schedule is generated as a tool transfer order in which the first step and the second step of holding the tool stored in the tool storage section in an empty holder of the tool post are executed in order.
- FIG. 1 is a perspective view of a machine tool
- FIG. FIG. 4 is a perspective view of a tool storage section and a tool changing section
- 4 is an enlarged perspective view of a portion A shown in FIG. 3
- FIG. 3 is an external perspective view of a turret
- FIG. It is a hardware block diagram of a machine tool.
- 3 is a functional block diagram of an information processing device
- FIG. FIG. 5 is a schematic diagram for explaining the straight movement of the tool carrier; It is a schematic diagram for demonstrating turning operation
- FIG. 4 is a flow chart showing a process of generating a transport schedule; It is a flowchart which shows the processing process of a 1st process.
- FIG. 13 is a flow chart showing the details of the first step in S32 of FIG. 12;
- FIG. It is a figure which shows the 1st conveyance order of 1st exchange.
- FIG. 11 is a diagram showing a second transfer order for a second exchange;
- FIG. 11 is a diagram showing the first transport order for the third exchange; It is a figure which shows the 2nd conveyance order of 3rd exchange.
- FIG. 23 is a flow chart showing the details of the second step in S62 of FIG. 22;
- FIG. It is a figure which shows the 1st conveyance order at the time of two conveyance of a 2nd process.
- FIG. It is a figure which shows the 2nd conveyance order at the time of 2 conveyance of a 2nd process.
- FIG. 11 is a diagram showing a transfer schedule before execution of the fifth step in the second example
- FIG. 12 is a diagram showing a transfer schedule after execution of the fifth step in the second example
- the machine tool in this embodiment is a turning center or multitasking machine.
- FIGS. 1 to 5 the structure of the machine tool will be mainly described with reference to FIGS. 1 to 5.
- FIG. Details of the tool change control in this embodiment will be described with reference to FIG. 6 and subsequent figures.
- Exchange in this embodiment means not only exchanging the tool Ta and the tool Tb between the first location where the tool Ta is attached and the second location where another tool Tb is attached, but also the case where the tool Ta and the tool Tb are replaced. It also includes the case where the tool Ta is moved from the first place to the third place where the tool is not attached.
- FIG. 1 is a plan view showing a schematic configuration of a machine tool 100 according to this embodiment.
- the machine tool 100 includes a control device 160 , a processing device 112 , a tool carrier section 114 and a tool storage section 106 .
- the tool storage section 106 is also commonly referred to as a "magazine”.
- the control device 160 corresponds to the information processing device 118 and the processing control section 116, which will be described later with reference to FIG.
- the turret base 102 and turret 164 are movable in the X, Y and Z directions.
- FIG. 1 is a plan view when viewed in the XZ direction plane.
- a turret 164 is mounted on the turret base 102 for rotation about the Z axis.
- the tool storage section 106 (magazine) is provided on the Z-axis positive direction side of the turret base 102 .
- the tool transfer section 114 transfers the tool T.
- FIG. 2 is a perspective view of the machine tool 100.
- the prismatic turret 164 has a plurality of holders 168 configured to hold the tools T on its outer peripheral plane.
- the holder 168 is detachably attached to the turret body.
- the tool T attached to the holder 168 at the attachment/detachment position PT is to be attached/detached.
- each holder 168 can be indexed to the attachment/detachment position PT.
- the tool storage unit 106 includes a holding plate 170 that is rotatable in the direction of arrows DE (the X axis is the rotation axis), holding pots 174 that are arranged along the periphery of the holding plate 170 at equal intervals, and a holding pot.
- a drive motor 176 (see FIG. 3) is provided to rotate the plate 170 .
- the holding pot 174 can hold the tool T.
- the holding pot 174 protrudes in the negative direction of the X-axis.
- the tool T in the holding pot 174 at the attachment/detachment position PM becomes the attachment/detachment target.
- each holding pot 174 can be indexed to the attachment/detachment position PM.
- FIG. 3 is a perspective view of the tool storage section 106 and the tool carrier section 114.
- the tool carrier 114 is provided on the negative side of the X-axis relative to the turret base 102 and the tool storage 106 (see FIG. 1).
- the tool transport section 114 includes a feed mechanism 178 provided along the Z-axis, a carriage 180 that is moved along the Z-axis by the feed mechanism 178, a first hand 182 and a second hand attached to the carriage 180. Including hand 194 and the like.
- the tool conveying section 114 is a mechanism for conveying the tool T including a moving table 180 and a first hand 182 and a second hand 194 attached to the moving table 180 .
- the feed mechanism 178 includes a rail holder 184 arranged parallel to the Z-axis, two guide rails 186 attached to the lower surface of the rail holder 184 in parallel with the Z-axis, and the guide rails 186 engaged with each other.
- a ball screw 190 arranged along the rail holder 184; a ball nut 192 screwed onto the ball screw 190; and a servomotor 196 that rotates the ball screw 190 about its axis.
- a slider 188 is fixed on the upper surface of the moving table 180 .
- a holding member 198 is provided on the lower surface of the moving table 180 so as to be rotatable in the direction of arrows FG (the Y axis is the rotation axis) and movable in the X axis direction.
- the holding member 198 is driven in the X-axis direction by a moving cylinder 200 .
- the holding member 198 is driven by the driving cylinder 202 through a mechanism such as a rack and pinion mechanism, and turns in the directions of arrows FG within an angular range of 90 degrees. That is, the holding member 198 is configured to be planarly movable in the XZ directions and rotatable in the FG directions.
- FIG. 3 shows the state when the holding member 198 rotates in the F direction.
- a rotating shaft 204 is attached through the holding member 198 .
- the rotating shaft 204 is driven by a drive cylinder 206 via a mechanism such as a rack and pinion mechanism, and rotates in the directions of arrows JK within an angular range of 180 degrees.
- FIG. 4 is an enlarged perspective view of a portion A shown in FIG. 3.
- FIG. A first hand 182 and a second hand 194 are attached to the ends of the rotating shaft 204 so as to be symmetrical about the axis of the rotating shaft 204 and vertically parallel.
- the first hand 182 and the second hand 194 have the same configuration.
- the first hand 182 has a pair of gripping claws 208 for gripping the tool T, and can grip the tool T with the gripping claws 208 .
- the second hand 194 also has a pair of gripping claws 210 and can grip the tool T with the gripping claws 210 .
- the gripping claws 208 and 210 of the first hand 182 and the second hand 194 move in the Z-axis direction (gripping claws 208 or the like, which is perpendicular to the axial direction of the tool T).
- the grasping claws 208 and 210 of the first hand 182 and the second hand 194 are oriented along the X-axis direction.
- the holding member 198 When the holding member 198 is at the end of movement in the X-axis positive direction (this position is referred to as the "first X position") and at the end of rotation in the F direction, it is held by the holding pot 174 indexed to the attachment/detachment position PM.
- the tool T being held can be gripped by the first hand 182 or the second hand 194 .
- the tool T gripped by the first hand 182 is moved to the holding pot 174 at the attachment/detachment position PM ( empty holding pot).
- the tool transport section 114 is located at an intermediate position between the turret 164 and the tool storage section 106.
- the holding member 198 is moved to the end of movement in the negative direction of the X axis (this position is referred to as the "second X position") and rotated to the end of rotation in the arrow F direction.
- the tool carrier 114 is moved in the Z-axis positive direction to align the axial center (X direction) of the tool T gripped by the first hand 182 with the axial center of the holding pot 174 (the Z coordinate at this time is referred to as the "first Z position").
- the holding member 198 is moved in the positive direction of the X axis to the "first X position", and the tool T of the first hand 182 is attached to the empty holding pot 174 at the attachment/detachment position PM.
- the grip of the tool T by the first hand 182 is released.
- the tool T is not gripped by the gripping claws 208 of the first hand 182, and the tool T is held at the attachment/detachment position PM, the tool T at the attachment/detachment position PM can be taken out by the first hand 182 .
- the tool carrier 114 is positioned between the turret 164 and the tool storage 106 .
- the tool carrier 114 is It is moved to the "first X position", and then the tool carrier 114 is moved to the "first Z position”.
- the tool T attached to the attachment/detachment position PM enters the openings of the pair of gripping claws 208 and is gripped by the gripping claws 208 .
- the holding member 198 is moved to the "second X position”.
- the tool T attached to the holding pot 174 is removed from the holding pot 174 while being gripped by the pair of gripping claws 208 .
- the holding member 198 of the tool transfer section 114 is at the "first X position" and At the end of rotation in the direction of arrow F, the tool T held by the holder 168 can be gripped by the first hand 182 or the second hand 194 positioned below.
- the first hand 182 is positioned on the upper side
- the second hand 194 is positioned on the lower side
- the first hand 182 grips the tool T
- the second hand 194 does not grip the tool T
- the tool T held by the first hand 182 can be exchanged with the tool T held by the holder 168 at the attachment/detachment position PT.
- the tool transport section 114 is located at an intermediate position between the turret 164 and the tool storage section 106.
- the tool carrier 114 is moved to a predetermined position set in the negative direction of the Z axis (this position is (referred to as "3rd Z position").
- the “third Z position” is the position where the lower second hand 194 is located on the Z-axis positive direction side with respect to the tool T held by the holder 168 when the holding member 198 is moved to the "first X position".
- the position, in other words, the second hand 194 is in the front position where the tool T does not interfere.
- the drive cylinder 206 vertically inverts the first hand 182 and the second hand 194, positions the second hand 194 on the upper side, positions the first hand 182 on the lower side, and moves the holding member 198 to the "second hand.” 1X position”.
- the tool T gripped by the first hand 182 is installed at the attachment/detachment position PT.
- the grip of the tool T by the first hand 182 is released.
- the tool T gripped by the first hand 182 is exchanged with the tool T at the attachment/detachment position PT.
- the tool T gripped by the second hand 194 can be stored in the tool storage section 106 by the storage operation described above.
- the holding member 198 is at the rotation end in the direction of arrow G, and the "1st X position", the tool T held by this holder 168 can be gripped by the first hand 182 or the second hand 194 located on the lower side.
- the first hand 182 is positioned on the upper side
- the second hand 194 is positioned on the lower side
- the ball nut 192 grips the tool T
- the second hand 194 does not grip the tool T
- the attachment/detachment When the tool T is held at the position PT, the tool T held by the first hand 182 can be exchanged with the tool T at the attachment/detachment position PT.
- the tool transport section 114 is located at an intermediate position between the turret 164 and the tool storage section 106.
- the holding member 198 is rotated to the rotation end in the direction of arrow G and moved to the "second X position", and the tool carrier 114 is moved to the "third Z position" set in the negative direction of the Z axis.
- the second hand 194 is at a position where it can grip the tool T held by the holder 168 .
- the holding member 198 is moved to the "first X position".
- the tool T at the attachment/detachment position PT enters the openings of the pair of gripping claws 210 and is gripped by the gripping claws 210 .
- the holding member 198 is moved to the “fourth Z position” set in the negative direction of the Z axis, the tool T attached to the holder 168 is taken out from the holder 168 by the grip claws 210 .
- the first hand 182 and the second hand 194 are turned upside down by the drive cylinder 206 so that the second hand 194 is positioned on the upper side and the first hand 182 is positioned on the lower side. Move to "3rd Z position". As a result, the tool T gripped by the first hand 182 is attached to the attachment/detachment position PT. Next, when the holding member 198 is moved to the “second X position”, the grip of the tool T by the first hand 182 is released. Through the second exchange operation described above, the tool T gripped by the ball nut 192 and the tool T at the attachment/detachment position PT are exchanged. The tool T gripped by the second hand 194 can be stored in the tool storage section 106 by the storage operation described above.
- the tool conveying unit 114 is capable of three types of operations: “straight forward”, “turning”, and “rotating”.
- the first “straight forward” is an operation in which the tool carrier 114 moves linearly along the rail holding table 184 (Z-axis).
- Tool transfer between the turret 164 and the tool storage section 106 can be performed by linearly moving the tool transfer section 114 .
- the second “turning” is an operation of turning the tool carrier 114 in the directions indicated by arrows GF. That is, in the present embodiment, the moving table 180, which is a part of the tool carrier 114, has a rotation axis, and rotation around this rotation axis is called "rotation". A turn is a type of rotation, and this turn may be referred to as a first rotation. Either the first holder 168A in the first direction or the second holder 168B in the second direction on the turret 164 is selected as an operation target by the turning motion (details will be described later).
- the third “rotation” is an operation in which the holding member 198 has a rotating shaft 204 and the first hand 182 and the second hand 194 are turned upside down by rotating around this rotating shaft 204 . Since this rotation operation is also one type of rotation, it may be called a second rotation. Either the first hand 182 or the second hand 194 is selected as an operation target by the rotating motion (details will be described later).
- the rotation axis for the first rotation and the rotation axis for the second rotation are in a positional relationship that intersects.
- the rotation axis for the first rotation and the rotation axis for the second rotation may be configured to cross over each other.
- Straight movement, turning movement, and rotation movement each take a certain amount of time, but the time required for straight movement is the longest. In this embodiment, it is assumed that the time required for the turning motion is longer than the time required for the rotating motion.
- Time points are set in advance as numerical values that index the length of time required for each action.
- the time points of straight motion, turning motion, and rotating motion are “5,” “2,” and “1.”
- the time points for straight-ahead movement may be set as 5 points.
- the time point may be a numerical value that indicates the ratio of the time required for each of straight-ahead motion, turning motion, and rotating motion. How to use the time points will be explained later.
- FIG. 5 is an external perspective view of the turret 164.
- FIG. Turret 164 is rotatably connected to turret base 102 about the Z axis, as described above.
- the turret 164 has a dodecagonal prism shape, and 12 stations 222 (end faces) having insertion holes are formed on its side faces.
- the holder 168 can be inserted into the station 222 as it is, or the cartridge 220 can be inserted. Also, the holder 168 can be inserted into the cartridge 220 .
- the holder 168 is configured to be able to hold a tool T such as an end mill and a drill. Twelve tools T are held by the turret 164 by inserting the shanks of the tools T into the holder 168 .
- the longitudinal direction of the tool T coincides with the "second direction", which is the radial direction of the turret 164.
- the holder 168 directly inserted into the station 222 will be referred to as “second holder 168B”.
- the longitudinal direction of the tool T coincides with the “first direction”, which is the axial direction of the turret 164 .
- the first direction also coincides with the Z-axis negative direction in FIG.
- the holder 168 inserted into the cartridge 220 will be referred to as "first holder 168A”.
- the tool holding direction changes depending on whether they are fixed to the station 222 via the cartridge 220 or not.
- the tool T held by the first holder 168A cuts the inner diameter side of the solid work.
- the second direction tool held by the second holder 168B cuts the outer diameter side of the solid workpiece.
- six tools T are used for inner diameter machining and six tools T are used for outer diameter machining. used for processing.
- a holder 168 to which no tool T is attached is called an "empty holder".
- a cap member may be attached to the holder 168 for covering the hole into which the shank of the tool T is inserted.
- the "empty holder” includes a state in which the tool T is not attached or a case in which the cap member is attached to the hole of the holder.
- FIG. 6 is a hardware configuration diagram of the machine tool 100.
- the machine tool 100 includes an information processor 118 , a machining controller 116 , a machining device 112 , a tool carrier 114 and a tool storage 106 .
- a machining control unit 116 functioning as a numerical controller transmits a control signal to the machining device 112 according to a machining program.
- the processing device 112 moves the turret base 102 according to instructions from the processing control unit 116 to process the workpiece.
- the machining control unit 116 also acquires a “tool pattern” indicating a combination of tools T to be held in the turret 164 from the tool management unit 130 (described later).
- the machining control unit 116 causes the tool transfer unit 114 to perform tool exchange according to the tool pattern instructed by the information processing device 118 .
- the information processing device 118 controls the processing control unit 116 .
- the information processing device 118 provides the operator with a user interface function and manages tool patterns.
- the tool storage section 106 stores spare tools.
- the tool transport section 114 is a mechanism including a moving table 180 and corresponds to a so-called ATC (Automatic Tool Changer).
- the tool transport section 114 takes out the spare tool from the tool storage section 106 according to the replacement instruction from the machining control section 116 and replaces the working tool at the replacement position of the turret 164 with the spare tool.
- FIG. 7 is a functional block diagram of the information processing device 118.
- Each component of the information processing device 118 includes computing units such as a CPU (Central Processing Unit) and various co-processors, storage devices such as memory and storage, and hardware including wired or wireless communication lines connecting them. It is implemented by hardware and software stored in a storage device and supplying processing instructions to the computing unit.
- a computer program may consist of a device driver, an operating system, various application programs located in their higher layers, and a library that provides common functions to these programs.
- Each block described below represents a functional block rather than a hardware configuration.
- Each component of the processing control unit 116 also includes a computing unit such as a processor, a storage device such as a memory and a storage, hardware including a wired or wireless communication line connecting them, and processing by the computing unit stored in the storage device. It may be implemented by software providing instructions.
- the processing control unit 116 may be configured as a separate device from the information processing device 118 .
- the information processing device 118 includes a user interface processing unit 120 , a data processing unit 122 and a data storage unit 124 .
- the user interface processing unit 120 is in charge of user interface processing such as image display and audio output, in addition to receiving operations from the user.
- the data processing unit 122 executes various processes based on data acquired by the user interface processing unit 120 and data stored in the data storage unit 124 .
- the data processing section 122 also functions as an interface for the user interface processing section 120 and the data storage section 124 .
- the data storage unit 124 stores various programs and setting data.
- User interface processing section 120 includes an input section 126 and an output section 128 .
- the input unit 126 receives input from the user via a hard device such as a touch panel or a handle.
- the output unit 128 provides various information to the user through image display or audio output.
- the data processing unit 122 includes a tool management unit 130, a schedule generation unit 132 and a tool transfer control unit 134.
- the tool management unit 130 manages tool patterns indicating combinations of working tools to be held by the turret 164 .
- the schedule generator 132 combines the three operations of the tool transporter 114, ie, "straight forward,” “rotation,” and “rotation,” to generate a "transportation schedule” indicating the procedure of tool replacement (described later).
- the tool transfer control unit 134 instructs the machining control unit 116 to control the tool transfer unit 114 according to the transfer schedule, and causes the tool transfer unit 114 (moving table 180) to perform tool exchange.
- the data storage unit 124 stores tool patterns for each machining program.
- the machining control unit 116 appropriately executes tool replacement according to instructions from the tool transfer control unit 134 when executing the machining program.
- the data storage unit 124 also stores spare tool information regarding the types and states (usability) of spare tools stored in the tool storage unit 106 .
- FIG. 8A and 8B are schematic diagrams for explaining straight movement of the tool carrier 114.
- FIG. 8 Since the tool storage section 106 (magazine) and the turret 164 are separated from each other, the tool transport section 114 transports tools by reciprocating (straight forward) between the tool storage section 106 and the turret 164 .
- the second hand 194 has gripping claws on the tool storage section 106 side (hereinafter referred to as "preparation side")
- the first hand 182 has gripping claws on the turret 164 side (hereinafter referred to as "working side”).
- the hand facing the backup side is also called the “preparation hand”
- the hand facing the working side is also called the "working hand”.
- transportation means not only the case where the tool transporter 114 actually carries the tool T, but also the movement between the tool storage unit 106 and the turret 164 in a state where the tool transporter 114 does not hold the tool T. Including cases.
- the tool is indexed to the attachment/detachment position PM of the tool storage section 106 and the second hand 194 (backup hand) does not hold the tool (hereinafter referred to as "empty state").
- the spare tool at the attachment/detachment position PM of the tool storage section 106 is caught by the gripping claws of the second hand 194 (preliminary hand).
- the second hand 194 moves while holding the tool.
- the tool stored in the tool storage section 106 is taken out by the spare hand (the second hand 194 in FIG. 8) of the tool transport section 114 .
- the attachment/detachment position PM of the tool storage section 106 is empty and the second hand 194 (backup hand) holds a tool.
- the tool transport section 114 is moved toward the tool storage section 106 (backup side)
- the tool held by the second hand 194 (backup hand) moves to the attachment/detachment position PM (empty state) of the tool storage section 106.
- the tool carrier 114 is moved toward the turret 164 (working side)
- the tool is left in the holding pot 174 at the attachment/detachment position PM.
- the tool held by the spare hand of the tool conveying section 114 is stored in the tool storage section 106 .
- the second holder 168B is in an empty state at the attachment/detachment position PT of the turret 164, and that the first hand 182 (working hand) of the tool transfer section 114 holds a tool.
- the tool carrier 114 By moving the tool carrier 114 toward the turret 164, the tool held by the first hand 182 (working hand) is attached to the second holder 168B at the attachment/detachment position PT.
- the tool remains in the turret 164 (second holder 168B) when the machining control unit 116 causes the tool transfer unit 114 to move straight toward the tool storage unit 106.
- FIG. 9 is a schematic diagram for explaining the turning motion of the tool carrier 114.
- the machining control unit 116 can axially rotate (rotate about the Y-axis) the tool carrier 114 in the direction of the arrows GF (swivel operation).
- the machining control unit 116 rotates the tool conveying unit 114 to rotate the tool in the first direction held by the first holder 168A (first direction) and the tool in the first direction held by the second holder 168B (second direction). Either of two directional tools can be selected as the object of operation.
- the machining control unit 116 When taking out the tool in the second direction (second holder 168B) from the turret 164, as described above, the machining control unit 116 first rotates the turret 164 and indexes the tool T to the attachment/detachment position PT. Subsequently, the tool in the second direction can be removed from the turret 164 by inserting the tool into the first hand 182 (working hand) and moving the tool transfer section 114 toward the tool storage section 106 .
- the turret 164 When a tool is to be attached to the empty second holder 168B, the turret 164 is rotated to index the empty second holder 168B to the attachment/detachment position PT, and the tool is attached to the second holder 168B from the first hand 182 (working hand). Then, the tool can be attached to the second holder 168B by moving the tool carrier 114 toward the tool storage 106 side.
- the machining control unit 116 rotates the tool conveying unit 114 so that the rotating shaft 204 of the tool conveying unit 114 coincides with the Z-axis direction. Subsequently, the tool T (first holder 168A) indexed to the attachment/detachment position PT is inserted into the first hand 182 (working hand), and the turret 164 is moved toward the tool storage section 106 (Z-axis direction). , the tool that was mounted in the first direction is withdrawn from the turret 164 .
- the turret 164 When attaching a tool to the first holder 168A of the turret 164, after inserting the tool held by the first hand 182 (working hand) into the first holder 168A, the turret 164 is moved to the tool storage section 106 side. , the tool can be removed from the first hand 182 and mounted on the turret 164 in a first orientation.
- the rotation axis 204 of the tool carrier 114 coincides with the axial direction (Z-axis) of the turret 164, and the tool in the first holder 168A (first direction) can be operated.
- the state in which the rotating shaft 204 of the tool carrier 114 is orthogonal to the axial direction of the turret 164 and the tool in the second holder 168B (second direction) can be operated is the state in which the tool is in the "outer turning state”.
- FIG. 8 shows the tool carrier 114 in the outer diameter turning state
- FIG. 9 shows the tool carrier 114 in a state close to the inner diameter turning state.
- FIG. 10A and 10B are schematic diagrams for explaining the rotation operation of the tool carrier 114.
- FIG. The machining control unit 116 drives the rotating shaft 204 to turn the first hand 182 and the second hand 194 upside down.
- one of the first hand 182 and the second hand 194 is on the backup side, and the other is on the working side.
- the first hand 182 holds the tool TA and the second hand 194 is empty.
- the empty second hand 194 can be turned into the working hand by rotating the other hand attached to the turret 164 . can be removed by the second hand 194 .
- FIG. 11 is a flow chart showing the process of generating a transportation schedule.
- a tool change occurs.
- Tool exchange is realized by combining three operations of straight movement, turning, and rotation.
- a tool change is performed when changing the tool arrangement from the pre-change tool pattern in the turret 164 (hereinafter referred to as "current pattern") to the post-change tool pattern (hereinafter referred to as "target pattern").
- the schedule generator 132 In order to minimize the time, the schedule generator 132 generates a transfer schedule in advance before the actual tool change.
- the current pattern is "pre-arrangement information” indicating the arrangement of the tools before the tool change
- the target pattern is “target arrangement information” indicating the arrangement of the tools after the tool change.
- the current pattern as the pre-placement information includes the first hand 182 and the second hand 194 of each station 222 and 114 on the tool post 230 and the placement state of the tool T in each pot that is the mounting position of the tool T in the tool storage section 106. show. Whether or not the tool T is attached at these plurality of attachment positions and which tool is attached are treated as a type of pre-arrangement information. Whether or not the cap member is arranged instead of the tool T as described above is also handled as part of the pre-arrangement information. The same applies to target patterns as target layout information, but the details will be described later with reference to FIG. 14 and subsequent figures.
- the tool management unit 130 sets tool pattern P1 in machining process 1 and sets tool pattern P2 in the next machining process 2 as tool management information in advance. It is registered in the storage unit 124 in advance. That is, before actually machining a workpiece, the tool management unit 130 defines tool patterns P1, P2, P3, . . . for each machining process.
- the schedule generation unit 132 determines the tool transfer order for minimizing the tool change time (work man-hours and work time) when changing from a tool pattern P1 (current pattern) to another tool pattern P2 (target pattern). and registered in the data storage unit 124 as a transfer schedule. For example, the transfer schedule Q (P1, P2) when changing from the tool pattern P1 to the tool pattern P2, the transfer schedule Q (P2, P3) when changing from the tool pattern P2 to the tool pattern P3, . 132 is prepared in advance.
- the tool transfer control unit 134 instructs the machining control unit 116 to control the tool transfer unit 114 according to the transfer schedule Q (P1, P2), thereby executing the tool exchange. be.
- the schedule generator 132 performs a simulation of the first to fifth processes shown below, and then determines a transport schedule with the shortest possible tool change time.
- the schedule generator 132 first moves a tool attached to a certain station 222 (holder 168) to another station 222 (hereinafter referred to as "empty ST") to which no tool is attached.
- the order of transportation is determined (S10). Details of the first step will be described later with reference to FIGS. Note that the empty ST here is synonymous with an empty holder.
- the schedule generation unit 132 determines the tool transfer order for the second step of moving the spare tools stored in the tool storage unit 106 to an empty ST of the turret 164, that is, an empty holder that does not hold the tool T. (S12). Details of the second step will be described later with reference to FIGS.
- the schedule generation unit 132 determines the tool transfer order for the third process of internally exchanging the tools attached to the turret 164 (S14). Details of the third step will be described later with reference to FIGS.
- the schedule generation unit 132 determines the tool transfer order for the fourth step of externally exchanging the work tool on the turret 164 and the spare tool in the tool storage unit 106 (S16). Details of the fourth step will be described later with reference to FIGS.
- the schedule generation unit 132 executes a fifth process for optimizing the transport schedule created through the first to fourth processes (S18). Details of the fifth step will be described later with reference to FIGS. Part of the first to fourth steps may be skipped depending on the current pattern as the pre-placement information and the target pattern as the target placement information (described later).
- the schedule generation unit 132 stores the confirmed transfer schedule in the data storage unit 124 .
- FIG. 12 is a flow chart showing the process of the first step.
- the description will be made on the assumption that the current pattern, which is a tool pattern indicating pre-placement information, is changed to the target pattern, which is another tool pattern indicating target placement information.
- the first step is executed (S32).
- N of S30 When there is no empty ST (N of S30), the first step is skipped.
- FIG. 13 is a flow chart showing the details of the first step in S32 of FIG.
- the schedule generator 132 When the first condition is established between the current pattern and the target pattern (Y in S34), the schedule generator 132 generates a tool transfer order for the first exchange (described later) (S36). After determining the procedure for the first replacement, the schedule generator 132 updates the current pattern as the tool pattern after execution of the first replacement.
- the first condition means that the work tool operable at the current turning position of the tool carrier 114 can be moved to an operable empty ST at the current turning position. For example, when the tool carrier 114 is in the inner diameter turning position, it is necessary to move the work tool held in the first holder 168A (inner diameter) to another first holder 168A (empty ST) (inner diameter). , the first condition is satisfied. After determining the procedure for the first exchange, the process returns to S34.
- the schedule generator 132 When the second condition is established between the current pattern and the target pattern (N in S34, Y in S38), the schedule generator 132 generates a tool transfer order for a second exchange (described later) (S40). After determining the procedure for the second exchange, the schedule generator 132 updates the current pattern.
- the second condition means that the work tool operable at the current turning position of the tool carrier 114 can be moved to an operable empty ST at a turning position different from the current turning position. For example, when the turning position of the tool carrier 114 is at the inner turning position, the working tool held in the first holder 168A (inner diameter) is moved to another second holder 168B (empty ST) (outer diameter). , the second condition is established. After determining the procedure for the second exchange, the process returns to S34.
- the schedule generator 132 When the third condition is established between the current pattern and the target pattern (N in S38, Y in S42), the schedule generator 132 generates a tool transfer order for the third exchange (described later) (S44). After determining the procedure for the third exchange, the schedule generator 132 updates the current pattern.
- the third condition means that a work tool operable at a turning position different from the current turning position of the tool carrier 114 can be moved to an operable empty ST at a turning position different from the current turning position. do. For example, when the turning position of the tool carrier 114 is at the inner turning position, the work tool held by the second holder 168B (outer diameter) is moved to another second holder 168B (empty ST) (outer diameter).
- the third condition is satisfied. After determining the procedure for the third exchange, the process returns to S34.
- the schedule generator 132 When the fourth condition is established between the current pattern and the target pattern (N in S42, Y in S46), the schedule generator 132 generates a tool transfer order for the fourth exchange (described later) (S48). After determining the procedure for the fourth exchange, the schedule generator 132 updates the current pattern.
- the fourth condition means that a work tool operable at a turning position different from the current turning position of the tool carrier 114 can be moved to an operable empty ST at the current turning position. For example, when the turning position of the tool carrier 114 is at the inner turning position, the work tool held in the second holder 168B (outer diameter) is moved to another first holder 168A (empty ST) (inner diameter). , the fourth condition is met. After determining the procedure for the fourth exchange, the process returns to S34.
- FIG. 14 is a diagram showing the first transfer order of the first exchange.
- the tool T5 is attached to the station ST1 (outer diameter) and the tool T6 is attached to the station ST2 (outer diameter).
- the target pattern as the target placement information the tool T5 is attached to station ST5 (outer diameter), and the tool T6 is attached to station ST6 (outer diameter). That is, FIG. 14 shows a situation in which two tools attached for outer diameter machining are moved to another holder 168B for outer machining.
- the turning position of the tool conveying unit 114 is in the outer diameter turning state, the first hand 182 is a spare hand, and the second hand 194 is a working hand.
- the tool carrier 114 itself is located on the turret 164 side (working side).
- the schedule generator 132 determines whether the first condition is satisfied in the current pattern and the target pattern, and creates in advance the tool transfer order for changing the tool pattern from the current pattern to the target pattern when the first condition is satisfied. .
- the schedule generator 132 creates two types of tool transfer order, the first transfer order shown in FIG. 14 and the second transfer order shown in FIG. 15, and adopts the better one.
- the tool conveying section 114 is in the outer diameter turning state, the tools T5 and T6 are on the outer diameter side in the current pattern, and the stations ST5 and ST6 to be the destinations are also outside. Since it is on the radial side, the first condition is satisfied.
- the schedule generation unit 132 assumes a case where the tool transfer unit 114 does not simultaneously hold two tools T5 and T6, but transfers the tools one by one.
- the machining control unit 116 executes tool replacement according to the transfer schedule.
- step 1 the second hand 194 (working hand) removes the tool T5 (outer diameter) from the station ST1 (outer diameter). More precisely, the schedule generator 132 simulates the order of tool transfer assuming that the tool T5 (outer diameter) is taken out from the station ST1 (outer diameter) by the second hand 194 in step 1 .
- step 2 the tool T5 (outer diameter) held by the second hand 194 (working hand) is attached to the station ST5 (outer diameter).
- step 3 the second hand 194 (working hand) removes the tool T6 (outer diameter) at station ST2 (outer diameter).
- step 4 the second hand 194 (working hand) attaches the tool T6 (outer diameter) to the station ST6 (outer diameter).
- the schedule generation unit 132 simulates the first transfer order in which the positions of the work tools are changed one by one based on the current pattern, the target pattern, and the initial state of the tool transfer unit 114 . As a result of the simulation, it is found that the number of man-hours (number of steps) required for the first transfer order is 4 steps in total.
- FIG. 15 is a diagram showing the second transfer order of the first exchange.
- the schedule generation unit 132 assumes that the tool transfer unit 114 operates two tools T5 and T6 together.
- Step 1 is the same as the first transport order.
- step 2 the setting of the first hand 182 is changed to the working hand by rotating.
- the second hand 194 becomes the backup hand and the first hand 182 becomes the working hand.
- the second hand 194 (backup hand) holds the tool T5, and the first hand 182 (working hand) is empty.
- step 3 the tool T6 (outer diameter) at station ST2 (outer diameter) is removed by the first hand 182 (working hand).
- the first hand 182 (working hand) holds the tool T6 and the second hand 194 (backup hand) holds the tool T5.
- step 4 the tool T6 is attached to the station ST6 (outer diameter) by the first hand 182 (working hand).
- the second hand 194 holding the tool T5 is changed to a working hand by rotating.
- the second hand 194 (working hand) attaches the tool T5 to the station ST5 (outer diameter).
- the schedule generation unit 132 also simulates a second transfer order in which two tools are moved together based on the current pattern, the target pattern, and the state of the tool transfer unit 114 .
- the work man-hours for the first transfer order were a total of 4 steps, but the work man-hours for the second transfer order were a total of 6 steps. Therefore, the tool change time is shorter in the first transfer order than in the second transfer order. This is because the rotation is performed in steps 2 and 5 in the second transfer order.
- the schedule generation unit 132 When the first condition is satisfied in the current pattern and the target pattern, the schedule generation unit 132 generates a tool transport unit for each of the first transport order in which the tools are moved one by one and the second transport order in which the two tools are moved together. 114 operations are simulated, and the tool transfer order with the smaller number of man-hours (number of steps) is adopted. In the case of the current pattern and the target pattern shown in FIGS. 14 and 15, the first transport order is adopted. After the transfer order is determined, the tool pattern after replacement becomes the next current pattern, and subsequent processing is executed.
- FIG. 16 is a diagram showing the first transport order for the second exchange.
- the tool T7 is attached to station ST1 (outer diameter), and the tool T8 is attached to station ST2 (outer diameter).
- the tool T7 is attached to station ST7 (inner diameter), and the tool T8 is attached to station ST8 (inner diameter).
- the tool conveying section 114 is in the state of outer diameter turning, the first hand 182 is a spare hand, and the second hand 194 is a working hand.
- the tool carrier 114 itself is located on the turret 164 side.
- the second condition is met because the tool carrier 114 is in the outer diameter turning state, the tools T5 and T6 are on the outer diameter side in the current pattern, and the destination stations ST7 and ST8 are on the inner diameter side.
- the tool transfer section 114 transfers the tools T7 and T8 one by one.
- step 1 the tool T7 (outer diameter) at station ST1 (outer diameter) is picked up by the second hand 194 (working hand).
- step 2 the tool carrier 114 is set to the inner diameter turning state by the turning motion.
- step 3 the second hand 194 (working hand) attaches the tool T7 to the station ST7 (inner diameter).
- step 4 the tool carrier 114 is turned again and set to the outer diameter turning state.
- step 5 the second hand 194 (working hand) removes the tool T8 from the station ST2 (outer diameter). is attached.
- the schedule generation unit 132 simulates the first transfer order in which the tool transfer unit 114 changes the positions of the tools one by one based on the current pattern, the target pattern, and the state of the tool transfer unit 114 .
- the work man-hours for the first transfer order shown in FIG. 16 are a total of 7 steps.
- FIG. 17 is a diagram showing the second transport order for the second exchange.
- the schedule generation unit 132 assumes that the tool transport unit 114 transports two tools T7 and T8 at the same time.
- Step 1 is the same as the first transport order.
- the second hand 194 holding the tool T7 becomes a spare hand and the empty first hand 182 becomes a working hand due to the rotating operation.
- the tool T8 (outer diameter) at station ST2 is picked up by the first hand 182 (working hand).
- step 4 the tool transfer section 114 is set to the inside turning state, and in step 5, the tool T8 is attached from the first hand 182 (working hand) to the station ST8 (inner diameter).
- step 6 the second hand 194 holding the tool T7 becomes the working hand by rotating.
- step 7 the tool T7 is attached from the second hand 194 (working hand) to the station ST7 (inner diameter side).
- both the work man-hours for the first transfer order shown in FIG. 16 and the work man-hours for the second transfer order shown in FIG. 17 total 7 steps.
- the schedule generation unit 132 calculates the total value of the time points for the first order of transportation and the second order of transportation. In the first transport order, three turning motions (two points) occur, so the total number of time points is six. On the other hand, in the second transport order, one turning operation (2 points) and two rotating operations (1 point) occur, so the total number of time points is 4 points. Since the second transfer order is superior when compared at time points, the schedule generator 132 adopts the second transfer order for the second exchange. After the transfer order is determined, the tool pattern after replacement becomes the current pattern for the next process.
- the schedule generator 132 adopts the first transport order shown as the first example.
- FIG. 18 is a diagram showing the first transfer order of the third exchange.
- the tool T10 is attached to station ST7 (inner diameter), and the tool T11 is attached to station ST8 (inner diameter).
- the tool T10 is attached to station ST10 (inner diameter)
- the tool T11 is attached to station ST11 (inner diameter).
- the tool conveying section 114 is in the state of outer diameter turning
- the first hand 182 is a spare hand
- the second hand 194 is a working hand.
- the tool carrier 114 itself is located on the turret 164 side (working side).
- the tool carrier 114 Since the tool carrier 114 is in the outer diameter turning state, the tools T10 and T11 are on the inner diameter side in the current pattern, and the destination stations ST10 and ST11 are also on the inner diameter side, the third condition is satisfied. In the first transfer order shown in FIG. 18, it is assumed that the tool transfer section 114 transfers the tools T10 and T11 one by one.
- step 1 the tool carrier 114 is set to the inner diameter turning state by turning operation.
- step 2 the second hand 194 (working hand) removes the tool T10 from the station ST7 (inner diameter side).
- step 3 the second hand 194 (working hand) attaches the tool T7 to the station ST10 (inner diameter side).
- step 4 the tool T11 of station ST8 (inner diameter) is removed by the second hand 194 (working hand), and in step 5, the tool T11 is attached to station ST11 (inner diameter).
- the schedule generation unit 132 simulates the first transfer order in which the tool transfer unit 114 changes the positions of the tools one by one based on the current pattern, the target pattern, and the state of the tool transfer unit 114 .
- the work man-hours for the first transfer order shown in FIG. 18 are five steps in total.
- FIG. 19 is a diagram showing the second transfer order of the third exchange. In the second carrying order shown in FIG. 19, it is assumed that the tool carrying section 114 carries two tools T10 and T11 at the same time.
- Steps 1 and 2 are the same as in the first transportation order.
- step 3 a rotating operation is performed, and the second hand 194 holding the tool T10 is used as a spare hand, and the empty first hand 182 is used as a working hand.
- step 4 the tool T11 at station ST8 (inner diameter) is removed by the first hand 182 (working hand).
- the tool T11 is attached to the station ST11 by the first hand 182 (working hand).
- the second hand 194 holding the tool T10 is set as the working hand by rotating.
- the second hand 194 (working hand) attaches the tool T10 to the station ST10 (inner diameter side).
- the work man-hours for the first transfer order shown in FIG. 18 are a total of 5 steps, and the work man-hours for the second transfer order shown in FIG. 19 are a total of 7 steps. Therefore, the schedule generator 132 adopts the first transport order. After the transfer order is determined, the tool pattern after replacement becomes the next current pattern.
- FIG. 20 is a diagram showing the first transport order for the fourth exchange.
- the tool T1 is attached to station ST7 (inner diameter), and the tool T2 is attached to station ST8 (inner diameter).
- the tool T1 is attached to station ST1 (outer diameter), and the tool T2 is attached to station ST2 (outer diameter).
- the tool conveying section 114 is in an outer diameter turning state
- the first hand 182 is a backup hand
- the second hand 194 is a working hand.
- the tool carrier 114 itself is located on the turret 164 side (working side).
- the fourth condition is met because the tool carrier 114 is in the outer diameter turning state, the tools T1 and T2 are on the inner diameter side in the current pattern, and the destination stations ST1 and ST2 are on the outer diameter side.
- the tool transfer section 114 transfers the tools T1 and T2 one by one.
- step 1 the tool transfer section 114 is set to the inner diameter turning state by turning operation.
- step 2 the second hand 194 (working hand) removes the tool T1 from the station ST1 (inner diameter), and in step 3, the tool conveying section 114 is reset to the outer diameter turning state.
- step 4 the second hand 194 (working hand) attaches the tool T1 to the station ST1 (outer diameter).
- step 5 the tool conveying unit 114 is returned to the inside turning state, and in step 6, the tool T2 of station ST8 (inner diameter) is removed by the second hand 194 (working hand).
- step 7 the tool transfer section 114 is returned to the outer diameter turning state, and at step 8, the tool T2 is attached to the station ST2 (outer diameter) by the second hand 194 (working hand).
- the schedule generation unit 132 simulates the first transfer order in which the tool transfer unit 114 changes the positions of the tools one by one based on the current pattern, the target pattern, and the state of the tool transfer unit 114 .
- the work man-hours for the first transfer order shown in FIG. 20 are eight steps in total.
- FIG. 21 is a diagram showing the second transfer order of the fourth exchange.
- the tool conveying section 114 conveys two tools T1 and T2 at the same time.
- Steps 1 and 2 are the same as in the first transportation order.
- the second hand 194 holding the tool T1 by rotating operation is set as a spare hand, and the empty first hand 182 is set as a working hand.
- the tool T2 at station ST8 (inner diameter) is removed by the first hand 182 (working hand).
- step 5 the tool conveying unit 114 is returned to the outer diameter turning state, and in step 6, the tool T2 is attached to station ST2 (outer diameter) by the first hand 182 (working hand).
- step 7 the second hand 194 holding the tool T1 is set as the working hand by rotating.
- step 8 the second hand 194 (working hand) attaches the tool T1 to the station ST1 (outer diameter).
- both the man-hours for the first transfer order shown in FIG. 20 and the man-hours for the second transfer order shown in FIG. 21 are 7 steps in total.
- the first transport order four turning motions (two points) occur, so the total number of time points is eight.
- the second transport order there are two turning motions (2 points) and two rotating motions (1 point), so the total number of time points is 6 points.
- the second transfer order is superior. After the transfer order is determined, the target pattern becomes the next current pattern. It should be noted that if the rotation operation takes more time than the rotation operation, the schedule generator 132 adopts the first transfer order.
- FIG. 22 is a flow chart showing the process of the second step.
- the second process is executed (S62).
- N of S60 When there is no empty ST (N of S60), the second step is skipped.
- FIG. 23 is a flow chart showing the details of the second step in S62 of FIG.
- the schedule generation unit 132 takes out two tools from the tool storage unit 106, transports them, and attaches the tools to the turret 164 (S72). After mounting the tool, the schedule generator 132 updates the current pattern, and the process returns to S70.
- the schedule generation unit 132 takes out one tool from the tool storage unit 106, transports it, and executes external replacement ( S76). After mounting the tool, the schedule generator 132 updates the current pattern, and the process returns to S34. When no empty ST remains in the turret 164 (N of S74), the second step ends.
- 24A and 24B are diagrams showing the first conveying order when two sheets are conveyed in the second step.
- station ST1 outer diameter
- station ST2 outer diameter
- station ST7 inner diameter
- station ST8 inner diameter
- Tools T1, T2, T7 and T8 are held in holding pots MG1, MG2, MG3 and MG4 of the tool storage section 106, respectively.
- the target pattern as the target arrangement information, the tool T1 is attached to station ST1 (outer diameter), the tool T2 is attached to station ST2 (outer diameter), the tool T7 is attached to station ST7 (inner diameter), and the tool T8 is attached to station ST8 (inner diameter).
- the tool conveying section 114 is in an outer diameter turning state, the first hand 182 is set as a backup hand, and the second hand 194 is set as a working hand.
- the tool carrier 114 itself is located on the side of the tool storage 106 (reserve side).
- FIG. 24 and the following FIG. 25 show simulation results corresponding to the two-tool transfer in S72 of FIG.
- first transfer order shown in FIG. 24 after tools T1 and T2 are attached to station ST1 (outer diameter) and station ST2 (outer diameter), tools T7 and T8 are attached to station ST7 (inner diameter) and station ST8 (inner diameter). Assume that it is installed.
- step 1 the tool T1 is taken out from the holding pod MG1 by the first hand 182 (backup hand), in step 2, the second hand 194 is set as the backup hand by a rotating operation, and in step 3, the second hand 194 removes the tool T1 from the holding pod MG2. Take out the tool T2.
- step 4 the tool transfer section 114 is moved straight toward the turret 164 while holding the tool T2 in the first hand 182 (working hand) and the tool T1 in the second hand 194 (backup hand).
- step 5 the tool T1 is attached to the station ST1 (outer diameter) by the first hand 182 (working hand).
- the tool T2 is attached to the station ST2 (outer diameter) by hand).
- the tool transport section 114 returns to the tool storage section 106 side.
- the tool T7 is taken out from the holding pod MG3 by the first hand 182 (backup hand), at step 10, a rotation operation is performed to set the second hand 194 as the backup hand, and at step 11, the second hand 194 (backup hand) is set as the backup hand.
- the tool T8 is taken out from the holding pod MG4 by hand).
- the first hand 182 (working hand) holds the tool T7
- the second hand 194 (backup hand) holds the tool T8.
- step 12 the tool carrier 114 is moved straight toward the turret 164.
- step 13 the tool carrier 114 is set to the inner diameter turning state. Install tool T7.
- the tool transfer section 114 is rotated to set the second hand 194 as the working hand, and at step 16, the second hand 194 (working hand) attaches the tool T8 to the station ST8 (inner diameter).
- the outer diameter side tools T1 and T2 are attached to the turret 164 from the tool storage section 106, and then the inner diameter side tools T7 and T8 are attached. Can be changed.
- FIG. 25 is a diagram showing a second transfer order when two sheets are transferred in the second step.
- tools T1 and T7 are attached to station ST1 (outer diameter) and station ST7 (inner diameter)
- tools T2 and T8 are attached to station ST2 (outer diameter) and station ST8 (inner diameter). Assume that it is installed.
- Steps 1 and 2 are the same as in the first transportation order.
- the tool T7 is taken out from the holding pod MG3 by the second hand 194 (backup hand), and in step 4, the tool conveying section 114 conveys the tools T1 and T7 to the turret 164 side.
- the tool T1 is attached to the station ST1 (outside diameter) by the first hand 182 (working hand).
- the second hand 194 (working hand) attaches the tool T7 to the station ST7 (inner diameter).
- the outer diameter turning state is set, at step 10 the tool conveying unit 114 moves to the tool storage unit 106 side, at step 11 the tool T2 is taken out from the holding pot MG2 by the first hand 182 (backup hand), and step At 12 a rotation operation is performed. Due to this rotating operation, the second hand 194 becomes a backup hand. At step 13, the tool T8 is taken out from the holding pod MG4 by the second hand 194 (backup hand), and at step 14, the tool transport section 114 transports the tools T2 and T8 to the turret 164 side.
- step 15 After the tool T2 is attached to the station ST2 (outer diameter) by the first hand 182 (working hand) in step 15, the inside turning state is entered in step 16, and the tool conveying section 114 is rotated in step 17 to rotate the second hand 194. is set as the working hand, and in step 18, the second hand 194 (working hand) attaches the tool T8 to the station ST8.
- the schedule generation unit 132 adopts the first transportation order.
- two-tool transfer (S72 in FIG. 23), a plurality of tools in the same direction, such as outer diameter and outer diameter, or inner diameter and inner diameter, are collectively conveyed to reduce the number of turning operations. can be done.
- FIG. 26 is a flow chart showing the process of the third step. If the tool change is completed after performing either or both of the first and second steps, then there is no need to perform the third step.
- the second step or after skipping of the second step when there is a need to internally replace the tool pattern (Y in S80), that is, the tool TA attached to one station and the tool TA attached to another station
- a third step is performed (S82) when it is necessary to change the position of the tool TB to be replaced.
- N of S80 the third step is skipped.
- FIG. 27 is a diagram showing the first transfer order in the third step.
- tools T3, T1, and T2 are attached to station ST1 (outer diameter), station ST2 (outer diameter), and station ST3 (outer diameter).
- the tool T1 is attached to station ST1 (outer diameter)
- the tool T2 is attached to station ST2 (outer diameter)
- the tool T3 is attached to station ST3 (outer diameter).
- the tool conveying section 114 is in an outer diameter turning state
- the first hand 182 is a spare hand
- the second hand 194 is a working hand.
- the tool carrier 114 itself is located on the turret 164 side (working side).
- step 1 the second hand 194 (working hand) picks up the tool T3 from the station ST1 (outer diameter).
- a tool T1 is taken out from the station ST2 (outer diameter) by a hand 182 (working hand).
- step 4 the tool T1 is attached to the empty station ST1 (outer diameter) by the first hand 182 (working hand).
- the tool T3 is temporarily installed in the vacant station ST2 (outer diameter) by the second hand 194 (working hand).
- step 7 the tool T3 is again removed from the station ST2 by the second hand 194 (working hand).
- the tool T2 is taken out from the station ST3 (outer diameter) by the (working hand), and in step 10, the tool T2 is attached to the station ST2 by the first hand 182 (working hand).
- the second hand 194 is set as the working hand by rotating the tool transporting unit 114, and at step 12, the second hand 194 (working hand) attaches the tool T3 to the station ST3.
- the work man-hour for the first transfer order in the third step is 12 steps.
- FIG. 28 is a diagram showing the second transfer order in the third step.
- the tools T1, T2, and T3 are circulated among stations ST1 (outer diameter), station ST2 (outer diameter), and station ST3 (outer diameter).
- Steps 1 to 4 are the same as in the first transport order.
- the first hand 182 (working hand) picks up the tool T2 from the station ST3 (outer diameter)
- the first hand 182 (working hand) attaches the tool T2 to the station ST2.
- the tool conveying unit 114 is rotated to set the second hand 194 as the working hand, and in step 8, the second hand 194 (working hand) attaches the tool T3 to the station ST3 (outer diameter).
- the number of man-hours for the second transport order is 8 steps. Therefore, the schedule generator 132 adopts the second transport order.
- FIG. 29 is a flow chart showing the process of the fourth step. If the tool change is completed after performing both or one of the first and second steps, it is not necessary to perform not only the third step but also the fourth step.
- Y in S90 execution of the third step or when the tool pattern after skipping the third step needs to be replaced externally
- S92 a fourth step is performed (S92). When there is no need for external replacement (N of S90), the fourth step is skipped.
- FIG. 30 is a diagram showing the first transfer order in the fourth step.
- tools T15, T1, and T2 are attached to station ST1 (outer diameter), station ST2 (outer diameter), and station ST3 (outer diameter).
- a tool T3 is stored in the holding pod MG1 of the tool storage section 106.
- the tool T1 is attached to station ST1 (outer diameter)
- the tool T2 is attached to station ST2 (outer diameter)
- the tool T3 is attached to station ST3 (outer diameter).
- the tool conveying section 114 is in an outer diameter turning state
- the first hand 182 is set as a backup hand
- the second hand 194 is set as a working hand.
- the tool carrier 114 itself is located on the side of the tool storage 106 (reserve side).
- tools T1 and T2 are in stations ST1 and ST2 and tool T3 is in tool storage section 106, and tools T1 and T2 are temporarily retracted to tool storage section 106 (hereinafter referred to as “Temporary Evacuation”).
- step 1 the tool T3 is taken out from the holding pod MG1 by the first hand 182 (backup hand), and in step 2, the tool transport section 114 transports the tool T3 to the turret 164 side.
- step 3 the tool T2 is taken out from the turret 164 by the second hand 194 (working hand).
- the tool T3 is attached to the station ST3 by (working hand).
- step 6 the tool conveying unit 114 conveys the tool T2 to the tool storage unit 106 side
- step 7 the second hand 194 (backup hand) temporarily retracts the tool T2 to the holding pod MG1
- step 8 the The tool T2 is taken out from the tool storage section 106 by the second hand 194 (backup hand), and in step 9 the tool T2 is carried to the turret 164 side again.
- the tool T1 is taken out from the station ST2 by the first hand 182 (working hand).
- the tool carrier 114 is rotated to set the second hand 194 as the working hand.
- the tool T2 is attached to the station ST2 (outer diameter) by a work hand).
- the tool T1 is transported to the tool storage section 106, and in step 14, the tool T1 is temporarily retracted to the tool storage section 106.
- step 15 the first hand 182 (backup hand) takes out the tool T1 from the tool storage section 106.
- the tool T1 is carried to the turret 164 side. Remove tool T15.
- the first hand 182 is set as the working hand by rotating the tool conveying unit 114.
- the first hand 182 (working hand) attaches the tool T1 to the station ST1 (outer diameter).
- the tool T15 is stored in the tool storage section 106 by the second hand 194 (backup hand).
- FIG. 31 is a diagram showing the second transfer order in the fourth step. Steps 1 to 5 are the same as in the first transfer order.
- the first hand 182 (working hand) removes the tool T1 from the station ST2 (outer diameter).
- the tool carrier 114 is rotated to set the second hand 194 as the working hand. Then, the second hand 194 (working hand) picks up the tool T15 from the station ST1 (outer diameter).
- the tool conveying unit 114 is rotated to set the first hand 182 as the working hand, and at step 11, the first hand 182 (working hand) attaches the tool T1 to the station ST1 (outer diameter).
- the tool conveying section 114 conveys the tool T15 to the tool storage section 106, and in step 13, the tool T15 is stored in the tool storage section 106 by the second hand 194 (backup hand).
- the schedule generator 132 adopts the second transport order.
- FIG. 32 is a diagram showing a transfer schedule before execution of the fifth process in the first example.
- the schedule generator 132 further executes the fifth step for determining whether the transfer schedule can be optimized.
- a transfer schedule for both or one of the first process and the second process is generated, and this transfer schedule is used.
- a decision is made as to whether optimization is possible based on Optimization conditions can be set arbitrarily. For example, in straight movement (carrying tools), it is conceivable to carry two tools together as much as possible, or to give priority to removing unnecessary tools from the turret 164 .
- the fifth step will be described separately for the first example and the second example. A first example will be described with reference to FIGS. 32 and 33, and a second example will be described with reference to FIGS. 34 and 35.
- FIG. 32 and 33 A first example will be described with reference to FIGS. 32 and 33, and a second example will be described with reference to FIGS. 34 and 35.
- tools T15, T1, and T2 are attached to station ST1 (outer diameter), station ST2 (outer diameter), and station ST3 (outer diameter).
- Tools T3 and T4 are stored in the holding pods MG1 and MG2 of the tool storage section 106, respectively.
- the tool T1 is attached to station ST1 (outer diameter)
- the tool T2 is attached to station ST2 (outer diameter)
- the tool T3 is attached to station ST3 (outer diameter)
- the tool T4 is attached to station ST4 (outer diameter).
- the tool conveying section 114 is in an outer diameter turning state, the first hand 182 is a spare hand, and the second hand 194 is a working hand.
- the tool carrier 114 itself is located on the side of the tool storage 106 (reserve side).
- the schedule generator 132 executes the fifth step (optimization process) to confirm whether the transfer schedule shown in FIG. 32 is the optimum solution.
- FIG. 33 is a diagram showing a transfer schedule after execution of the fifth process in the first example.
- the tool transfer section 114 rotates with the first hand 182 holding the tool T4, and in step 4, the first hand 182 (work The tool T4 is attached to the station ST4 by hand).
- the tool transfer section 114 takes out the tool T3 from the tool storage section 106 in addition to the tool T4.
- the tool transfer section 114 takes out the tools T3 and T4 from the tool storage section 106 and then transfers them together, thereby suppressing the total number of steps to 16. Therefore, the schedule generation unit 132 adopts the transfer schedule after execution of the fifth process, not the transfer schedule before execution of the fifth process shown in FIG. However, it may not be optimal for the tool carrier 114 to carry two tools. A second example describes such a case.
- FIG. 34 is a diagram showing a transfer schedule before execution of the fifth step in the second example.
- tools T15, T8 and T7 are attached to station ST1 (outer diameter), station ST7 (inner diameter) and station ST8 (inner diameter).
- Tools T1 and T9 are stored in the holding pods MG1 and MG2 of the tool storage section 106, respectively.
- the tool T1 is attached to station ST1 (outer diameter)
- the tool T7 is attached to station ST7 (inner diameter)
- the tool T8 is attached to station ST8 (inner diameter)
- the tool T9 is attached to station ST9 (inner diameter).
- the tool conveying section 114 is in an outer diameter turning state, the first hand 182 is set as a backup hand, and the second hand 194 is set as a working hand.
- the tool carrier 114 itself is located on the side of the tool storage 106 (reserve side).
- FIG. 35 is a diagram showing a transfer schedule after execution of the fifth step in the second example.
- the transfer schedule before execution of the fifth step four straight movements occur, but in each case the tool transfer section 114 transfers only one tool.
- the tool transfer section 114 transfers the tools T9 and T1 in step 14 among them.
- the total number of steps after execution of the fifth step is 22, which is greater than that before execution of the fifth step. Therefore, the schedule generator 132 adopts the transfer schedule before execution of the fifth step.
- the schedule generation unit 132 executes the first step and the second step, and creates the tool transfer order so that no empty ST remains in the turret 164 after the execution of the second step. Since the third step is internal replacement, it is necessary to position the tool carrier 114 on the turret 164 side. Since the tool carrier 114 is on the turret 164 side at the end of the second step, there is no need to move the tool carrier 114 to the turret 164 side at the start of the third step. On the other hand, since the fourth step is an external replacement, it is necessary to position the tool transport section 114 on the tool storage section 106 side. For the above reasons, it is desirable to perform the third step instead of the fourth step after the first and second steps.
- the schedule generator 132 may skip the first and second processes and generate a transport schedule based on the algorithm for the third and subsequent processes. In this case, the schedule generator 132 may execute the fourth step before the third step.
- the schedule generation unit 132 may calculate the tool transfer order by round-robin for various combinations such as from which tool to move and from which station 222 to move the tool first. good. For example, even in the first step, it is possible to create various tool transfer orders based on the combination of the current pattern and the target pattern.
- the schedule generation unit 132 may select the most efficient tool transfer order from among many tool transfer orders generated in this way.
- the schedule generating unit 132 can reduce the number of man-hours required for tool replacement by arranging a transfer schedule so that temporary evacuation to the tool storage unit 106 and temporary installation to the turret 164 do not occur.
- the schedule generation unit 132 determines which transport order is the most work based on the time points indexed for the time required for each of the transport operation, the turning operation, and the rotating operation. You can judge whether it is efficient or not.
- part of the first to fifth steps may be skipped.
- the tool change may be completed by executing the first and second steps, so in this case, the third and subsequent steps are unnecessary.
- the total time related to machining, including tool setup can be shortened. Therefore, it is possible to provide a machine tool or the like with improved energy efficiency.
- the first holder 168A is "a holder 168 that holds a tool for cutting the inner diameter side of a work”
- the second holder 168B is "a holder 168 that holds a tool for cutting the outer diameter side of a work”.
- the present invention is not limited to inner diameter/outer diameter and is applicable to cases where a plurality of tool holding methods are possible in the turret 164 .
- first direction and second direction are arbitrary, and may not be perpendicular to each other.
- Some tools T can handle both turning and rotary machining.
- the turning holder 168M is attached to the station 222 and the tool T is attached to the turning holder 168M, this tool T is used for turning.
- the rotary holder 168N is attached to the station 222 and the same type of tool T is attached to the rotary holder 168N, this tool T is used for rotary machining.
- the schedule generator 132 can similarly generate a transfer schedule in tool exchange targeting the turret 164 including both the turning holder 168M and the rotary holder 168N.
- a predetermined number of tools T for example, only one tool T, are attached from a state in which all stations 222 are empty STs.
- a predetermined number of tools T are transported from the tool storage section 106 and the tools are attached to all or part of the 12 empty STs.
- a predetermined number of tools for example, one tool may be removed from a state in which tools are attached to all stations 222 .
- a predetermined number of tools T less than 12 may be transported from the tool post 230 and stored in the tool storage section 106 .
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Abstract
This machine tool comprises: a tool post having a plurality of holders capable of holding a plurality of tools; a machining control unit for controlling the tools held by the tool post to machine a workpiece; a tool stowing unit; a tool transporting unit; a schedule generating unit for generating a transportation schedule; and a tool transportation control unit for controlling the tool transporting unit in accordance with the transportation schedule. The schedule generating unit generates the transportation schedule as a tool transportation order for executing, in order: a first step for moving a tool already placed on the tool post to an empty holder, in accordance with pre-placement information indicating placement of the tool on the tool post before exchange, and target placement information indicating the placement of the tool after transportation; and a second step for causing the empty holder of the tool post to hold a tool stowed in the tool stowing unit.
Description
本発明は、工作機械における工具交換技術、に関する。
The present invention relates to tool changing technology for machine tools.
工作機械は、ワークを所望の形状に切削加工する装置や、金属粉末などを積層してワークを作る装置がある。切削加工する工作機械には、回転するワークに切削用の工具を当てることでワークを加工するターニングセンタと、回転する工具をワークに当てることでワークを加工するマシニングセンタ、これらの機能を複合的に備える複合加工機などがある。
Machine tools include devices that cut workpieces into desired shapes and devices that create workpieces by laminating metal powder. Machine tools for cutting include a turning center that processes the workpiece by applying a cutting tool to the rotating workpiece, and a machining center that processes the workpiece by applying a rotating tool to the workpiece. These functions are combined. There is a multitasking machine equipped with.
刃物台を備える工作機械は、刃物台に複数の工具が装着されることがある。工作機械は、あらかじめ用意された加工プログラムにしたがって、刃物台を三次元的に動かしつつ、刃物台に装着される複数の工具からワークに当てる工具を選びながらワークを加工する。
A machine tool equipped with a turret may have multiple tools attached to it. A machine tool processes a workpiece while moving the tool post three-dimensionally according to a machining program prepared in advance and selecting a tool to be applied to the workpiece from among a plurality of tools mounted on the tool post.
工作機械には、多数の工具を格納する工具格納部を有するものもある。工作機械は、必要な工具が刃物台に装着されていないときには、指定された工具を工具格納部から刃物台に装着した上で、ワークの加工を続行する。以下、刃物台に装着される工具を「作業工具」とよび、工具格納部に格納される工具を「予備工具」とよぶ。特に区別しないときには単に「工具」とよぶ(特許文献1-3参照)。
Some machine tools have a tool storage section that stores a large number of tools. When the required tool is not attached to the tool post, the machine tool attaches the designated tool from the tool storage section to the tool post and then continues machining the workpiece. Hereinafter, the tool attached to the tool rest will be referred to as the "work tool", and the tool stored in the tool storage section will be referred to as the "reserve tool". They are simply referred to as "tools" when they are not distinguished from each other (see Patent Documents 1 to 3).
刃物台には複数のステーションとよばれる領域が設けられ、ステーションにホルダが取り付けられ、ホルダに工具が取り付けられる。工作機械は、作業工具を随時交換しながらワークを加工する。以下、刃物台に保持される作業工具の組み合わせを「工具パターン」とよぶ。刃物台上において、ある作業工具と別の作業工具の取り付け位置を交換することを「内部交換」、刃物台上の作業工具と工具格納部に格納される予備工具を交換することを「外部交換」とよぶ。
The turret has multiple areas called stations, holders are attached to the stations, and tools are attached to the holders. A machine tool processes a workpiece while changing working tools at any time. Hereinafter, a combination of work tools held on the tool post will be referred to as a "tool pattern". On the turret, exchanging the mounting position of one working tool with another is called "internal exchange", and exchanging the working tool on the turret with a spare tool stored in the tool storage section is called "external exchange". ”.
このような工作機械において、工具交換に要する時間を短くし、加工に関連する総時間を短くすることが求められている。
In such machine tools, it is required to shorten the time required for tool change and shorten the total time related to machining.
本発明のある態様における工作機械は、複数の工具を保持可能な複数のホルダを有する刃物台と、加工プログラムにしたがって、前記刃物台に保持される工具を制御し、ワークを加工する加工制御部と、複数の工具を格納する工具格納部と、工具を搬送可能な工具搬送部と、工具搬送順を示す搬送スケジュールを生成するスケジュール生成部と、前記搬送スケジュールにしたがって前記工具搬送部を制御することにより、前記刃物台における工具の保持位置を変更する工具搬送制御部と、を備える。
スケジュール生成部は、前記刃物台における交換前の工具の配置を示す事前配置情報と、搬送後の工具の配置を示す目標配置情報にしたがって、刃物台に配置済みの工具を空きホルダに移動させる第1工程と、工具格納部に格納される工具を刃物台の空きホルダに保持させる第2工程と、を順番に実行する工具の搬送順として前記搬送スケジュールを生成する。 A machine tool according to one aspect of the present invention includes a tool post having a plurality of holders capable of holding a plurality of tools, and a machining control unit for controlling the tools held by the tool post and machining a workpiece according to a machining program. a tool storage unit for storing a plurality of tools, a tool transport unit capable of transporting tools, a schedule generation unit for generating a transport schedule indicating the order of tool transport, and a tool transport unit for controlling the tool transport unit according to the transport schedule. and a tool transfer control unit that changes the holding position of the tool on the tool rest.
The schedule generator moves the tools that have been placed on the tool post to empty holders according to pre-placement information that indicates the placement of the tools before replacement on the tool post and target placement information that indicates the placement of the tools after transfer. The transfer schedule is generated as a tool transfer order in which the first step and the second step of holding the tool stored in the tool storage section in an empty holder of the tool post are executed in order.
スケジュール生成部は、前記刃物台における交換前の工具の配置を示す事前配置情報と、搬送後の工具の配置を示す目標配置情報にしたがって、刃物台に配置済みの工具を空きホルダに移動させる第1工程と、工具格納部に格納される工具を刃物台の空きホルダに保持させる第2工程と、を順番に実行する工具の搬送順として前記搬送スケジュールを生成する。 A machine tool according to one aspect of the present invention includes a tool post having a plurality of holders capable of holding a plurality of tools, and a machining control unit for controlling the tools held by the tool post and machining a workpiece according to a machining program. a tool storage unit for storing a plurality of tools, a tool transport unit capable of transporting tools, a schedule generation unit for generating a transport schedule indicating the order of tool transport, and a tool transport unit for controlling the tool transport unit according to the transport schedule. and a tool transfer control unit that changes the holding position of the tool on the tool rest.
The schedule generator moves the tools that have been placed on the tool post to empty holders according to pre-placement information that indicates the placement of the tools before replacement on the tool post and target placement information that indicates the placement of the tools after transfer. The transfer schedule is generated as a tool transfer order in which the first step and the second step of holding the tool stored in the tool storage section in an empty holder of the tool post are executed in order.
本発明によれば、工具の段取り等を含めた加工に関連する総時間を短くすることが可能になる。
According to the present invention, it is possible to shorten the total time related to machining, including tool setup.
本実施形態における工作機械は、ターニングセンタまたは複合加工機である。まず、図1から図5に関連して工作機械の構造を中心として説明する。図6以降に関連して、本実施形態における工具交換制御の詳細を説明する。
本実施形態における「交換」は工具Taのついている第1の場所と別の工具Tbがついている第2の場所の間で工具Taと工具Tbを交換する場合だけでなく、工具Taのついている第1の場所から工具がついていない第3の場所に工具Taを移す場合も含む。 The machine tool in this embodiment is a turning center or multitasking machine. First, the structure of the machine tool will be mainly described with reference to FIGS. 1 to 5. FIG. Details of the tool change control in this embodiment will be described with reference to FIG. 6 and subsequent figures.
"Exchange" in this embodiment means not only exchanging the tool Ta and the tool Tb between the first location where the tool Ta is attached and the second location where another tool Tb is attached, but also the case where the tool Ta and the tool Tb are replaced. It also includes the case where the tool Ta is moved from the first place to the third place where the tool is not attached.
本実施形態における「交換」は工具Taのついている第1の場所と別の工具Tbがついている第2の場所の間で工具Taと工具Tbを交換する場合だけでなく、工具Taのついている第1の場所から工具がついていない第3の場所に工具Taを移す場合も含む。 The machine tool in this embodiment is a turning center or multitasking machine. First, the structure of the machine tool will be mainly described with reference to FIGS. 1 to 5. FIG. Details of the tool change control in this embodiment will be described with reference to FIG. 6 and subsequent figures.
"Exchange" in this embodiment means not only exchanging the tool Ta and the tool Tb between the first location where the tool Ta is attached and the second location where another tool Tb is attached, but also the case where the tool Ta and the tool Tb are replaced. It also includes the case where the tool Ta is moved from the first place to the third place where the tool is not attached.
図1は、本実施形態における工作機械100の概略構成を示す平面図である。
工作機械100は、制御装置160、加工装置112、工具搬送部114および工具格納部106を備える。工具格納部106は、一般的には「マガジン」ともよばれる。制御装置160は、図6に関連して後述する情報処理装置118および加工制御部116に対応する。タレットベース102やタレット164は、X、Y、Z軸方向に移動可能である。タレットベース102とタレット164とを含めて刃物台230という場合と、タレット164のみを刃物台230という場合がある。図1は、X-Z方向平面に見た場合の平面図である。タレット164はZ軸を中心として回転可能にタレットベース102に設置される。工具格納部106(マガジン)は、タレットベース102のZ軸正方向側に設けられる。工具搬送部114は、工具Tを移送する。 FIG. 1 is a plan view showing a schematic configuration of amachine tool 100 according to this embodiment.
Themachine tool 100 includes a control device 160 , a processing device 112 , a tool carrier section 114 and a tool storage section 106 . The tool storage section 106 is also commonly referred to as a "magazine". The control device 160 corresponds to the information processing device 118 and the processing control section 116, which will be described later with reference to FIG. The turret base 102 and turret 164 are movable in the X, Y and Z directions. In some cases, the turret base 102 and the turret 164 are collectively referred to as the tool post 230 , and in other cases, the turret 164 alone is referred to as the tool post 230 . FIG. 1 is a plan view when viewed in the XZ direction plane. A turret 164 is mounted on the turret base 102 for rotation about the Z axis. The tool storage section 106 (magazine) is provided on the Z-axis positive direction side of the turret base 102 . The tool transfer section 114 transfers the tool T.
工作機械100は、制御装置160、加工装置112、工具搬送部114および工具格納部106を備える。工具格納部106は、一般的には「マガジン」ともよばれる。制御装置160は、図6に関連して後述する情報処理装置118および加工制御部116に対応する。タレットベース102やタレット164は、X、Y、Z軸方向に移動可能である。タレットベース102とタレット164とを含めて刃物台230という場合と、タレット164のみを刃物台230という場合がある。図1は、X-Z方向平面に見た場合の平面図である。タレット164はZ軸を中心として回転可能にタレットベース102に設置される。工具格納部106(マガジン)は、タレットベース102のZ軸正方向側に設けられる。工具搬送部114は、工具Tを移送する。 FIG. 1 is a plan view showing a schematic configuration of a
The
図2は、工作機械100の斜視図である。
角柱体型のタレット164には、その外周平面に、工具Tを保持可能に構成される複数のホルダ168を有する。ホルダ168はタレット本体から着脱可能に装着される。着脱位置PTのホルダ168に装着される工具Tが着脱対象となる。タレット164を矢示B-C方向(Z軸が回転軸)に回転させることにより、各ホルダ168を着脱位置PTに割り出すことができる。 FIG. 2 is a perspective view of themachine tool 100. FIG.
Theprismatic turret 164 has a plurality of holders 168 configured to hold the tools T on its outer peripheral plane. The holder 168 is detachably attached to the turret body. The tool T attached to the holder 168 at the attachment/detachment position PT is to be attached/detached. By rotating the turret 164 in the direction of the arrows BC (the Z axis is the rotation axis), each holder 168 can be indexed to the attachment/detachment position PT.
角柱体型のタレット164には、その外周平面に、工具Tを保持可能に構成される複数のホルダ168を有する。ホルダ168はタレット本体から着脱可能に装着される。着脱位置PTのホルダ168に装着される工具Tが着脱対象となる。タレット164を矢示B-C方向(Z軸が回転軸)に回転させることにより、各ホルダ168を着脱位置PTに割り出すことができる。 FIG. 2 is a perspective view of the
The
工具格納部106は、矢示D-E方向(X軸が回転軸)に回転可能に設けられた保持板170と、保持板170の周縁に等間隔に配設された保持ポット174と、保持板170を回転させる駆動モータ176(図3参照)を備える。保持ポット174は工具Tを保持することができる。保持ポット174は、X軸の負方向に突出する。着脱位置PMの保持ポット174にある工具Tが着脱対象となる。駆動モータ176が保持板170を回転させることにより、各保持ポット174を着脱位置PMに割り出すことができる。
The tool storage unit 106 includes a holding plate 170 that is rotatable in the direction of arrows DE (the X axis is the rotation axis), holding pots 174 that are arranged along the periphery of the holding plate 170 at equal intervals, and a holding pot. A drive motor 176 (see FIG. 3) is provided to rotate the plate 170 . The holding pot 174 can hold the tool T. The holding pot 174 protrudes in the negative direction of the X-axis. The tool T in the holding pot 174 at the attachment/detachment position PM becomes the attachment/detachment target. By rotating the holding plate 170 with the drive motor 176, each holding pot 174 can be indexed to the attachment/detachment position PM.
図3は、工具格納部106および工具搬送部114の斜視図である。
工具搬送部114は、タレットベース102および工具格納部106よりも、X軸の負方向側に設けられる(図1参照)。工具搬送部114は、Z軸に沿って設けられた送り機構178と、送り機構178によりZ軸に沿って移動される移動台180と、移動台180に取り付けられた第1ハンド182および第2ハンド194などを含む。以下においては、工具搬送部114は、移動台180と、移動台180に取り付けられる第1ハンド182および第2ハンド194を含み、工具Tを搬送するための機構である。 FIG. 3 is a perspective view of thetool storage section 106 and the tool carrier section 114. FIG.
Thetool carrier 114 is provided on the negative side of the X-axis relative to the turret base 102 and the tool storage 106 (see FIG. 1). The tool transport section 114 includes a feed mechanism 178 provided along the Z-axis, a carriage 180 that is moved along the Z-axis by the feed mechanism 178, a first hand 182 and a second hand attached to the carriage 180. Including hand 194 and the like. In the following, the tool conveying section 114 is a mechanism for conveying the tool T including a moving table 180 and a first hand 182 and a second hand 194 attached to the moving table 180 .
工具搬送部114は、タレットベース102および工具格納部106よりも、X軸の負方向側に設けられる(図1参照)。工具搬送部114は、Z軸に沿って設けられた送り機構178と、送り機構178によりZ軸に沿って移動される移動台180と、移動台180に取り付けられた第1ハンド182および第2ハンド194などを含む。以下においては、工具搬送部114は、移動台180と、移動台180に取り付けられる第1ハンド182および第2ハンド194を含み、工具Tを搬送するための機構である。 FIG. 3 is a perspective view of the
The
送り機構178は、Z軸に平行に配設されるレール保持台184と、レール保持台184の下面に、Z軸に平行に取り付けられる2本のガイドレール186と、各ガイドレール186に係合するようにそれぞれ2個ずつ設けられたスライダ188と、レール保持台184に沿って配設されたボールねじ190と、ボールねじ190に螺合するボールナット192と、ボールねじ190の端部に連結して、ボールねじ190を軸線中心に回転させるサーボモータ196を備える。スライダ188は移動台180の上面に固設される。
The feed mechanism 178 includes a rail holder 184 arranged parallel to the Z-axis, two guide rails 186 attached to the lower surface of the rail holder 184 in parallel with the Z-axis, and the guide rails 186 engaged with each other. a ball screw 190 arranged along the rail holder 184; a ball nut 192 screwed onto the ball screw 190; and a servomotor 196 that rotates the ball screw 190 about its axis. A slider 188 is fixed on the upper surface of the moving table 180 .
移動台180の下面には、矢示F-G方向(Y軸が回転軸)に回転可能、かつ、X軸方向に移動可能に保持部材198が配設される。保持部材198は、移動シリンダ200によりX軸方向に駆動される。保持部材198は、ラック&ピニオン機構などの機構を介し、駆動シリンダ202により駆動されて、矢示F-G方向に90度の角度範囲で旋回する。すなわち、保持部材198はX-Z方向に平面移動可能であり、かつ、F-G方向に回転可能に構成されている。図3は、保持部材198がF方向に回転したときの状態を示している。
A holding member 198 is provided on the lower surface of the moving table 180 so as to be rotatable in the direction of arrows FG (the Y axis is the rotation axis) and movable in the X axis direction. The holding member 198 is driven in the X-axis direction by a moving cylinder 200 . The holding member 198 is driven by the driving cylinder 202 through a mechanism such as a rack and pinion mechanism, and turns in the directions of arrows FG within an angular range of 90 degrees. That is, the holding member 198 is configured to be planarly movable in the XZ directions and rotatable in the FG directions. FIG. 3 shows the state when the holding member 198 rotates in the F direction.
保持部材198には回転軸204が貫通して取り付けられる。回転軸204は、ラック&ピニオン機構などの機構を介し、駆動シリンダ206により駆動されて、矢示J-K方向に180度の角度範囲で回転する。
A rotating shaft 204 is attached through the holding member 198 . The rotating shaft 204 is driven by a drive cylinder 206 via a mechanism such as a rack and pinion mechanism, and rotates in the directions of arrows JK within an angular range of 180 degrees.
図4は、図3に示すA部の拡大斜視図である。
回転軸204の端部には、回転軸204の軸心を中心とした点対称、かつ、上下平行となるように、第1ハンド182および第2ハンド194が取り付けられる。第1ハンド182および第2ハンド194は同一構成である。第1ハンド182は、工具Tを把持するための一対の把持爪208を有し、把持爪208により工具Tを把持可能である。同様にして、第2ハンド194も一対の把持爪210を有し、把持爪210により工具Tを把持可能である。 4 is an enlarged perspective view of a portion A shown in FIG. 3. FIG.
Afirst hand 182 and a second hand 194 are attached to the ends of the rotating shaft 204 so as to be symmetrical about the axis of the rotating shaft 204 and vertically parallel. The first hand 182 and the second hand 194 have the same configuration. The first hand 182 has a pair of gripping claws 208 for gripping the tool T, and can grip the tool T with the gripping claws 208 . Similarly, the second hand 194 also has a pair of gripping claws 210 and can grip the tool T with the gripping claws 210 .
回転軸204の端部には、回転軸204の軸心を中心とした点対称、かつ、上下平行となるように、第1ハンド182および第2ハンド194が取り付けられる。第1ハンド182および第2ハンド194は同一構成である。第1ハンド182は、工具Tを把持するための一対の把持爪208を有し、把持爪208により工具Tを把持可能である。同様にして、第2ハンド194も一対の把持爪210を有し、把持爪210により工具Tを把持可能である。 4 is an enlarged perspective view of a portion A shown in FIG. 3. FIG.
A
保持部材198が矢示F方向側に回転したとき(図3,図4に示す回転状態)、第1ハンド182と第2ハンド194それぞれの把持爪208および把持爪210はZ軸方向(把持爪208等により把持される工具Tの軸線方向と直交する直交方向)に沿った姿勢となる。保持部材198が矢示G方向側に回転したとき、第1ハンド182と第2ハンド194それぞれの把持爪208および把持爪210はX軸方向に沿った姿勢となる。
When the holding member 198 rotates in the direction of arrow F (rotating state shown in FIGS. 3 and 4), the gripping claws 208 and 210 of the first hand 182 and the second hand 194 move in the Z-axis direction (gripping claws 208 or the like, which is perpendicular to the axial direction of the tool T). When the holding member 198 rotates in the direction of arrow G, the grasping claws 208 and 210 of the first hand 182 and the second hand 194 are oriented along the X-axis direction.
保持部材198がX軸正方向側の移動端(この位置を「第1X位置」という)にあり、かつ、F方向の回転端にあるとき、着脱位置PMに割り出された保持ポット174に保持されている工具Tは、第1ハンド182または第2ハンド194により把持できる。
When the holding member 198 is at the end of movement in the X-axis positive direction (this position is referred to as the "first X position") and at the end of rotation in the F direction, it is held by the holding pot 174 indexed to the attachment/detachment position PM. The tool T being held can be gripped by the first hand 182 or the second hand 194 .
また、第1ハンド182が上側において工具Tを把持し、着脱位置PMの保持ポット174に工具Tが保持されていないときには、第1ハンド182が把持する工具Tを着脱位置PMの保持ポット174(空の保持ポット)に収容できる。
Further, when the first hand 182 grips the tool T at the upper side and the tool T is not held in the holding pot 174 at the attachment/detachment position PM, the tool T gripped by the first hand 182 is moved to the holding pot 174 at the attachment/detachment position PM ( empty holding pot).
工具搬送部114がタレット164と工具格納部106の中間位置にあるとする。ここで、保持部材198をX軸負方向の移動端(この位置を「第2X位置」という)に移動させ、かつ、矢示F方向の回転端に回転させる。次に、工具搬送部114をZ軸正方向に移動させ、第1ハンド182に把持される工具Tの軸心(X方向)と保持ポット174の軸心を一致させる(このときのZ座標を「第1Z位置」という)。続いて、保持部材198をX軸正方向に「第1X位置」まで移動させて、第1ハンド182の工具Tを着脱位置PMの空の保持ポット174に装着する。このあと、工具搬送部114をZ軸負方向に移動させることにより(この位置を「第2Z位置」という)、第1ハンド182による工具Tの把持が解除される。
It is assumed that the tool transport section 114 is located at an intermediate position between the turret 164 and the tool storage section 106. Here, the holding member 198 is moved to the end of movement in the negative direction of the X axis (this position is referred to as the "second X position") and rotated to the end of rotation in the arrow F direction. Next, the tool carrier 114 is moved in the Z-axis positive direction to align the axial center (X direction) of the tool T gripped by the first hand 182 with the axial center of the holding pot 174 (the Z coordinate at this time is referred to as the "first Z position"). Subsequently, the holding member 198 is moved in the positive direction of the X axis to the "first X position", and the tool T of the first hand 182 is attached to the empty holding pot 174 at the attachment/detachment position PM. After that, by moving the tool conveying unit 114 in the negative direction of the Z axis (this position is referred to as a “second Z position”), the grip of the tool T by the first hand 182 is released.
一方、上側に第1ハンド182が位置し、第1ハンド182の把持爪208には工具Tが把持されておらず、着脱位置PMに工具Tが保持されているときには、着脱位置PMの工具Tを第1ハンド182により取り出すことができる。
On the other hand, when the first hand 182 is positioned on the upper side, the tool T is not gripped by the gripping claws 208 of the first hand 182, and the tool T is held at the attachment/detachment position PM, the tool T at the attachment/detachment position PM can be taken out by the first hand 182 .
工具搬送部114がタレット164と工具格納部106と中間位置にあるとする。ここで、保持部材198を矢示F方向の回転端に回転させ(図3,図4に示す回転状態)、工具搬送部114を「第2Z位置」に移動させた後、工具搬送部114を「第1X位置」に移動させ、次いで、工具搬送部114を前記「第1Z位置」に移動させる。これにより、着脱位置PMに装着された工具Tは、一対の把持爪208の開口部分に侵入し、把持爪208により把持される。次に、保持部材198を「第2X位置」に移動させる。これにより、保持ポット174に装着された工具Tは、一対の把持爪208により把持された状態で、保持ポット174から取り出される。
It is assumed that the tool carrier 114 is positioned between the turret 164 and the tool storage 106 . Here, after rotating the holding member 198 to the rotation end in the direction of the arrow F (rotating state shown in FIGS. 3 and 4) and moving the tool carrier 114 to the "second Z position", the tool carrier 114 is It is moved to the "first X position", and then the tool carrier 114 is moved to the "first Z position". As a result, the tool T attached to the attachment/detachment position PM enters the openings of the pair of gripping claws 208 and is gripped by the gripping claws 208 . Next, the holding member 198 is moved to the "second X position". As a result, the tool T attached to the holding pot 174 is removed from the holding pot 174 while being gripped by the pair of gripping claws 208 .
タレット164では、着脱位置PTに割り出されたタレット164が半径方向に沿って工具Tを保持するタイプの場合には、工具搬送部114の保持部材198が「第1X位置」にあり、かつ、矢示F方向の回転端にある時、ホルダ168に保持された工具Tを、下側に位置する第1ハンド182または第2ハンド194によって把持できる。
In the turret 164, if the turret 164 indexed to the attachment/detachment position PT is of a type that holds the tool T along the radial direction, the holding member 198 of the tool transfer section 114 is at the "first X position" and At the end of rotation in the direction of arrow F, the tool T held by the holder 168 can be gripped by the first hand 182 or the second hand 194 positioned below.
上側に第1ハンド182が位置し、下側に第2ハンド194が位置し、第1ハンド182が工具Tを把持し、第2ハンド194が工具Tを把持していない状態にあり、かつ、着脱位置PTに工具Tが保持されているときには、第1ハンド182に把持した工具Tと、着脱位置PTのホルダ168に保持される工具Tを交換できる。
The first hand 182 is positioned on the upper side, the second hand 194 is positioned on the lower side, the first hand 182 grips the tool T, the second hand 194 does not grip the tool T, and When the tool T is held at the attachment/detachment position PT, the tool T held by the first hand 182 can be exchanged with the tool T held by the holder 168 at the attachment/detachment position PT.
工具搬送部114がタレット164と工具格納部106との中間位置にあるとする。ここで、保持部材198を矢示F方向の回転端に回転させるとともに、「第2X位置」に移動させた状態で、工具搬送部114をZ軸負方向に設定された所定位置(この位置を「第3Z位置」という)まで移動させる。「第3Z位置」は、保持部材198を「第1X位置」に移動させたときに、下側に位置する第2ハンド194がホルダ168に保持された工具Tに対してZ軸正方向側の位置、言い換えれば、第2ハンド194が工具Tと干渉しない手前の位置にある。
It is assumed that the tool transport section 114 is located at an intermediate position between the turret 164 and the tool storage section 106. Here, while the holding member 198 is rotated to the rotation end in the direction of arrow F and moved to the "second X position", the tool carrier 114 is moved to a predetermined position set in the negative direction of the Z axis (this position is (referred to as "3rd Z position"). The "third Z position" is the position where the lower second hand 194 is located on the Z-axis positive direction side with respect to the tool T held by the holder 168 when the holding member 198 is moved to the "first X position". The position, in other words, the second hand 194 is in the front position where the tool T does not interfere.
保持部材198を「第1X位置」に移動させた後、工具搬送部114をZ軸負方向に設定された所定位置(この位置を「第4Z位置」という)まで移動させる。これにより、着脱位置PTの工具Tが、一対の把持爪210の開口部分に侵入して、把持爪210によって把持される。次に、保持部材198を「第2X位置」まで移動させると、ホルダ168に装着された工具Tが、一対の把持爪210によりホルダ168から取り出される。
After moving the holding member 198 to the "first X position", move the tool conveying unit 114 to a predetermined position set in the negative direction of the Z axis (this position is referred to as a "fourth Z position"). As a result, the tool T at the attachment/detachment position PT enters the openings of the pair of gripping claws 210 and is gripped by the gripping claws 210 . Next, when the holding member 198 is moved to the “second X position”, the tool T attached to the holder 168 is removed from the holder 168 by the pair of gripping claws 210 .
次に、駆動シリンダ206は第1ハンド182と第2ハンド194とを上下反転させて、上側に第2ハンド194を位置させ、下側に第1ハンド182を位置させ、保持部材198を「第1X位置」に移動させる。これにより、第1ハンド182に把持された工具Tが着脱位置PTに設置される。次いで、工具搬送部114を「第3Z位置」に移動させると、第1ハンド182による工具Tの把持が解除される。以上の第1交換動作によって、第1ハンド182に把持された工具Tと、着脱位置PTの工具Tが交換される。なお、第2ハンド194に把持された工具Tは、上述した収納動作によって、工具格納部106に収納できる。
Next, the drive cylinder 206 vertically inverts the first hand 182 and the second hand 194, positions the second hand 194 on the upper side, positions the first hand 182 on the lower side, and moves the holding member 198 to the "second hand." 1X position”. As a result, the tool T gripped by the first hand 182 is installed at the attachment/detachment position PT. Next, when the tool conveying section 114 is moved to the "third Z position", the grip of the tool T by the first hand 182 is released. Through the first exchange operation described above, the tool T gripped by the first hand 182 is exchanged with the tool T at the attachment/detachment position PT. The tool T gripped by the second hand 194 can be stored in the tool storage section 106 by the storage operation described above.
タレット164の着脱位置PTに割り出されたホルダ168が、工具TをZ軸に沿って保持するタイプの場合には、保持部材198が矢示G方向の回転端にあり、かつ、「第1X位置」にある時に、このホルダ168に保持された工具Tを、下側に位置する第1ハンド182または第2ハンド194によって把持できる。
If the holder 168 indexed to the attachment/detachment position PT of the turret 164 is of a type that holds the tool T along the Z-axis, the holding member 198 is at the rotation end in the direction of arrow G, and the "1st X position", the tool T held by this holder 168 can be gripped by the first hand 182 or the second hand 194 located on the lower side.
上側に第1ハンド182が位置し、下側に第2ハンド194が位置し、ボールナット192が工具Tを把持し、第2ハンド194が工具Tを把持していない状態にあり、かつ、着脱位置PTに工具Tが保持されているときには、第1ハンド182に把持された工具Tと、着脱位置PTの工具Tを交換できる。
The first hand 182 is positioned on the upper side, the second hand 194 is positioned on the lower side, the ball nut 192 grips the tool T, the second hand 194 does not grip the tool T, and the attachment/detachment When the tool T is held at the position PT, the tool T held by the first hand 182 can be exchanged with the tool T at the attachment/detachment position PT.
工具搬送部114がタレット164と工具格納部106との中間位置にあるとする。ここで、保持部材198を矢示G方向の回転端に回転させるとともに、「第2X位置」に移動させ、工具搬送部114をZ軸負方向に設定された「第3Z位置」に移動させる。このとき、第2ハンド194はホルダ168に保持された工具Tを把持可能な位置にある。
It is assumed that the tool transport section 114 is located at an intermediate position between the turret 164 and the tool storage section 106. Here, the holding member 198 is rotated to the rotation end in the direction of arrow G and moved to the "second X position", and the tool carrier 114 is moved to the "third Z position" set in the negative direction of the Z axis. At this time, the second hand 194 is at a position where it can grip the tool T held by the holder 168 .
次に、保持部材198を「第1X位置」に移動させる。これにより、着脱位置PTの工具Tが、一対の把持爪210の開口部分に侵入し、把持爪210によって把持される。この後、保持部材198をZ軸負方向に設定された「第4Z位置」まで移動させると、ホルダ168に装着された工具Tは、把持爪210によりホルダ168から取り出される。
Next, the holding member 198 is moved to the "first X position". As a result, the tool T at the attachment/detachment position PT enters the openings of the pair of gripping claws 210 and is gripped by the gripping claws 210 . After that, when the holding member 198 is moved to the “fourth Z position” set in the negative direction of the Z axis, the tool T attached to the holder 168 is taken out from the holder 168 by the grip claws 210 .
次に、駆動シリンダ206により、第1ハンド182と第2ハンド194とを上下反転させて、上側に第2ハンド194を位置させ、下側に第1ハンド182を位置させ、工具搬送部114を「第3Z位置」に移動させる。これにより、第1ハンド182が把持する工具Tは着脱位置PTに装着される。次いで、保持部材198を「第2X位置」に移動させると、第1ハンド182による工具Tの把持が解除される。以上の第2交換動作によって、ボールナット192に把持された工具Tと、着脱位置PTの工具Tを交換される。第2ハンド194に把持された工具Tは、上述した収納動作によって、工具格納部106に収納できる。
Next, the first hand 182 and the second hand 194 are turned upside down by the drive cylinder 206 so that the second hand 194 is positioned on the upper side and the first hand 182 is positioned on the lower side. Move to "3rd Z position". As a result, the tool T gripped by the first hand 182 is attached to the attachment/detachment position PT. Next, when the holding member 198 is moved to the “second X position”, the grip of the tool T by the first hand 182 is released. Through the second exchange operation described above, the tool T gripped by the ball nut 192 and the tool T at the attachment/detachment position PT are exchanged. The tool T gripped by the second hand 194 can be stored in the tool storage section 106 by the storage operation described above.
上述したように、工具搬送部114は「直進」「旋回」「回転」の3種類の動作が可能である。1つ目の「直進」は、工具搬送部114がレール保持台184(Z軸)に沿って直線移動する動作である。工具搬送部114を直線移動させることにより、タレット164と工具格納部106の間での工具搬送を行うことができる。
As described above, the tool conveying unit 114 is capable of three types of operations: "straight forward", "turning", and "rotating". The first "straight forward" is an operation in which the tool carrier 114 moves linearly along the rail holding table 184 (Z-axis). Tool transfer between the turret 164 and the tool storage section 106 can be performed by linearly moving the tool transfer section 114 .
2つ目の「旋回」は、工具搬送部114を矢印G-Fに示す方向に旋回させる動作である。つまり、本実施形態においては、工具搬送部114の一部である移動台180に回転軸があり、この回転軸を中心として回転することを「旋回」という。旋回は回転の1種であり、この旋回を第1回転と称してもよい。旋回動作により、タレット164における第1方向の第1ホルダ168Aと第2方向の第2ホルダ168Bのいずれかが操作対象として選ばれる(詳細後述)。3つ目の「回転」は、保持部材198に回転軸204があり、この回転軸204を中心とした回転より、第1ハンド182と第2ハンド194を上下反転させる動作である。この回転動作も回転の1種であるため、第2回転と称してもよい。回転動作により、第1ハンド182および第2ハンド194のいずれかが操作対象として選ばれる(詳細後述)。
本実施形態においては、第1回転の回転軸と第2回転の回転軸とは、交差する位置関係にある。第1回転の回転軸と第2回転の回転軸は立体交差する構成であってもよい。 The second “turning” is an operation of turning thetool carrier 114 in the directions indicated by arrows GF. That is, in the present embodiment, the moving table 180, which is a part of the tool carrier 114, has a rotation axis, and rotation around this rotation axis is called "rotation". A turn is a type of rotation, and this turn may be referred to as a first rotation. Either the first holder 168A in the first direction or the second holder 168B in the second direction on the turret 164 is selected as an operation target by the turning motion (details will be described later). The third “rotation” is an operation in which the holding member 198 has a rotating shaft 204 and the first hand 182 and the second hand 194 are turned upside down by rotating around this rotating shaft 204 . Since this rotation operation is also one type of rotation, it may be called a second rotation. Either the first hand 182 or the second hand 194 is selected as an operation target by the rotating motion (details will be described later).
In the present embodiment, the rotation axis for the first rotation and the rotation axis for the second rotation are in a positional relationship that intersects. The rotation axis for the first rotation and the rotation axis for the second rotation may be configured to cross over each other.
本実施形態においては、第1回転の回転軸と第2回転の回転軸とは、交差する位置関係にある。第1回転の回転軸と第2回転の回転軸は立体交差する構成であってもよい。 The second “turning” is an operation of turning the
In the present embodiment, the rotation axis for the first rotation and the rotation axis for the second rotation are in a positional relationship that intersects. The rotation axis for the first rotation and the rotation axis for the second rotation may be configured to cross over each other.
直進動作、旋回動作、回転動作にはそれぞれある程度の時間がかかるが、直進動作に要する時間がもっとも長い。本実施形態においては、旋回動作に要する時間は、回転動作に要する時間よりも長いものとする。
Straight movement, turning movement, and rotation movement each take a certain amount of time, but the time required for straight movement is the longest. In this embodiment, it is assumed that the time required for the turning motion is longer than the time required for the rotating motion.
各動作に要する時間の長さを指標化した数値としてあらかじめ「時間ポイント」を設定しておく。本実施形態においては、直進動作、旋回動作および回転動作それぞれの時間ポイントは、「5」「2」「1」であるとして説明する。たとえば、直進動作に要する実測時間が約5秒であるとき、直進動作の時間ポイントを5ポイントとして設定してもよい。時間ポイントは、直進動作、旋回動作および回転動作それぞれに要する時間の比を示す数値であればよい。時間ポイントの使い方については後述する。
"Time points" are set in advance as numerical values that index the length of time required for each action. In the present embodiment, it is assumed that the time points of straight motion, turning motion, and rotating motion are "5," "2," and "1." For example, when the measured time required for straight-ahead movement is about 5 seconds, the time points for straight-ahead movement may be set as 5 points. The time point may be a numerical value that indicates the ratio of the time required for each of straight-ahead motion, turning motion, and rotating motion. How to use the time points will be explained later.
図5は、タレット164の外観斜視図である。
タレット164は、上述したように、Z軸を中心として回転可能にタレットベース102に接続される。タレット164は、12角柱形状を有し、その側面には差し込み穴を有する12個のステーション222(端面)が形成される。ステーション222にはホルダ168をそのまま差し込むこともできるし、カートリッジ220を差し込むこともできる。そして、カートリッジ220にホルダ168を差し込むこともできる。ホルダ168は、エンドミル、ドリルなどの工具Tを保持可能に構成される。ホルダ168に、工具Tのシャンク部を差し込むことで、タレット164には12本の工具Tが保持される。 FIG. 5 is an external perspective view of theturret 164. FIG.
Turret 164 is rotatably connected to turret base 102 about the Z axis, as described above. The turret 164 has a dodecagonal prism shape, and 12 stations 222 (end faces) having insertion holes are formed on its side faces. The holder 168 can be inserted into the station 222 as it is, or the cartridge 220 can be inserted. Also, the holder 168 can be inserted into the cartridge 220 . The holder 168 is configured to be able to hold a tool T such as an end mill and a drill. Twelve tools T are held by the turret 164 by inserting the shanks of the tools T into the holder 168 .
タレット164は、上述したように、Z軸を中心として回転可能にタレットベース102に接続される。タレット164は、12角柱形状を有し、その側面には差し込み穴を有する12個のステーション222(端面)が形成される。ステーション222にはホルダ168をそのまま差し込むこともできるし、カートリッジ220を差し込むこともできる。そして、カートリッジ220にホルダ168を差し込むこともできる。ホルダ168は、エンドミル、ドリルなどの工具Tを保持可能に構成される。ホルダ168に、工具Tのシャンク部を差し込むことで、タレット164には12本の工具Tが保持される。 FIG. 5 is an external perspective view of the
ステーション222に工具Tを直接固定するときには、工具Tの長手方向はタレット164の径方向である「第2方向」と一致する。以下、ステーション222に直接差し込まれたホルダ168のことを「第2ホルダ168B」とよぶ。一方、カートリッジ220に工具Tを固定するときには、工具Tの長手方向はタレット164の軸方向である「第1方向」と一致する。第1方向は、図5においてはZ軸負方向とも一致する。以下、カートリッジ220に差し込まれたホルダ168のことを「第1ホルダ168A」とよぶ。第1ホルダ168Aおよび第2ホルダ168Bは、同一部品であるが、カートリッジ220を介してステーション222に固定されるか否かによって工具の保持方向が変化する。
When the tool T is directly fixed to the station 222, the longitudinal direction of the tool T coincides with the "second direction", which is the radial direction of the turret 164. Hereinafter, the holder 168 directly inserted into the station 222 will be referred to as "second holder 168B". On the other hand, when fixing the tool T to the cartridge 220 , the longitudinal direction of the tool T coincides with the “first direction”, which is the axial direction of the turret 164 . The first direction also coincides with the Z-axis negative direction in FIG. Hereinafter, the holder 168 inserted into the cartridge 220 will be referred to as "first holder 168A". Although the first holder 168A and the second holder 168B are the same component, the tool holding direction changes depending on whether they are fixed to the station 222 via the cartridge 220 or not.
第1ホルダ168Aに保持される工具Tは、中実のワークの内径側を削る。第2ホルダ168Bに保持される第2方向の工具は、中実のワークの外径側を削る。本実施形態においては、6本の第1ホルダ168Aと6本の第2ホルダ168Bがタレット164に設置されるため、6本の工具Tが内径加工に使用され、6本の工具Tが外径加工に使用される。
The tool T held by the first holder 168A cuts the inner diameter side of the solid work. The second direction tool held by the second holder 168B cuts the outer diameter side of the solid workpiece. In this embodiment, since six first holders 168A and six second holders 168B are installed on the turret 164, six tools T are used for inner diameter machining and six tools T are used for outer diameter machining. used for processing.
なお、工具Tを装着されていないホルダ168のことを「空きホルダ」とよぶ。ホルダ168に工具Tを取り付けない場合、工具Tのシャンクを挿入する穴を塞ぐためのキャップ部材をホルダ168に取り付けてもよい。このように、「空きホルダ」は、工具Tを取り付けない状態またはホルダの穴にキャップ部材を取り付ける場合も含む。
A holder 168 to which no tool T is attached is called an "empty holder". When the tool T is not attached to the holder 168, a cap member may be attached to the holder 168 for covering the hole into which the shank of the tool T is inserted. Thus, the "empty holder" includes a state in which the tool T is not attached or a case in which the cap member is attached to the hole of the holder.
図6は、工作機械100のハードウェア構成図である。
工作機械100は、情報処理装置118、加工制御部116、加工装置112、工具搬送部114および工具格納部106を含む。数値制御装置として機能する加工制御部116は、加工プログラムにしたがって加工装置112に制御信号を送信する。加工装置112は、加工制御部116からの指示にしたがってタレットベース102を動かしてワークを加工する。また、加工制御部116は、工具管理部130(後述)からタレット164に保持させるべき工具Tの組み合わせを示す「工具パターン」を取得する。加工制御部116は、情報処理装置118から指示された工具パターンにしたがって、工具搬送部114に工具交換を実行させる。 FIG. 6 is a hardware configuration diagram of themachine tool 100. As shown in FIG.
Themachine tool 100 includes an information processor 118 , a machining controller 116 , a machining device 112 , a tool carrier 114 and a tool storage 106 . A machining control unit 116 functioning as a numerical controller transmits a control signal to the machining device 112 according to a machining program. The processing device 112 moves the turret base 102 according to instructions from the processing control unit 116 to process the workpiece. The machining control unit 116 also acquires a “tool pattern” indicating a combination of tools T to be held in the turret 164 from the tool management unit 130 (described later). The machining control unit 116 causes the tool transfer unit 114 to perform tool exchange according to the tool pattern instructed by the information processing device 118 .
工作機械100は、情報処理装置118、加工制御部116、加工装置112、工具搬送部114および工具格納部106を含む。数値制御装置として機能する加工制御部116は、加工プログラムにしたがって加工装置112に制御信号を送信する。加工装置112は、加工制御部116からの指示にしたがってタレットベース102を動かしてワークを加工する。また、加工制御部116は、工具管理部130(後述)からタレット164に保持させるべき工具Tの組み合わせを示す「工具パターン」を取得する。加工制御部116は、情報処理装置118から指示された工具パターンにしたがって、工具搬送部114に工具交換を実行させる。 FIG. 6 is a hardware configuration diagram of the
The
情報処理装置118は、加工制御部116を制御する。本実施形態においては、情報処理装置118は作業者にユーザインタフェース機能を提供するとともに工具パターンを管理する。工具格納部106は予備工具を格納する。工具搬送部114は移動台180を含む機構であり、いわゆるATC(Automatic Tool Changer)に対応する。工具搬送部114は、加工制御部116からの交換指示にしたがって、工具格納部106から予備工具を取り出し、タレット164の交換位置にある作業工具と予備工具を交換する。
The information processing device 118 controls the processing control unit 116 . In this embodiment, the information processing device 118 provides the operator with a user interface function and manages tool patterns. The tool storage section 106 stores spare tools. The tool transport section 114 is a mechanism including a moving table 180 and corresponds to a so-called ATC (Automatic Tool Changer). The tool transport section 114 takes out the spare tool from the tool storage section 106 according to the replacement instruction from the machining control section 116 and replaces the working tool at the replacement position of the turret 164 with the spare tool.
図7は、情報処理装置118の機能ブロック図である。
情報処理装置118の各構成要素は、CPU(Central Processing Unit)および各種コプロセッサ(co-processor)などの演算器、メモリやストレージといった記憶装置、それらを連結する有線または無線の通信線を含むハードウェアと、記憶装置に格納され、演算器に処理命令を供給するソフトウェアによって実現される。コンピュータプログラムは、デバイスドライバ、オペレーティングシステム、それらの上位層に位置する各種アプリケーションプログラム、また、これらのプログラムに共通機能を提供するライブラリによって構成されてもよい。以下に説明する各ブロックは、ハードウェア単位の構成ではなく、機能単位のブロックを示している。 FIG. 7 is a functional block diagram of theinformation processing device 118. As shown in FIG.
Each component of theinformation processing device 118 includes computing units such as a CPU (Central Processing Unit) and various co-processors, storage devices such as memory and storage, and hardware including wired or wireless communication lines connecting them. It is implemented by hardware and software stored in a storage device and supplying processing instructions to the computing unit. A computer program may consist of a device driver, an operating system, various application programs located in their higher layers, and a library that provides common functions to these programs. Each block described below represents a functional block rather than a hardware configuration.
情報処理装置118の各構成要素は、CPU(Central Processing Unit)および各種コプロセッサ(co-processor)などの演算器、メモリやストレージといった記憶装置、それらを連結する有線または無線の通信線を含むハードウェアと、記憶装置に格納され、演算器に処理命令を供給するソフトウェアによって実現される。コンピュータプログラムは、デバイスドライバ、オペレーティングシステム、それらの上位層に位置する各種アプリケーションプログラム、また、これらのプログラムに共通機能を提供するライブラリによって構成されてもよい。以下に説明する各ブロックは、ハードウェア単位の構成ではなく、機能単位のブロックを示している。 FIG. 7 is a functional block diagram of the
Each component of the
なお、加工制御部116の各構成要素も、プロセッサなどの演算器、メモリやストレージといった記憶装置、それらを連結する有線または無線の通信線を含むハードウェアと、記憶装置に格納され演算器に処理命令を供給するソフトウェアにより実現されてもよい。加工制御部116は、情報処理装置118とは別個の装置として構成されてもよい。
Each component of the processing control unit 116 also includes a computing unit such as a processor, a storage device such as a memory and a storage, hardware including a wired or wireless communication line connecting them, and processing by the computing unit stored in the storage device. It may be implemented by software providing instructions. The processing control unit 116 may be configured as a separate device from the information processing device 118 .
情報処理装置118は、ユーザインタフェース処理部120、データ処理部122およびデータ格納部124を含む。
ユーザインタフェース処理部120は、ユーザからの操作を受け付けるほか、画像表示や音声出力など、ユーザインタフェースに関する処理を担当する。データ処理部122は、ユーザインタフェース処理部120により取得されたデータおよびデータ格納部124に格納されているデータに基づいて各種処理を実行する。データ処理部122は、ユーザインタフェース処理部120およびデータ格納部124のインタフェースとしても機能する。データ格納部124は、各種プログラムと設定データを格納する。 Theinformation processing device 118 includes a user interface processing unit 120 , a data processing unit 122 and a data storage unit 124 .
The userinterface processing unit 120 is in charge of user interface processing such as image display and audio output, in addition to receiving operations from the user. The data processing unit 122 executes various processes based on data acquired by the user interface processing unit 120 and data stored in the data storage unit 124 . The data processing section 122 also functions as an interface for the user interface processing section 120 and the data storage section 124 . The data storage unit 124 stores various programs and setting data.
ユーザインタフェース処理部120は、ユーザからの操作を受け付けるほか、画像表示や音声出力など、ユーザインタフェースに関する処理を担当する。データ処理部122は、ユーザインタフェース処理部120により取得されたデータおよびデータ格納部124に格納されているデータに基づいて各種処理を実行する。データ処理部122は、ユーザインタフェース処理部120およびデータ格納部124のインタフェースとしても機能する。データ格納部124は、各種プログラムと設定データを格納する。 The
The user
ユーザインタフェース処理部120は、入力部126および出力部128を含む。
入力部126は、タッチパネルあるいはハンドル等のハードデバイスを介してユーザからの入力を受け付ける。出力部128は、画像表示あるいは音声出力を介して、ユーザに各種情報を提供する。 Userinterface processing section 120 includes an input section 126 and an output section 128 .
Theinput unit 126 receives input from the user via a hard device such as a touch panel or a handle. The output unit 128 provides various information to the user through image display or audio output.
入力部126は、タッチパネルあるいはハンドル等のハードデバイスを介してユーザからの入力を受け付ける。出力部128は、画像表示あるいは音声出力を介して、ユーザに各種情報を提供する。 User
The
データ処理部122は、工具管理部130、スケジュール生成部132および工具搬送制御部134を含む。工具管理部130は、タレット164が保持すべき作業工具の組み合わせを示す工具パターンを管理する。スケジュール生成部132は、工具パターンの変更に際して、工具搬送部114の「直進」「旋回」「回転」の3動作を組み合わせて工具交換の手順を示す「搬送スケジュール」を生成する(後述)。工具搬送制御部134は、搬送スケジュールにしたがって、加工制御部116に工具搬送部114の制御を指示し、工具搬送部114(移動台180)に工具交換を実行させる。
The data processing unit 122 includes a tool management unit 130, a schedule generation unit 132 and a tool transfer control unit 134. The tool management unit 130 manages tool patterns indicating combinations of working tools to be held by the turret 164 . When changing the tool pattern, the schedule generator 132 combines the three operations of the tool transporter 114, ie, "straight forward," "rotation," and "rotation," to generate a "transportation schedule" indicating the procedure of tool replacement (described later). The tool transfer control unit 134 instructs the machining control unit 116 to control the tool transfer unit 114 according to the transfer schedule, and causes the tool transfer unit 114 (moving table 180) to perform tool exchange.
データ格納部124は、加工プログラムごとの工具パターンを保存する。加工制御部116は、加工プログラムの実行時において、工具搬送制御部134からの指示にしたがって工具交換を適宜実行する。このほか、データ格納部124は、工具格納部106に格納される予備工具の種類および状態(使用可否)に関する予備工具情報も保存する。
The data storage unit 124 stores tool patterns for each machining program. The machining control unit 116 appropriately executes tool replacement according to instructions from the tool transfer control unit 134 when executing the machining program. In addition, the data storage unit 124 also stores spare tool information regarding the types and states (usability) of spare tools stored in the tool storage unit 106 .
図8は、工具搬送部114の直進動作を説明するための模式図である。
工具格納部106(マガジン)とタレット164は離隔しているので、工具搬送部114は工具格納部106とタレット164の間を往復することにより(直進)、工具を搬送する。図8においては、第2ハンド194は工具格納部106側(以下、「予備側」とよぶ)、第1ハンド182はタレット164側(以下、「作業側」とよぶ)に把持爪を有している。以下、予備側に向いているハンドを「予備ハンド」、作業側に向いているハンドを「作業ハンド」ともよぶ。 8A and 8B are schematic diagrams for explaining straight movement of thetool carrier 114. FIG.
Since the tool storage section 106 (magazine) and theturret 164 are separated from each other, the tool transport section 114 transports tools by reciprocating (straight forward) between the tool storage section 106 and the turret 164 . In FIG. 8, the second hand 194 has gripping claws on the tool storage section 106 side (hereinafter referred to as "preparation side"), and the first hand 182 has gripping claws on the turret 164 side (hereinafter referred to as "working side"). ing. Hereinafter, the hand facing the backup side is also called the "preparation hand", and the hand facing the working side is also called the "working hand".
工具格納部106(マガジン)とタレット164は離隔しているので、工具搬送部114は工具格納部106とタレット164の間を往復することにより(直進)、工具を搬送する。図8においては、第2ハンド194は工具格納部106側(以下、「予備側」とよぶ)、第1ハンド182はタレット164側(以下、「作業側」とよぶ)に把持爪を有している。以下、予備側に向いているハンドを「予備ハンド」、作業側に向いているハンドを「作業ハンド」ともよぶ。 8A and 8B are schematic diagrams for explaining straight movement of the
Since the tool storage section 106 (magazine) and the
本実施形態における「搬送」とは、工具搬送部114が実際に工具Tを持ち運ぶ場合だけでなく、工具搬送部114が工具Tを保持しない状態で工具格納部106とタレット164の間を移動する場合も含む。
In the present embodiment, "transportation" means not only the case where the tool transporter 114 actually carries the tool T, but also the movement between the tool storage unit 106 and the turret 164 in a state where the tool transporter 114 does not hold the tool T. Including cases.
工具格納部106の着脱位置PMに工具が割り出され、かつ、第2ハンド194(予備ハンド)が工具を保持していないとする(以下、「空状態」とよぶ)。工具搬送部114を工具格納部106(予備側)に向けて直進移動させると、工具格納部106の着脱位置PMにある予備工具は第2ハンド194(予備ハンド)の把持爪に挟まれる。第2ハンド194に工具を挟ませたあと、工具搬送部114がタレット164(作業側)に向けて移動すると、第2ハンド194は工具を保持したまま移動する。このような制御方法により、工具格納部106に格納される工具は、工具搬送部114の予備ハンド(図8では第2ハンド194)により取り出される。
It is assumed that the tool is indexed to the attachment/detachment position PM of the tool storage section 106 and the second hand 194 (backup hand) does not hold the tool (hereinafter referred to as "empty state"). When the tool conveying section 114 is moved straight toward the tool storage section 106 (preliminary side), the spare tool at the attachment/detachment position PM of the tool storage section 106 is caught by the gripping claws of the second hand 194 (preliminary hand). After the tool is sandwiched between the second hand 194, when the tool transfer section 114 moves toward the turret 164 (working side), the second hand 194 moves while holding the tool. With such a control method, the tool stored in the tool storage section 106 is taken out by the spare hand (the second hand 194 in FIG. 8) of the tool transport section 114 .
別例として、工具格納部106の着脱位置PMが空状態であり、かつ、第2ハンド194(予備ハンド)が工具を保持しているとする。このとき工具搬送部114を工具格納部106(予備側)に向けて移動させると、第2ハンド194(予備ハンド)に保持されている工具は工具格納部106の着脱位置PM(空状態)に挿入される。工具の挿入後、工具搬送部114をタレット164(作業側)に向けて移動させると、工具は着脱位置PMの保持ポット174に取り残される。このような制御方法により、工具搬送部114の予備ハンドが保持する工具は工具格納部106に格納される。
As another example, it is assumed that the attachment/detachment position PM of the tool storage section 106 is empty and the second hand 194 (backup hand) holds a tool. At this time, when the tool transport section 114 is moved toward the tool storage section 106 (backup side), the tool held by the second hand 194 (backup hand) moves to the attachment/detachment position PM (empty state) of the tool storage section 106. inserted. After inserting the tool, when the tool carrier 114 is moved toward the turret 164 (working side), the tool is left in the holding pot 174 at the attachment/detachment position PM. With such a control method, the tool held by the spare hand of the tool conveying section 114 is stored in the tool storage section 106 .
タレット164に工具を装着またはタレット164から工具を取り出すときも同様である。タレット164の着脱位置PTにおいて第2ホルダ168B(第2方向)が工具を保持しており、かつ、第1ハンド182(作業ハンド)が空状態にあるとする。ここで工具搬送部114をタレット164に向けて移動させると、タレット164の着脱位置PTにある工具は第1ハンド182(作業ハンド)に挿入される。工具の挿入後、加工制御部116が工具搬送部114を工具格納部106に向けて直進させると、第1ハンド182により工具は運搬される。
The same applies when a tool is attached to or removed from the turret 164. Assume that the second holder 168B (second direction) holds a tool at the attachment/detachment position PT of the turret 164, and the first hand 182 (working hand) is empty. Here, when the tool carrier 114 is moved toward the turret 164, the tool at the attachment/detachment position PT of the turret 164 is inserted into the first hand 182 (working hand). After the tool is inserted, the tool is carried by the first hand 182 when the machining control unit 116 causes the tool transfer unit 114 to move straight toward the tool storage unit 106 .
別例としてタレット164の着脱位置PTにおいて第2ホルダ168Bが空状態にあり、かつ、工具搬送部114の第1ハンド182(作業ハンド)が工具を保持しているとする。工具搬送部114をタレット164に向けて移動させることにより、第1ハンド182(作業ハンド)に保持されている工具は着脱位置PTの第2ホルダ168Bに取り付けられる。工具を第2ホルダ168Bに取り付けたあと、加工制御部116が工具搬送部114を工具格納部106に向けて直進させると、工具はタレット164(第2ホルダ168B)に残存する。
As another example, it is assumed that the second holder 168B is in an empty state at the attachment/detachment position PT of the turret 164, and that the first hand 182 (working hand) of the tool transfer section 114 holds a tool. By moving the tool carrier 114 toward the turret 164, the tool held by the first hand 182 (working hand) is attached to the second holder 168B at the attachment/detachment position PT. After the tool is attached to the second holder 168B, the tool remains in the turret 164 (second holder 168B) when the machining control unit 116 causes the tool transfer unit 114 to move straight toward the tool storage unit 106.
図9は、工具搬送部114の旋回動作を説明するための模式図である。
加工制御部116は、図4に関連して説明したように、工具搬送部114を矢印G-F方向に軸回転(Y軸を中心とした回転)させることができる(旋回動作)。加工制御部116は、工具搬送部114を旋回させることにより、第1ホルダ168A(第1方向)に保持される第1方向の工具と、第2ホルダ168B(第2方向)に保持される第2方向の工具のいずれかを操作対象として選ぶことができる。 FIG. 9 is a schematic diagram for explaining the turning motion of thetool carrier 114. As shown in FIG.
As described with reference to FIG. 4, themachining control unit 116 can axially rotate (rotate about the Y-axis) the tool carrier 114 in the direction of the arrows GF (swivel operation). The machining control unit 116 rotates the tool conveying unit 114 to rotate the tool in the first direction held by the first holder 168A (first direction) and the tool in the first direction held by the second holder 168B (second direction). Either of two directional tools can be selected as the object of operation.
加工制御部116は、図4に関連して説明したように、工具搬送部114を矢印G-F方向に軸回転(Y軸を中心とした回転)させることができる(旋回動作)。加工制御部116は、工具搬送部114を旋回させることにより、第1ホルダ168A(第1方向)に保持される第1方向の工具と、第2ホルダ168B(第2方向)に保持される第2方向の工具のいずれかを操作対象として選ぶことができる。 FIG. 9 is a schematic diagram for explaining the turning motion of the
As described with reference to FIG. 4, the
タレット164から第2方向の工具(第2ホルダ168B)を取り出す場合には、上述したように、加工制御部116はまずタレット164を回転させ、着脱位置PTに工具Tを割り出す。続いて、第1ハンド182(作業ハンド)に工具を挿入し、工具搬送部114を工具格納部106側に移動させることで、第2方向の工具をタレット164から取り外すことができる。空状態の第2ホルダ168Bに工具を取り付ける場合には、タレット164を回転させて着脱位置PTに空状態の第2ホルダ168Bを割り出し、第1ハンド182(作業ハンド)から工具を第2ホルダ168Bに挿入し、工具搬送部114を工具格納部106側に移動させれば、工具を第2ホルダ168Bに取り付けることができる。
When taking out the tool in the second direction (second holder 168B) from the turret 164, as described above, the machining control unit 116 first rotates the turret 164 and indexes the tool T to the attachment/detachment position PT. Subsequently, the tool in the second direction can be removed from the turret 164 by inserting the tool into the first hand 182 (working hand) and moving the tool transfer section 114 toward the tool storage section 106 . When a tool is to be attached to the empty second holder 168B, the turret 164 is rotated to index the empty second holder 168B to the attachment/detachment position PT, and the tool is attached to the second holder 168B from the first hand 182 (working hand). Then, the tool can be attached to the second holder 168B by moving the tool carrier 114 toward the tool storage 106 side.
タレット164から第1方向の工具T(第1ホルダ168A)を取り出す場合には、加工制御部116は工具搬送部114を旋回させ、工具搬送部114の回転軸204をZ軸方向に一致させる。続いて、着脱位置PTに割り出された工具T(第1ホルダ168A)を第1ハンド182(作業ハンド)に挿入させ、タレット164を工具格納部106側(Z軸方向)に移動させることで、第1方向に取り付けられていた工具はタレット164から抜き取られる。
When removing the tool T (first holder 168A) in the first direction from the turret 164, the machining control unit 116 rotates the tool conveying unit 114 so that the rotating shaft 204 of the tool conveying unit 114 coincides with the Z-axis direction. Subsequently, the tool T (first holder 168A) indexed to the attachment/detachment position PT is inserted into the first hand 182 (working hand), and the turret 164 is moved toward the tool storage section 106 (Z-axis direction). , the tool that was mounted in the first direction is withdrawn from the turret 164 .
タレット164の第1ホルダ168Aに工具を取り付ける場合には、第1ハンド182(作業ハンド)が保持する工具を第1ホルダ168Aに挿入したあと、タレット164を工具格納部106側に移動させることで、第1ハンド182から工具を抜き取って第1方向にてタレット164に工具を取り付けることができる。
When attaching a tool to the first holder 168A of the turret 164, after inserting the tool held by the first hand 182 (working hand) into the first holder 168A, the turret 164 is moved to the tool storage section 106 side. , the tool can be removed from the first hand 182 and mounted on the turret 164 in a first orientation.
以下、工具搬送部114の旋回位置のうち、工具搬送部114の回転軸204がタレット164の軸方向(Z軸)と一致し、第1ホルダ168A(第1方向)の工具を操作可能な状態にあるときを「内径旋回状態」、工具搬送部114の回転軸204がタレット164の軸方向と直交し、第2ホルダ168B(第2方向)の工具を操作可能な状態にあるときを「外径旋回状態」と表記する。図8には外径旋回状態の工具搬送部114が示されており、図9には内径旋回状態に近い状態の工具搬送部114が示されている。
Below, among the turning positions of the tool carrier 114, the rotation axis 204 of the tool carrier 114 coincides with the axial direction (Z-axis) of the turret 164, and the tool in the first holder 168A (first direction) can be operated. The state in which the rotating shaft 204 of the tool carrier 114 is orthogonal to the axial direction of the turret 164 and the tool in the second holder 168B (second direction) can be operated is the state in which the tool is in the "outer turning state". Radial turning state”. FIG. 8 shows the tool carrier 114 in the outer diameter turning state, and FIG. 9 shows the tool carrier 114 in a state close to the inner diameter turning state.
図10は、工具搬送部114の回転動作を説明するための模式図である。
加工制御部116は、回転軸204を駆動することで第1ハンド182と第2ハンド194を上下反転させる。上述したように第1ハンド182と第2ハンド194の一方は予備側、他方は作業側となる。たとえば、第1ハンド182が工具TAを保持し、第2ハンド194が空状態にあるとする。この場合、第1ハンド182を作業ハンドに設定して工具TAをタレット164に嵌めたあと、回転動作によって、空状態の第2ハンド194を作業ハンドにすれば、タレット164に取り付けられている別の工具TBを第2ハンド194により取り外すことができる。 10A and 10B are schematic diagrams for explaining the rotation operation of thetool carrier 114. FIG.
Themachining control unit 116 drives the rotating shaft 204 to turn the first hand 182 and the second hand 194 upside down. As described above, one of the first hand 182 and the second hand 194 is on the backup side, and the other is on the working side. For example, assume that the first hand 182 holds the tool TA and the second hand 194 is empty. In this case, after the first hand 182 is set as the working hand and the tool TA is fitted in the turret 164 , the empty second hand 194 can be turned into the working hand by rotating the other hand attached to the turret 164 . can be removed by the second hand 194 .
加工制御部116は、回転軸204を駆動することで第1ハンド182と第2ハンド194を上下反転させる。上述したように第1ハンド182と第2ハンド194の一方は予備側、他方は作業側となる。たとえば、第1ハンド182が工具TAを保持し、第2ハンド194が空状態にあるとする。この場合、第1ハンド182を作業ハンドに設定して工具TAをタレット164に嵌めたあと、回転動作によって、空状態の第2ハンド194を作業ハンドにすれば、タレット164に取り付けられている別の工具TBを第2ハンド194により取り外すことができる。 10A and 10B are schematic diagrams for explaining the rotation operation of the
The
図11は、搬送スケジュールの生成過程を示すフローチャートである。
タレット164において、ある工具パターンP1から別の工具パターンP2に変更するとき、工具交換が発生する。工具交換は、直進、旋回、回転の3動作を組み合わせにより実現される。本実施形態においては、タレット164における変更前の工具パターン(以下、「現在パターン」とよぶ)から変更後の工具パターン(以下、「目標パターン」とよぶ)に工具配置を変更するときの工具交換時間を最小化するために、実際の工具交換をするまえにスケジュール生成部132はあらかじめ搬送スケジュールを生成しておく。現在パターンは工具交換実行前の工具の配置を示す「事前配置情報」であり、目標パターンは工具交換実行後の工具の配置を示す「目標配置情報」である。 FIG. 11 is a flow chart showing the process of generating a transportation schedule.
When changing from one tool pattern P1 to another tool pattern P2 in theturret 164, a tool change occurs. Tool exchange is realized by combining three operations of straight movement, turning, and rotation. In this embodiment, a tool change is performed when changing the tool arrangement from the pre-change tool pattern in the turret 164 (hereinafter referred to as "current pattern") to the post-change tool pattern (hereinafter referred to as "target pattern"). In order to minimize the time, the schedule generator 132 generates a transfer schedule in advance before the actual tool change. The current pattern is "pre-arrangement information" indicating the arrangement of the tools before the tool change, and the target pattern is "target arrangement information" indicating the arrangement of the tools after the tool change.
タレット164において、ある工具パターンP1から別の工具パターンP2に変更するとき、工具交換が発生する。工具交換は、直進、旋回、回転の3動作を組み合わせにより実現される。本実施形態においては、タレット164における変更前の工具パターン(以下、「現在パターン」とよぶ)から変更後の工具パターン(以下、「目標パターン」とよぶ)に工具配置を変更するときの工具交換時間を最小化するために、実際の工具交換をするまえにスケジュール生成部132はあらかじめ搬送スケジュールを生成しておく。現在パターンは工具交換実行前の工具の配置を示す「事前配置情報」であり、目標パターンは工具交換実行後の工具の配置を示す「目標配置情報」である。 FIG. 11 is a flow chart showing the process of generating a transportation schedule.
When changing from one tool pattern P1 to another tool pattern P2 in the
事前配置情報としての現在パターンは、刃物台230における各ステーション222、114の第1ハンド182と第2ハンド194および工具格納部106における工具Tの取付位置であるポットそれぞれにおける工具Tの配置状態を示す。これら複数の取付位置において工具Tが取り付けられているか否か、どの工具が取り付けられているかも事前配置情報の一種として取り扱われる。上述したように工具Tの代わりにキャップ部材が配置されるか否かも事前配置情報の一部として取り扱われる。目標配置情報としての目標パターンについても同様であるが、詳細は図14以降に関連して後述する。
The current pattern as the pre-placement information includes the first hand 182 and the second hand 194 of each station 222 and 114 on the tool post 230 and the placement state of the tool T in each pot that is the mounting position of the tool T in the tool storage section 106. show. Whether or not the tool T is attached at these plurality of attachment positions and which tool is attached are treated as a type of pre-arrangement information. Whether or not the cap member is arranged instead of the tool T as described above is also handled as part of the pre-arrangement information. The same applies to target patterns as target layout information, but the details will be described later with reference to FIG. 14 and subsequent figures.
より具体的には、工具管理部130は、ワークの加工工程のうち、加工工程1では工具パターンP1を設定し、次の加工工程2では工具パターンP2を設定することをあらかじめ工具管理情報としてデータ格納部124に登録しておく。すなわち、実際にワークを加工する前に、工具管理部130は加工工程ごとの工具パターンP1、P2、P3・・・を定義しておく。
More specifically, the tool management unit 130 sets tool pattern P1 in machining process 1 and sets tool pattern P2 in the next machining process 2 as tool management information in advance. It is registered in the storage unit 124 in advance. That is, before actually machining a workpiece, the tool management unit 130 defines tool patterns P1, P2, P3, . . . for each machining process.
スケジュール生成部132は、ある工具パターンP1(現在パターン)から別の工具パターンP2(目標パターン)に変化させるときの工具交換時間(作業工数および作業時間)を最小化するための工具搬送順を後述の方法により定めておき、これを搬送スケジュールとしてデータ格納部124に登録しておく。たとえば、工具パターンP1から工具パターンP2に変更するときの搬送スケジュールQ(P1,P2)、工具パターンP2から工具パターンP3に変更するときの搬送スケジュールQ(P2,P3)・・・をスケジュール生成部132はあらかじめ作成しておく。
The schedule generation unit 132 determines the tool transfer order for minimizing the tool change time (work man-hours and work time) when changing from a tool pattern P1 (current pattern) to another tool pattern P2 (target pattern). and registered in the data storage unit 124 as a transfer schedule. For example, the transfer schedule Q (P1, P2) when changing from the tool pattern P1 to the tool pattern P2, the transfer schedule Q (P2, P3) when changing from the tool pattern P2 to the tool pattern P3, . 132 is prepared in advance.
工具パターンP1から工具パターンP2へ変更するときには、工具搬送制御部134は搬送スケジュールQ(P1,P2)にしたがって工具搬送部114の制御を加工制御部116に指示することにより、工具交換が実行される。
When changing from the tool pattern P1 to the tool pattern P2, the tool transfer control unit 134 instructs the machining control unit 116 to control the tool transfer unit 114 according to the transfer schedule Q (P1, P2), thereby executing the tool exchange. be.
スケジュール生成部132は、以下に示す第1工程から第5工程のシミュレーションを行った上で、工具交換時間のなるべく短い搬送スケジュールを確定させる。スケジュール生成部132は、まず、あるステーション222(ホルダ168)に取り付けられる工具を、工具が取り付けられていない別のステーション222(以下、「空ST」と表記する)に移動させる第1工程について工具搬送順を決定する(S10)。第1工程の詳細は、図12から図21に関連して後述する。なお、ここでいう空STは空きホルダと同義である。
The schedule generator 132 performs a simulation of the first to fifth processes shown below, and then determines a transport schedule with the shortest possible tool change time. The schedule generator 132 first moves a tool attached to a certain station 222 (holder 168) to another station 222 (hereinafter referred to as "empty ST") to which no tool is attached. The order of transportation is determined (S10). Details of the first step will be described later with reference to FIGS. Note that the empty ST here is synonymous with an empty holder.
次に、スケジュール生成部132は、工具格納部106に格納される予備工具を、タレット164の空ST、すなわち、工具Tが保持されていない空きホルダに移動させる第2工程について工具搬送順を決定する(S12)。第2工程の詳細は、図22から図25に関連して後述する。
Next, the schedule generation unit 132 determines the tool transfer order for the second step of moving the spare tools stored in the tool storage unit 106 to an empty ST of the turret 164, that is, an empty holder that does not hold the tool T. (S12). Details of the second step will be described later with reference to FIGS.
続いて、スケジュール生成部132は、タレット164に取り付けられる工具同士を内部交換する第3工程について工具搬送順を決定する(S14)。第3工程の詳細は、図26から図28に関連して後述する。
Subsequently, the schedule generation unit 132 determines the tool transfer order for the third process of internally exchanging the tools attached to the turret 164 (S14). Details of the third step will be described later with reference to FIGS.
更に、スケジュール生成部132は、タレット164上の作業工具と工具格納部106の予備工具を外部交換する第4工程について工具搬送順を決定する(S16)。第4工程の詳細は、図29から図31に関連して後述する。
Furthermore, the schedule generation unit 132 determines the tool transfer order for the fourth step of externally exchanging the work tool on the turret 164 and the spare tool in the tool storage unit 106 (S16). Details of the fourth step will be described later with reference to FIGS.
最後に、スケジュール生成部132は、第1工程から第4工程を経て作成した搬送スケジュールを最適化するための第5工程を実行する(S18)。第5工程の詳細は、図32から図35に関連して後述する。なお、事前配置情報としての現在パターンおよび目標配置情報としての目標パターンによっては、第1工程から第4工程の一部はスキップされる場合もある(後述)。
Finally, the schedule generation unit 132 executes a fifth process for optimizing the transport schedule created through the first to fourth processes (S18). Details of the fifth step will be described later with reference to FIGS. Part of the first to fourth steps may be skipped depending on the current pattern as the pre-placement information and the target pattern as the target placement information (described later).
第5工程の終了後、搬送スケジュールが確定する。スケジュール生成部132は、確定した搬送スケジュールをデータ格納部124に保存する。
After the fifth process is completed, the transportation schedule will be finalized. The schedule generation unit 132 stores the confirmed transfer schedule in the data storage unit 124 .
図12は、第1工程の処理過程を示すフローチャートである。
ここでは、事前配置情報を示す工具パターンである現在パターンから目標配置情報を示す別の工具パターンである目標パターンへの変更を想定して説明する。まず、現在パターンにおいて空STが存在するとき(S30のY)、第1工程が実行される(S32)。空STが存在しないときには(S30のN)、第1工程はスキップされる。 FIG. 12 is a flow chart showing the process of the first step.
Here, the description will be made on the assumption that the current pattern, which is a tool pattern indicating pre-placement information, is changed to the target pattern, which is another tool pattern indicating target placement information. First, when there is an empty ST in the current pattern (Y of S30), the first step is executed (S32). When there is no empty ST (N of S30), the first step is skipped.
ここでは、事前配置情報を示す工具パターンである現在パターンから目標配置情報を示す別の工具パターンである目標パターンへの変更を想定して説明する。まず、現在パターンにおいて空STが存在するとき(S30のY)、第1工程が実行される(S32)。空STが存在しないときには(S30のN)、第1工程はスキップされる。 FIG. 12 is a flow chart showing the process of the first step.
Here, the description will be made on the assumption that the current pattern, which is a tool pattern indicating pre-placement information, is changed to the target pattern, which is another tool pattern indicating target placement information. First, when there is an empty ST in the current pattern (Y of S30), the first step is executed (S32). When there is no empty ST (N of S30), the first step is skipped.
図13は、図12のS32における第1工程の詳細を示すフローチャートである。
スケジュール生成部132は、現在パターンと目標パターンの間に第1条件が成立するとき(S34のY)、第1交換(後述)のための工具搬送順を生成する(S36)。第1交換の手順を決めたあと、スケジュール生成部132は第1交換実行後の工具パターンとして現在パターンを更新する。第1条件とは、工具搬送部114の現在の旋回位置において操作可能な作業工具を、現在の旋回位置において操作可能な空STに移動可能であることを意味する。たとえば、工具搬送部114が内径旋回位置にあるときであって、第1ホルダ168A(内径)に保持される作業工具を別の第1ホルダ168A(空ST)(内径)に移動させる必要があるとき、第1条件が成立する。第1交換の手順を決めた後、処理はS34に戻る。 FIG. 13 is a flow chart showing the details of the first step in S32 of FIG.
When the first condition is established between the current pattern and the target pattern (Y in S34), theschedule generator 132 generates a tool transfer order for the first exchange (described later) (S36). After determining the procedure for the first replacement, the schedule generator 132 updates the current pattern as the tool pattern after execution of the first replacement. The first condition means that the work tool operable at the current turning position of the tool carrier 114 can be moved to an operable empty ST at the current turning position. For example, when the tool carrier 114 is in the inner diameter turning position, it is necessary to move the work tool held in the first holder 168A (inner diameter) to another first holder 168A (empty ST) (inner diameter). , the first condition is satisfied. After determining the procedure for the first exchange, the process returns to S34.
スケジュール生成部132は、現在パターンと目標パターンの間に第1条件が成立するとき(S34のY)、第1交換(後述)のための工具搬送順を生成する(S36)。第1交換の手順を決めたあと、スケジュール生成部132は第1交換実行後の工具パターンとして現在パターンを更新する。第1条件とは、工具搬送部114の現在の旋回位置において操作可能な作業工具を、現在の旋回位置において操作可能な空STに移動可能であることを意味する。たとえば、工具搬送部114が内径旋回位置にあるときであって、第1ホルダ168A(内径)に保持される作業工具を別の第1ホルダ168A(空ST)(内径)に移動させる必要があるとき、第1条件が成立する。第1交換の手順を決めた後、処理はS34に戻る。 FIG. 13 is a flow chart showing the details of the first step in S32 of FIG.
When the first condition is established between the current pattern and the target pattern (Y in S34), the
スケジュール生成部132は、現在パターンと目標パターンの間に第2条件が成立するとき(S34のN、S38のY)、第2交換(後述)のための工具搬送順を生成する(S40)。第2交換の手順を決めたあと、スケジュール生成部132は現在パターンを更新する。第2条件は、工具搬送部114の現在の旋回位置において操作可能な作業工具を、現在の旋回位置とは異なる旋回位置において操作可能な空STに移動可能であることを意味する。たとえば、工具搬送部114の旋回位置が内径旋回位置にあるときであって、第1ホルダ168A(内径)に保持される作業工具を別の第2ホルダ168B(空ST)(外径)に移動させるとき、第2条件が成立する。第2交換の手順を決めた後、処理はS34に戻る。
When the second condition is established between the current pattern and the target pattern (N in S34, Y in S38), the schedule generator 132 generates a tool transfer order for a second exchange (described later) (S40). After determining the procedure for the second exchange, the schedule generator 132 updates the current pattern. The second condition means that the work tool operable at the current turning position of the tool carrier 114 can be moved to an operable empty ST at a turning position different from the current turning position. For example, when the turning position of the tool carrier 114 is at the inner turning position, the working tool held in the first holder 168A (inner diameter) is moved to another second holder 168B (empty ST) (outer diameter). , the second condition is established. After determining the procedure for the second exchange, the process returns to S34.
スケジュール生成部132は、現在パターンと目標パターンの間に第3条件が成立するとき(S38のN、S42のY)、第3交換(後述)のための工具搬送順を生成する(S44)。第3交換の手順を決めたあと、スケジュール生成部132は現在パターンを更新する。第3条件は、工具搬送部114の現在の旋回位置とは異なる旋回位置において操作可能な作業工具を、現在の旋回位置とは異なる旋回位置において操作可能な空STに移動可能であることを意味する。たとえば、工具搬送部114の旋回位置が内径旋回位置にあるときであって、第2ホルダ168B(外径)に保持される作業工具を別の第2ホルダ168B(空ST)(外径)に移動させるとき、第3条件が成立する。第3交換の手順を決めた後、処理はS34に戻る。
When the third condition is established between the current pattern and the target pattern (N in S38, Y in S42), the schedule generator 132 generates a tool transfer order for the third exchange (described later) (S44). After determining the procedure for the third exchange, the schedule generator 132 updates the current pattern. The third condition means that a work tool operable at a turning position different from the current turning position of the tool carrier 114 can be moved to an operable empty ST at a turning position different from the current turning position. do. For example, when the turning position of the tool carrier 114 is at the inner turning position, the work tool held by the second holder 168B (outer diameter) is moved to another second holder 168B (empty ST) (outer diameter). When moving, the third condition is satisfied. After determining the procedure for the third exchange, the process returns to S34.
スケジュール生成部132は、現在パターンと目標パターンの間に第4条件が成立するとき(S42のN、S46のY)、第4交換(後述)のための工具搬送順を生成する(S48)。第4交換の手順を決めたあと、スケジュール生成部132は現在パターンを更新する。第4条件は、工具搬送部114の現在の旋回位置とは異なる旋回位置において操作可能な作業工具を、現在の旋回位置において操作可能な空STに移動可能であることを意味する。たとえば、工具搬送部114の旋回位置が内径旋回位置にあるときであって、第2ホルダ168B(外径)に保持される作業工具を別の第1ホルダ168A(空ST)(内径)に移動させるとき、第4条件が成立する。第4交換の手順を決めた後、処理はS34に戻る。
When the fourth condition is established between the current pattern and the target pattern (N in S42, Y in S46), the schedule generator 132 generates a tool transfer order for the fourth exchange (described later) (S48). After determining the procedure for the fourth exchange, the schedule generator 132 updates the current pattern. The fourth condition means that a work tool operable at a turning position different from the current turning position of the tool carrier 114 can be moved to an operable empty ST at the current turning position. For example, when the turning position of the tool carrier 114 is at the inner turning position, the work tool held in the second holder 168B (outer diameter) is moved to another first holder 168A (empty ST) (inner diameter). , the fourth condition is met. After determining the procedure for the fourth exchange, the process returns to S34.
以上の処理過程を経て、更新後の現在パターンにおいて作業工具のいずれかを空STに移動させる必要がなくなれば(S46のN、S50のY)、第1処理は終了する。移動先となるべき空STが残っていれば(S50のN)、処理はS34に戻る。
After the above process, if it is no longer necessary to move any of the work tools to the empty ST in the updated current pattern (N in S46, Y in S50), the first process ends. If there remains an empty ST to be the movement destination (N of S50), the process returns to S34.
図14は、第1交換の第1搬送順を示す図である。
図14に示す事前配置情報としての現在パターンにおいては、ステーションST1(外径)に工具T5、ステーションST2(外径)に工具T6が取り付けられている。目標配置情報としての目標パターンにおいては、ステーションST5(外径)に工具T5、ステーションST6(外径)に工具T6が取り付けられる。すなわち、図14は、外径加工用として取り付けられている2つの工具を別の外形加工用のホルダ168Bに移動させる状況を示している。 FIG. 14 is a diagram showing the first transfer order of the first exchange.
In the current pattern as the pre-arranged information shown in FIG. 14, the tool T5 is attached to the station ST1 (outer diameter) and the tool T6 is attached to the station ST2 (outer diameter). In the target pattern as the target placement information, the tool T5 is attached to station ST5 (outer diameter), and the tool T6 is attached to station ST6 (outer diameter). That is, FIG. 14 shows a situation in which two tools attached for outer diameter machining are moved to anotherholder 168B for outer machining.
図14に示す事前配置情報としての現在パターンにおいては、ステーションST1(外径)に工具T5、ステーションST2(外径)に工具T6が取り付けられている。目標配置情報としての目標パターンにおいては、ステーションST5(外径)に工具T5、ステーションST6(外径)に工具T6が取り付けられる。すなわち、図14は、外径加工用として取り付けられている2つの工具を別の外形加工用のホルダ168Bに移動させる状況を示している。 FIG. 14 is a diagram showing the first transfer order of the first exchange.
In the current pattern as the pre-arranged information shown in FIG. 14, the tool T5 is attached to the station ST1 (outer diameter) and the tool T6 is attached to the station ST2 (outer diameter). In the target pattern as the target placement information, the tool T5 is attached to station ST5 (outer diameter), and the tool T6 is attached to station ST6 (outer diameter). That is, FIG. 14 shows a situation in which two tools attached for outer diameter machining are moved to another
工具交換開始時において、工具搬送部114の旋回位置は外径旋回状態にあり、第1ハンド182は予備ハンド、第2ハンド194は作業ハンドである。工具搬送部114自体はタレット164側(作業側)に位置している。スケジュール生成部132は、現在パターンおよび目標パターンにおいて第1条件が成立するか判断し、第1条件が成立するときには現在パターンから目標パターンに工具パターンを変化させるための工具搬送順を事前に作成する。ここでは、スケジュール生成部132は、図14に示す第1搬送順と次の図15に示す第2搬送順の2種類の工具搬送順を作成し、どちらか優れている方を採用する。
At the start of tool exchange, the turning position of the tool conveying unit 114 is in the outer diameter turning state, the first hand 182 is a spare hand, and the second hand 194 is a working hand. The tool carrier 114 itself is located on the turret 164 side (working side). The schedule generator 132 determines whether the first condition is satisfied in the current pattern and the target pattern, and creates in advance the tool transfer order for changing the tool pattern from the current pattern to the target pattern when the first condition is satisfied. . Here, the schedule generator 132 creates two types of tool transfer order, the first transfer order shown in FIG. 14 and the second transfer order shown in FIG. 15, and adopts the better one.
図14の現在パターンおよび目標パターンによれば、工具搬送部114が外径旋回状態にあり、現在パターンにおいて工具T5、T6は外径側にあり、かつ、移動先となるステーションST5、ST6も外径側であるため、第1条件が成立している。第1搬送順として、スケジュール生成部132は、工具搬送部114に工具T5、T6を2本同時に把持させることなく、1本ずつ工具を運ぶ場合を想定する。
According to the current pattern and the target pattern in FIG. 14, the tool conveying section 114 is in the outer diameter turning state, the tools T5 and T6 are on the outer diameter side in the current pattern, and the stations ST5 and ST6 to be the destinations are also outside. Since it is on the radial side, the first condition is satisfied. As the first transfer order, the schedule generation unit 132 assumes a case where the tool transfer unit 114 does not simultaneously hold two tools T5 and T6, but transfers the tools one by one.
スケジュール生成部132が搬送スケジュールを作成したあと、加工制御部116は搬送スケジュールにしたがって工具交換を実行する。
After the schedule generation unit 132 creates the transfer schedule, the machining control unit 116 executes tool replacement according to the transfer schedule.
ステップ1においては、第2ハンド194(作業ハンド)により、ステーションST1(外径)から工具T5(外径)が取り外される。より正確に言えば、スケジュール生成部132は、ステップ1として第2ハンド194によりステーションST1(外径)から工具T5(外径)を取り出すと想定して、工具搬送順のシミュレーションを行う。
In step 1, the second hand 194 (working hand) removes the tool T5 (outer diameter) from the station ST1 (outer diameter). More precisely, the schedule generator 132 simulates the order of tool transfer assuming that the tool T5 (outer diameter) is taken out from the station ST1 (outer diameter) by the second hand 194 in step 1 .
ステップ2では、第2ハンド194(作業ハンド)が保持する工具T5(外径)をステーションST5(外径)に取り付ける。ステップ3では、第2ハンド194(作業ハンド)により、ステーションST2(外径)にある工具T6(外径)を取り外す。ステップ4では、第2ハンド194(作業ハンド)により工具T6(外径)をステーションST6(外径)に取り付ける。
In step 2, the tool T5 (outer diameter) held by the second hand 194 (working hand) is attached to the station ST5 (outer diameter). In step 3, the second hand 194 (working hand) removes the tool T6 (outer diameter) at station ST2 (outer diameter). In step 4, the second hand 194 (working hand) attaches the tool T6 (outer diameter) to the station ST6 (outer diameter).
このように、スケジュール生成部132は、現在パターンおよび目標パターンと、工具搬送部114の初期状態に基づいて、1本ずつ作業工具の位置を変更する第1搬送順をシミュレーションする。シミュレーションの結果、第1搬送順に要する作業工数(ステップ数)は合計4ステップであることが判明する。
In this way, the schedule generation unit 132 simulates the first transfer order in which the positions of the work tools are changed one by one based on the current pattern, the target pattern, and the initial state of the tool transfer unit 114 . As a result of the simulation, it is found that the number of man-hours (number of steps) required for the first transfer order is 4 steps in total.
図15は、第1交換の第2搬送順を示す図である。
図15に示す第2搬送順では、スケジュール生成部132は、工具搬送部114が工具T5、T6を2本まとめて操作する場合を想定する。 FIG. 15 is a diagram showing the second transfer order of the first exchange.
In the second transfer order shown in FIG. 15, theschedule generation unit 132 assumes that the tool transfer unit 114 operates two tools T5 and T6 together.
図15に示す第2搬送順では、スケジュール生成部132は、工具搬送部114が工具T5、T6を2本まとめて操作する場合を想定する。 FIG. 15 is a diagram showing the second transfer order of the first exchange.
In the second transfer order shown in FIG. 15, the
ステップ1は第1搬送順と同じである。ステップ2では、回転動作により、第1ハンド182を作業ハンドに設定変更する。回転動作の結果、第2ハンド194が予備ハンド、第1ハンド182が作業ハンドとなる。第2ハンド194(予備ハンド)は工具T5を保持しており、第1ハンド182(作業ハンド)は空状態である。ステップ3では、ステーションST2(外径)にある工具T6(外径)を第1ハンド182(作業ハンド)により取り外す。この段階で、第1ハンド182(作業ハンド)には工具T6、第2ハンド194(予備ハンド)には工具T5が保持されている。
Step 1 is the same as the first transport order. In step 2, the setting of the first hand 182 is changed to the working hand by rotating. As a result of the rotating operation, the second hand 194 becomes the backup hand and the first hand 182 becomes the working hand. The second hand 194 (backup hand) holds the tool T5, and the first hand 182 (working hand) is empty. In step 3, the tool T6 (outer diameter) at station ST2 (outer diameter) is removed by the first hand 182 (working hand). At this stage, the first hand 182 (working hand) holds the tool T6 and the second hand 194 (backup hand) holds the tool T5.
ステップ4では、第1ハンド182(作業ハンド)によりステーションST6(外径)に工具T6が取り付けられる。ステップ5では、回転動作により、工具T5を保持する第2ハンド194を作業ハンドに変更する。最後のステップ6では、第2ハンド194(作業ハンド)によりステーションST5(外径)に工具T5が取り付けられる。
In step 4, the tool T6 is attached to the station ST6 (outer diameter) by the first hand 182 (working hand). In step 5, the second hand 194 holding the tool T5 is changed to a working hand by rotating. In the final step 6, the second hand 194 (working hand) attaches the tool T5 to the station ST5 (outer diameter).
スケジュール生成部132は、現在パターンおよび目標パターンと、工具搬送部114の状態に基づいて、2本の工具をまとめて移動させる第2搬送順もシミュレーションする。第1搬送順の作業工数は合計4ステップだったが、第2搬送順の作業工数は合計6ステップである。したがって、第2搬送順よりも第1搬送順の方が、工具交換時間が短くなる。これは、第2搬送順においては、ステップ2,5において回転動作が入るためである。
The schedule generation unit 132 also simulates a second transfer order in which two tools are moved together based on the current pattern, the target pattern, and the state of the tool transfer unit 114 . The work man-hours for the first transfer order were a total of 4 steps, but the work man-hours for the second transfer order were a total of 6 steps. Therefore, the tool change time is shorter in the first transfer order than in the second transfer order. This is because the rotation is performed in steps 2 and 5 in the second transfer order.
スケジュール生成部132は、現在パターンおよび目標パターンにおいて第1条件が成立するときには、1本ずつ工具を移動させる第1搬送順と、2本まとめて工具を移動させる第2搬送順それぞれについて工具搬送部114の動作をシミュレーションし、作業工数(ステップ数)の少ない方の工具搬送順を採用する。図14、図15に示した現在パターンと目標パターンの場合には、第1搬送順が採用される。搬送順の決定後は、交換後の工具パターンが次回の現在パターンとなり、以降の処理が実行される。
When the first condition is satisfied in the current pattern and the target pattern, the schedule generation unit 132 generates a tool transport unit for each of the first transport order in which the tools are moved one by one and the second transport order in which the two tools are moved together. 114 operations are simulated, and the tool transfer order with the smaller number of man-hours (number of steps) is adopted. In the case of the current pattern and the target pattern shown in FIGS. 14 and 15, the first transport order is adopted. After the transfer order is determined, the tool pattern after replacement becomes the next current pattern, and subsequent processing is executed.
図16は、第2交換の第1搬送順を示す図である。
図16に示す現在パターンにおいては、ステーションST1(外径)に工具T7、ステーションST2(外径)に工具T8が取り付けられている。目標パターンにおいては、ステーションST7(内径)に工具T7、ステーションST8(内径)に工具T8が取り付けられる。
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182は予備ハンド、第2ハンド194は作業ハンドである。工具搬送部114自体はタレット164側に位置している。 FIG. 16 is a diagram showing the first transport order for the second exchange.
In the current pattern shown in FIG. 16, the tool T7 is attached to station ST1 (outer diameter), and the tool T8 is attached to station ST2 (outer diameter). In the target pattern, the tool T7 is attached to station ST7 (inner diameter), and the tool T8 is attached to station ST8 (inner diameter).
At the start of tool exchange, thetool conveying section 114 is in the state of outer diameter turning, the first hand 182 is a spare hand, and the second hand 194 is a working hand. The tool carrier 114 itself is located on the turret 164 side.
図16に示す現在パターンにおいては、ステーションST1(外径)に工具T7、ステーションST2(外径)に工具T8が取り付けられている。目標パターンにおいては、ステーションST7(内径)に工具T7、ステーションST8(内径)に工具T8が取り付けられる。
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182は予備ハンド、第2ハンド194は作業ハンドである。工具搬送部114自体はタレット164側に位置している。 FIG. 16 is a diagram showing the first transport order for the second exchange.
In the current pattern shown in FIG. 16, the tool T7 is attached to station ST1 (outer diameter), and the tool T8 is attached to station ST2 (outer diameter). In the target pattern, the tool T7 is attached to station ST7 (inner diameter), and the tool T8 is attached to station ST8 (inner diameter).
At the start of tool exchange, the
工具搬送部114が外径旋回状態にあり、現在パターンにおいて工具T5、T6は外径側にあり、かつ、移動先となるステーションST7、ST8は内径側であるため、第2条件が成立する。図16に示す第1搬送順においては、工具搬送部114が工具T7、T8を1本ずつ運ぶ場合が想定されている。
The second condition is met because the tool carrier 114 is in the outer diameter turning state, the tools T5 and T6 are on the outer diameter side in the current pattern, and the destination stations ST7 and ST8 are on the inner diameter side. In the first transfer order shown in FIG. 16, it is assumed that the tool transfer section 114 transfers the tools T7 and T8 one by one.
ステップ1においては、第2ハンド194(作業ハンド)により、ステーションST1(外径)にある工具T7(外径)が取り出される。ステップ2では、工具搬送部114は旋回動作により内径旋回状態に設定される。ステップ3では、第2ハンド194(作業ハンド)によりステーションST7(内径)に工具T7が取り付けられる。ステップ4では、工具搬送部114は再旋回し、外径旋回状態に設定される。ステップ5で第2ハンド194(作業ハンド)によりステーションST2(外径)から工具T8を取り外し、ステップ6で工具搬送部114を内径旋回状態に設定し、ステップ7でステーションST8(内径)に工具T8が取り付けられる。
In step 1, the tool T7 (outer diameter) at station ST1 (outer diameter) is picked up by the second hand 194 (working hand). In step 2, the tool carrier 114 is set to the inner diameter turning state by the turning motion. In step 3, the second hand 194 (working hand) attaches the tool T7 to the station ST7 (inner diameter). In step 4, the tool carrier 114 is turned again and set to the outer diameter turning state. In step 5, the second hand 194 (working hand) removes the tool T8 from the station ST2 (outer diameter). is attached.
このように、スケジュール生成部132は、現在パターンおよび目標パターンと、工具搬送部114の状態に基づいて、工具搬送部114により1本ずつ工具の位置を変更する第1搬送順をシミュレーションする。図16に示した第1搬送順の作業工数は合計7ステップである。
In this way, the schedule generation unit 132 simulates the first transfer order in which the tool transfer unit 114 changes the positions of the tools one by one based on the current pattern, the target pattern, and the state of the tool transfer unit 114 . The work man-hours for the first transfer order shown in FIG. 16 are a total of 7 steps.
図17は、第2交換の第2搬送順を示す図である。
図17に示す第2搬送順では、スケジュール生成部132は、工具搬送部114が工具T7、T8を2本同時に運ぶ場合を想定する。 FIG. 17 is a diagram showing the second transport order for the second exchange.
In the second transport order shown in FIG. 17, theschedule generation unit 132 assumes that the tool transport unit 114 transports two tools T7 and T8 at the same time.
図17に示す第2搬送順では、スケジュール生成部132は、工具搬送部114が工具T7、T8を2本同時に運ぶ場合を想定する。 FIG. 17 is a diagram showing the second transport order for the second exchange.
In the second transport order shown in FIG. 17, the
ステップ1は第1搬送順と同じである。ステップ2では、回転動作により、工具T7を保持する第2ハンド194が予備ハンドとなり、空状態の第1ハンド182が作業ハンドとなる。ステップ3では、ステーションST2(外径)にある工具T8(外径)が第1ハンド182(作業ハンド)により取り出される。
Step 1 is the same as the first transport order. In step 2, the second hand 194 holding the tool T7 becomes a spare hand and the empty first hand 182 becomes a working hand due to the rotating operation. In step 3, the tool T8 (outer diameter) at station ST2 (outer diameter) is picked up by the first hand 182 (working hand).
ステップ4で工具搬送部114は内径旋回状態に設定され、ステップ5では第1ハンド182(作業ハンド)からステーションST8(内径)に工具T8が取り付けられる。ステップ6では回転動作により、工具T7を保持する第2ハンド194が作業ハンドとなる。ステップ7では、第2ハンド194(作業ハンド)からステーションST7(内径側)に工具T7が取り付けられる。
In step 4, the tool transfer section 114 is set to the inside turning state, and in step 5, the tool T8 is attached from the first hand 182 (working hand) to the station ST8 (inner diameter). In step 6, the second hand 194 holding the tool T7 becomes the working hand by rotating. In step 7, the tool T7 is attached from the second hand 194 (working hand) to the station ST7 (inner diameter side).
第2交換においては、図16に示した第1搬送順の作業工数と図17に示した第2搬送順の作業工数はどちらも合計7ステップである。この場合、スケジュール生成部132は、第1搬送順および第2搬送順の時間ポイントの合計値を計算する。第1搬送順では3回の旋回動作(2ポイント)が発生しているため、時間ポイントは合計6ポイントとなる。一方、第2搬送順では1回の旋回動作(2ポイント)と2回の回転動作(1ポイント)が発生するため、時間ポイントは合計4ポイントとなる。時間ポイントで比較した場合、第2搬送順の方が優れているので、スケジュール生成部132は第2交換については第2搬送順を採用する。搬送順の決定後は、交換後の工具パターンが次の処理のための現在パターンとなる。
In the second replacement, both the work man-hours for the first transfer order shown in FIG. 16 and the work man-hours for the second transfer order shown in FIG. 17 total 7 steps. In this case, the schedule generation unit 132 calculates the total value of the time points for the first order of transportation and the second order of transportation. In the first transport order, three turning motions (two points) occur, so the total number of time points is six. On the other hand, in the second transport order, one turning operation (2 points) and two rotating operations (1 point) occur, so the total number of time points is 4 points. Since the second transfer order is superior when compared at time points, the schedule generator 132 adopts the second transfer order for the second exchange. After the transfer order is determined, the tool pattern after replacement becomes the current pattern for the next process.
なお、旋回動作よりも回転動作の方に時間がかかる場合には、スケジュール生成部132は第1例として示した第1搬送順を採用する。
It should be noted that if the rotation operation takes more time than the rotation operation, the schedule generator 132 adopts the first transport order shown as the first example.
図18は、第3交換の第1搬送順を示す図である。
図16に示す現在パターンにおいては、ステーションST7(内径)に工具T10、ステーションST8(内径)に工具T11が取り付けられている。目標パターンにおいては、ステーションST10(内径)に工具T10、ステーションST11(内径)に工具T11が取り付けられる。
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182は予備ハンド、第2ハンド194は作業ハンドである。工具搬送部114自体はタレット164側(作業側)に位置している。 FIG. 18 is a diagram showing the first transfer order of the third exchange.
In the current pattern shown in FIG. 16, the tool T10 is attached to station ST7 (inner diameter), and the tool T11 is attached to station ST8 (inner diameter). In the target pattern, the tool T10 is attached to station ST10 (inner diameter), and the tool T11 is attached to station ST11 (inner diameter).
At the start of tool exchange, thetool conveying section 114 is in the state of outer diameter turning, the first hand 182 is a spare hand, and the second hand 194 is a working hand. The tool carrier 114 itself is located on the turret 164 side (working side).
図16に示す現在パターンにおいては、ステーションST7(内径)に工具T10、ステーションST8(内径)に工具T11が取り付けられている。目標パターンにおいては、ステーションST10(内径)に工具T10、ステーションST11(内径)に工具T11が取り付けられる。
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182は予備ハンド、第2ハンド194は作業ハンドである。工具搬送部114自体はタレット164側(作業側)に位置している。 FIG. 18 is a diagram showing the first transfer order of the third exchange.
In the current pattern shown in FIG. 16, the tool T10 is attached to station ST7 (inner diameter), and the tool T11 is attached to station ST8 (inner diameter). In the target pattern, the tool T10 is attached to station ST10 (inner diameter), and the tool T11 is attached to station ST11 (inner diameter).
At the start of tool exchange, the
工具搬送部114が外径旋回状態にあり、現在パターンにおいて工具T10、T11は内径側にあり、かつ、移動先となるステーションST10、ST11も内径側であるため、第3条件が成立する。図18に示す第1搬送順では、工具搬送部114が工具T10、T11を1本ずつ運ぶ場合を想定している。
Since the tool carrier 114 is in the outer diameter turning state, the tools T10 and T11 are on the inner diameter side in the current pattern, and the destination stations ST10 and ST11 are also on the inner diameter side, the third condition is satisfied. In the first transfer order shown in FIG. 18, it is assumed that the tool transfer section 114 transfers the tools T10 and T11 one by one.
ステップ1において、旋回動作により、工具搬送部114を内径旋回状態に設定する。ステップ2において第2ハンド194(作業ハンド)によりステーションST7(内径側)から工具T10を取り外す。ステップ3では、第2ハンド194(作業ハンド)により工具T7をステーションST10(内径側)に取り付ける。ステップ4でステーションST8(内径)の工具T11を第2ハンド194(作業ハンド)により取り外し、ステップ5で工具T11をステーションST11(内径)に取り付ける。
In step 1, the tool carrier 114 is set to the inner diameter turning state by turning operation. In step 2, the second hand 194 (working hand) removes the tool T10 from the station ST7 (inner diameter side). In step 3, the second hand 194 (working hand) attaches the tool T7 to the station ST10 (inner diameter side). In step 4, the tool T11 of station ST8 (inner diameter) is removed by the second hand 194 (working hand), and in step 5, the tool T11 is attached to station ST11 (inner diameter).
このように、スケジュール生成部132は、現在パターンおよび目標パターンと、工具搬送部114の状態に基づいて、工具搬送部114により1本ずつ工具の位置を変更する第1搬送順をシミュレーションする。図18に示した第1搬送順の作業工数は合計5ステップである。
In this way, the schedule generation unit 132 simulates the first transfer order in which the tool transfer unit 114 changes the positions of the tools one by one based on the current pattern, the target pattern, and the state of the tool transfer unit 114 . The work man-hours for the first transfer order shown in FIG. 18 are five steps in total.
図19は、第3交換の第2搬送順を示す図である。
図19に示す第2搬送順では、工具搬送部114が工具T10、T11を2本同時に運ぶ場合を想定する。 FIG. 19 is a diagram showing the second transfer order of the third exchange.
In the second carrying order shown in FIG. 19, it is assumed that thetool carrying section 114 carries two tools T10 and T11 at the same time.
図19に示す第2搬送順では、工具搬送部114が工具T10、T11を2本同時に運ぶ場合を想定する。 FIG. 19 is a diagram showing the second transfer order of the third exchange.
In the second carrying order shown in FIG. 19, it is assumed that the
ステップ1、2は第1搬送順と同じである。ステップ3では、回転動作を行い、工具T10を保持する第2ハンド194を予備ハンド、空状態の第1ハンド182を作業ハンドとする。ステップ4では、ステーションST8(内径)にある工具T11を第1ハンド182(作業ハンド)により取り外す。
Steps 1 and 2 are the same as in the first transportation order. In step 3, a rotating operation is performed, and the second hand 194 holding the tool T10 is used as a spare hand, and the empty first hand 182 is used as a working hand. In step 4, the tool T11 at station ST8 (inner diameter) is removed by the first hand 182 (working hand).
ステップ5で第1ハンド182(作業ハンド)によりステーションST11に工具T11を取り付ける。ステップ6では回転動作により、工具T10を保持する第2ハンド194を作業ハンドに設定する。ステップ7では、第2ハンド194(作業ハンド)によりステーションST10(内径側)に工具T10を取り付ける。
At step 5, the tool T11 is attached to the station ST11 by the first hand 182 (working hand). In step 6, the second hand 194 holding the tool T10 is set as the working hand by rotating. In step 7, the second hand 194 (working hand) attaches the tool T10 to the station ST10 (inner diameter side).
図18に示した第1搬送順の作業工数は合計5ステップ、図19に示した第2搬送順の作業工数は合計7ステップである。したがって、スケジュール生成部132は、第1搬送順を採用する。搬送順の決定後は、交換後の工具パターンが次の現在パターンとなる。
The work man-hours for the first transfer order shown in FIG. 18 are a total of 5 steps, and the work man-hours for the second transfer order shown in FIG. 19 are a total of 7 steps. Therefore, the schedule generator 132 adopts the first transport order. After the transfer order is determined, the tool pattern after replacement becomes the next current pattern.
図20は、第4交換の第1搬送順を示す図である。
図20に示す現在パターンにおいては、ステーションST7(内径)に工具T1、ステーションST8(内径)に工具T2が取り付けられている。目標パターンにおいては、ステーションST1(外径)に工具T1、ステーションST2(外径)に工具T2が取り付けられる。
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182が予備ハンド、第2ハンド194が作業ハンドとなっている。工具搬送部114自体はタレット164側(作業側)に位置している。 FIG. 20 is a diagram showing the first transport order for the fourth exchange.
In the current pattern shown in FIG. 20, the tool T1 is attached to station ST7 (inner diameter), and the tool T2 is attached to station ST8 (inner diameter). In the target pattern, the tool T1 is attached to station ST1 (outer diameter), and the tool T2 is attached to station ST2 (outer diameter).
At the start of tool exchange, thetool conveying section 114 is in an outer diameter turning state, the first hand 182 is a backup hand, and the second hand 194 is a working hand. The tool carrier 114 itself is located on the turret 164 side (working side).
図20に示す現在パターンにおいては、ステーションST7(内径)に工具T1、ステーションST8(内径)に工具T2が取り付けられている。目標パターンにおいては、ステーションST1(外径)に工具T1、ステーションST2(外径)に工具T2が取り付けられる。
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182が予備ハンド、第2ハンド194が作業ハンドとなっている。工具搬送部114自体はタレット164側(作業側)に位置している。 FIG. 20 is a diagram showing the first transport order for the fourth exchange.
In the current pattern shown in FIG. 20, the tool T1 is attached to station ST7 (inner diameter), and the tool T2 is attached to station ST8 (inner diameter). In the target pattern, the tool T1 is attached to station ST1 (outer diameter), and the tool T2 is attached to station ST2 (outer diameter).
At the start of tool exchange, the
工具搬送部114が外径旋回状態にあり、現在パターンにおいて工具T1、T2は内径側にあり、かつ、移動先となるステーションST1、ST2は外径側であるため、第4条件が成立する。図20に示す第1搬送順では、工具搬送部114が工具T1、T2を1本ずつ運ぶ場合を想定する。
The fourth condition is met because the tool carrier 114 is in the outer diameter turning state, the tools T1 and T2 are on the inner diameter side in the current pattern, and the destination stations ST1 and ST2 are on the outer diameter side. In the first transfer order shown in FIG. 20, it is assumed that the tool transfer section 114 transfers the tools T1 and T2 one by one.
ステップ1においては、旋回動作により、工具搬送部114を内径旋回状態に設定する。ステップ2で第2ハンド194(作業ハンド)によりステーションST1(内径)から工具T1を取り外し、ステップ3において工具搬送部114は外径旋回状態に再設定される。ステップ4において第2ハンド194(作業ハンド)により工具T1をステーションST1(外径)に取り付ける。
In step 1, the tool transfer section 114 is set to the inner diameter turning state by turning operation. In step 2, the second hand 194 (working hand) removes the tool T1 from the station ST1 (inner diameter), and in step 3, the tool conveying section 114 is reset to the outer diameter turning state. In step 4, the second hand 194 (working hand) attaches the tool T1 to the station ST1 (outer diameter).
ステップ5では工具搬送部114を内径旋回状態に戻し、ステップ6にてステーションST8(内径)の工具T2を第2ハンド194(作業ハンド)により取り外す。ステップ7にて工具搬送部114を外径旋回状態に戻し、ステップ8にて第2ハンド194(作業ハンド)により工具T2はステーションST2(外径)に取り付けられる。
In step 5, the tool conveying unit 114 is returned to the inside turning state, and in step 6, the tool T2 of station ST8 (inner diameter) is removed by the second hand 194 (working hand). At step 7, the tool transfer section 114 is returned to the outer diameter turning state, and at step 8, the tool T2 is attached to the station ST2 (outer diameter) by the second hand 194 (working hand).
このように、スケジュール生成部132は、現在パターンおよび目標パターンと、工具搬送部114の状態に基づいて、工具搬送部114により1本ずつ工具の位置を変更する第1搬送順をシミュレーションする。図20に示した第1搬送順の作業工数は合計8ステップである。
In this way, the schedule generation unit 132 simulates the first transfer order in which the tool transfer unit 114 changes the positions of the tools one by one based on the current pattern, the target pattern, and the state of the tool transfer unit 114 . The work man-hours for the first transfer order shown in FIG. 20 are eight steps in total.
図21は、第4交換の第2搬送順を示す図である。
図21に示す第2搬送順では、工具搬送部114が工具T1、T2を2本同時に運ぶ場合を想定する。 FIG. 21 is a diagram showing the second transfer order of the fourth exchange.
In the second conveying order shown in FIG. 21, it is assumed that thetool conveying section 114 conveys two tools T1 and T2 at the same time.
図21に示す第2搬送順では、工具搬送部114が工具T1、T2を2本同時に運ぶ場合を想定する。 FIG. 21 is a diagram showing the second transfer order of the fourth exchange.
In the second conveying order shown in FIG. 21, it is assumed that the
ステップ1、2は第1搬送順と同じである。ステップ3では、回転動作により工具T1を保持する第2ハンド194が予備ハンド、空状態の第1ハンド182が作業ハンドに設定される。ステップ4では、ステーションST8(内径)にある工具T2を第1ハンド182(作業ハンド)により取り外す。
Steps 1 and 2 are the same as in the first transportation order. In step 3, the second hand 194 holding the tool T1 by rotating operation is set as a spare hand, and the empty first hand 182 is set as a working hand. In step 4, the tool T2 at station ST8 (inner diameter) is removed by the first hand 182 (working hand).
ステップ5では工具搬送部114を外径旋回状態に戻し、ステップ6では第1ハンド182(作業ハンド)によってステーションST2(外径)に工具T2を取り付ける。ステップ7では回転動作により、工具T1を保持する第2ハンド194を作業ハンドに設定する。ステップ8では、第2ハンド194(作業ハンド)によりステーションST1(外径)に工具T1を取り付ける。
In step 5, the tool conveying unit 114 is returned to the outer diameter turning state, and in step 6, the tool T2 is attached to station ST2 (outer diameter) by the first hand 182 (working hand). In step 7, the second hand 194 holding the tool T1 is set as the working hand by rotating. In step 8, the second hand 194 (working hand) attaches the tool T1 to the station ST1 (outer diameter).
第4交換においては、図20に示した第1搬送順の作業工数と図21に示した第2搬送順の作業工数はどちらも合計7ステップである。第1搬送順では4回の旋回動作(2ポイント)が発生するため、時間ポイントは合計8ポイントとなる。一方、第2搬送順では2回の旋回動作(2ポイント)と2回の回転動作(1ポイント)があるため、時間ポイントは合計6ポイントとなる。時間ポイントで比較した場合、第2搬送順の方が優れている。搬送順の決定後は、目標パターンが次の現在パターンとなる。
なお、旋回動作よりも回転動作の方に時間がかかる場合には、スケジュール生成部132は第1搬送順を採用する。 In the fourth replacement, both the man-hours for the first transfer order shown in FIG. 20 and the man-hours for the second transfer order shown in FIG. 21 are 7 steps in total. In the first transport order, four turning motions (two points) occur, so the total number of time points is eight. On the other hand, in the second transport order, there are two turning motions (2 points) and two rotating motions (1 point), so the total number of time points is 6 points. When comparing time points, the second transfer order is superior. After the transfer order is determined, the target pattern becomes the next current pattern.
It should be noted that if the rotation operation takes more time than the rotation operation, theschedule generator 132 adopts the first transfer order.
なお、旋回動作よりも回転動作の方に時間がかかる場合には、スケジュール生成部132は第1搬送順を採用する。 In the fourth replacement, both the man-hours for the first transfer order shown in FIG. 20 and the man-hours for the second transfer order shown in FIG. 21 are 7 steps in total. In the first transport order, four turning motions (two points) occur, so the total number of time points is eight. On the other hand, in the second transport order, there are two turning motions (2 points) and two rotating motions (1 point), so the total number of time points is 6 points. When comparing time points, the second transfer order is superior. After the transfer order is determined, the target pattern becomes the next current pattern.
It should be noted that if the rotation operation takes more time than the rotation operation, the
図22は、第2工程の処理過程を示すフローチャートである。
ここでは、第1工程の実行後、または、第1工程のスキップ後の現在パターンにおいて空STが存在するとき(S60のY)、第2工程が実行される(S62)。空STが存在しないときには(S60のN)、第2工程はスキップされる。 FIG. 22 is a flow chart showing the process of the second step.
Here, after the execution of the first process, or when there is an empty ST in the current pattern after the skip of the first process (Y of S60), the second process is executed (S62). When there is no empty ST (N of S60), the second step is skipped.
ここでは、第1工程の実行後、または、第1工程のスキップ後の現在パターンにおいて空STが存在するとき(S60のY)、第2工程が実行される(S62)。空STが存在しないときには(S60のN)、第2工程はスキップされる。 FIG. 22 is a flow chart showing the process of the second step.
Here, after the execution of the first process, or when there is an empty ST in the current pattern after the skip of the first process (Y of S60), the second process is executed (S62). When there is no empty ST (N of S60), the second step is skipped.
図23は、図22のS62における第2工程の詳細を示すフローチャートである。
スケジュール生成部132は、タレット164において2以上の空STが存在するときには(S70のY)、工具格納部106から2本の工具を取り出して搬送した上で工具をタレット164に取り付ける(S72)。工具装着後、スケジュール生成部132は現在パターンを更新し、処理はS70に戻る。 FIG. 23 is a flow chart showing the details of the second step in S62 of FIG.
When there are two or more empty STs in the turret 164 (Y of S70), theschedule generation unit 132 takes out two tools from the tool storage unit 106, transports them, and attaches the tools to the turret 164 (S72). After mounting the tool, the schedule generator 132 updates the current pattern, and the process returns to S70.
スケジュール生成部132は、タレット164において2以上の空STが存在するときには(S70のY)、工具格納部106から2本の工具を取り出して搬送した上で工具をタレット164に取り付ける(S72)。工具装着後、スケジュール生成部132は現在パターンを更新し、処理はS70に戻る。 FIG. 23 is a flow chart showing the details of the second step in S62 of FIG.
When there are two or more empty STs in the turret 164 (Y of S70), the
スケジュール生成部132は、タレット164において1本だけ空STが存在するときには(S70のN、S74のY)、工具格納部106から1本の工具を取り出して搬送した上で外部交換を実行する(S76)。工具の装着後、スケジュール生成部132は現在パターンを更新し、処理はS34に戻る。タレット164に空STが残っていないときには(S74のN)、第2工程は終了する。
When there is only one empty ST in the turret 164 (N in S70, Y in S74), the schedule generation unit 132 takes out one tool from the tool storage unit 106, transports it, and executes external replacement ( S76). After mounting the tool, the schedule generator 132 updates the current pattern, and the process returns to S34. When no empty ST remains in the turret 164 (N of S74), the second step ends.
図24は、第2工程の2本搬送時における第1搬送順を示す図である。
図24に示す事前配置情報としての現在パターンにおいては、ステーションST1(外径)、ステーションST2(外径)、ステーションST7(内径)およびステーションST8(内径)は、いずれも空STである。また、工具格納部106の保持ポットMG1、MG2、MG3、MG4には工具T1、T2、T7、T8が保持されている。目標配置情報としての目標パターンにおいては、ステーションST1(外径)に工具T1、ステーションST2(外径)に工具T2、ステーションST7(内径)に工具T7、ステーションST8(内径)に工具T8が取り付けられる。
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182は予備ハンド、第2ハンド194は作業ハンドに設定されている。工具搬送部114自体は工具格納部106側(予備側)に位置している。 24A and 24B are diagrams showing the first conveying order when two sheets are conveyed in the second step.
In the current pattern as the pre-arrangement information shown in FIG. 24, station ST1 (outer diameter), station ST2 (outer diameter), station ST7 (inner diameter), and station ST8 (inner diameter) are all empty STs. Tools T1, T2, T7 and T8 are held in holding pots MG1, MG2, MG3 and MG4 of thetool storage section 106, respectively. In the target pattern as the target arrangement information, the tool T1 is attached to station ST1 (outer diameter), the tool T2 is attached to station ST2 (outer diameter), the tool T7 is attached to station ST7 (inner diameter), and the tool T8 is attached to station ST8 (inner diameter). .
At the start of tool exchange, thetool conveying section 114 is in an outer diameter turning state, the first hand 182 is set as a backup hand, and the second hand 194 is set as a working hand. The tool carrier 114 itself is located on the side of the tool storage 106 (reserve side).
図24に示す事前配置情報としての現在パターンにおいては、ステーションST1(外径)、ステーションST2(外径)、ステーションST7(内径)およびステーションST8(内径)は、いずれも空STである。また、工具格納部106の保持ポットMG1、MG2、MG3、MG4には工具T1、T2、T7、T8が保持されている。目標配置情報としての目標パターンにおいては、ステーションST1(外径)に工具T1、ステーションST2(外径)に工具T2、ステーションST7(内径)に工具T7、ステーションST8(内径)に工具T8が取り付けられる。
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182は予備ハンド、第2ハンド194は作業ハンドに設定されている。工具搬送部114自体は工具格納部106側(予備側)に位置している。 24A and 24B are diagrams showing the first conveying order when two sheets are conveyed in the second step.
In the current pattern as the pre-arrangement information shown in FIG. 24, station ST1 (outer diameter), station ST2 (outer diameter), station ST7 (inner diameter), and station ST8 (inner diameter) are all empty STs. Tools T1, T2, T7 and T8 are held in holding pots MG1, MG2, MG3 and MG4 of the
At the start of tool exchange, the
図24および次の図25では、図23のS72における工具の2本搬送に対応するシミュレーション結果を示す。図24に示す第1搬送順では、ステーションST1(外径)とステーションST2(外径)に工具T1、T2を取り付けたあと、ステーションST7(内径)とステーションST8(内径)に工具T7、T8を取り付ける場合を想定する。
FIG. 24 and the following FIG. 25 show simulation results corresponding to the two-tool transfer in S72 of FIG. In the first transfer order shown in FIG. 24, after tools T1 and T2 are attached to station ST1 (outer diameter) and station ST2 (outer diameter), tools T7 and T8 are attached to station ST7 (inner diameter) and station ST8 (inner diameter). Assume that it is installed.
ステップ1において第1ハンド182(予備ハンド)により保持ポッドMG1から工具T1を取り出し、ステップ2では回転動作により第2ハンド194を予備ハンドに設定し、ステップ3において第2ハンド194により保持ポッドMG2から工具T2を取り出す。
In step 1, the tool T1 is taken out from the holding pod MG1 by the first hand 182 (backup hand), in step 2, the second hand 194 is set as the backup hand by a rotating operation, and in step 3, the second hand 194 removes the tool T1 from the holding pod MG2. Take out the tool T2.
ステップ4において、第1ハンド182(作業ハンド)に工具T2、第2ハンド194(予備ハンド)に工具T1を保持した状態で、工具搬送部114をタレット164側に直進移動させる。ステップ5で第1ハンド182(作業ハンド)により工具T1をステーションST1(外径)に取り付け、ステップ6で回転動作により第2ハンド194を作業ハンドに設定し、ステップ7で第2ハンド194(作業ハンド)により工具T2をステーションST2(外径)に取り付ける。ステップ8において、工具搬送部114は工具格納部106側に戻る。
In step 4, the tool transfer section 114 is moved straight toward the turret 164 while holding the tool T2 in the first hand 182 (working hand) and the tool T1 in the second hand 194 (backup hand). In step 5, the tool T1 is attached to the station ST1 (outer diameter) by the first hand 182 (working hand). The tool T2 is attached to the station ST2 (outer diameter) by hand). At step 8, the tool transport section 114 returns to the tool storage section 106 side.
ステップ9で第1ハンド182(予備ハンド)により保持ポッドMG3から工具T7を取り出し、ステップ10で回転動作を実行して第2ハンド194を予備ハンドに設定し、ステップ11で第2ハンド194(予備ハンド)により保持ポッドMG4から工具T8を取り出す。この段階において第1ハンド182(作業ハンド)は工具T7を保持し、第2ハンド194(予備ハンド)は工具T8を保持している。
At step 9, the tool T7 is taken out from the holding pod MG3 by the first hand 182 (backup hand), at step 10, a rotation operation is performed to set the second hand 194 as the backup hand, and at step 11, the second hand 194 (backup hand) is set as the backup hand. The tool T8 is taken out from the holding pod MG4 by hand). At this stage, the first hand 182 (working hand) holds the tool T7, and the second hand 194 (backup hand) holds the tool T8.
ステップ12で工具搬送部114をタレット164に向けて直進させ、ステップ13で工具搬送部114を内径旋回状態に設定し、ステップ14にて第1ハンド182(作業ハンド)によりステーションST7(内径)に工具T7を取り付ける。ステップ15で工具搬送部114を回転させて第2ハンド194を作業ハンドに設定し、ステップ16にて第2ハンド194(作業ハンド)によりステーションST8(内径)に工具T8を取り付ける。
In step 12, the tool carrier 114 is moved straight toward the turret 164. In step 13, the tool carrier 114 is set to the inner diameter turning state. Install tool T7. At step 15, the tool transfer section 114 is rotated to set the second hand 194 as the working hand, and at step 16, the second hand 194 (working hand) attaches the tool T8 to the station ST8 (inner diameter).
第1搬送順においては、外径側の工具T1、T2を工具格納部106からタレット164に取り付けたあと、内径側の工具T7、T8を取り付けることで、合計16ステップにより現在パターンから目標パターンに変更可能である。
In the first transfer order, the outer diameter side tools T1 and T2 are attached to the turret 164 from the tool storage section 106, and then the inner diameter side tools T7 and T8 are attached. Can be changed.
図25は、第2工程の2本搬送時における第2搬送順を示す図である。
図25に示す第2搬送順では、ステーションST1(外径)とステーションST7(内径)に工具T1、T7を取り付けたあと、ステーションST2(外径)とステーションST8(内径)に工具T2、T8を取り付ける場合を想定する。 FIG. 25 is a diagram showing a second transfer order when two sheets are transferred in the second step.
In the second transfer order shown in FIG. 25, after tools T1 and T7 are attached to station ST1 (outer diameter) and station ST7 (inner diameter), tools T2 and T8 are attached to station ST2 (outer diameter) and station ST8 (inner diameter). Assume that it is installed.
図25に示す第2搬送順では、ステーションST1(外径)とステーションST7(内径)に工具T1、T7を取り付けたあと、ステーションST2(外径)とステーションST8(内径)に工具T2、T8を取り付ける場合を想定する。 FIG. 25 is a diagram showing a second transfer order when two sheets are transferred in the second step.
In the second transfer order shown in FIG. 25, after tools T1 and T7 are attached to station ST1 (outer diameter) and station ST7 (inner diameter), tools T2 and T8 are attached to station ST2 (outer diameter) and station ST8 (inner diameter). Assume that it is installed.
ステップ1、2は第1搬送順と同じである。ステップ3では保持ポッドMG3から第2ハンド194(予備ハンド)により工具T7を取り出し、ステップ4で工具搬送部114は工具T1、T7をタレット164側に運搬する。ステップ5では第1ハンド182(作業ハンド)により工具T1をステーションST1(外径)に取り付け、ステップ6で内径旋回状態に設定し、ステップ7で回転動作を実行して第2ハンド194を作業ハンドとして設定し、ステップ8で第2ハンド194(作業ハンド)により工具T7をステーションST7(内径)に取り付ける。
Steps 1 and 2 are the same as in the first transportation order. In step 3, the tool T7 is taken out from the holding pod MG3 by the second hand 194 (backup hand), and in step 4, the tool conveying section 114 conveys the tools T1 and T7 to the turret 164 side. In step 5, the tool T1 is attached to the station ST1 (outside diameter) by the first hand 182 (working hand). , and in step 8, the second hand 194 (working hand) attaches the tool T7 to the station ST7 (inner diameter).
ステップ9で外径旋回状態に設定し、ステップ10で工具搬送部114は工具格納部106側に移動し、ステップ11で第1ハンド182(予備ハンド)により保持ポットMG2から工具T2を取り出し、ステップ12で回転動作を実行する。この回転動作により、第2ハンド194が予備ハンドとなる。ステップ13で第2ハンド194(予備ハンド)により保持ポッドMG4から工具T8を取り出し、ステップ14で工具搬送部114は工具T2、T8をタレット164側に運搬する。
At step 9, the outer diameter turning state is set, at step 10 the tool conveying unit 114 moves to the tool storage unit 106 side, at step 11 the tool T2 is taken out from the holding pot MG2 by the first hand 182 (backup hand), and step At 12 a rotation operation is performed. Due to this rotating operation, the second hand 194 becomes a backup hand. At step 13, the tool T8 is taken out from the holding pod MG4 by the second hand 194 (backup hand), and at step 14, the tool transport section 114 transports the tools T2 and T8 to the turret 164 side.
ステップ15で工具T2を第1ハンド182(作業ハンド)によりステーションST2(外径)に取り付けたあと、ステップ16で内径旋回状態となり、ステップ17で工具搬送部114を回転させることで第2ハンド194を作業ハンドに設定し、ステップ18で第2ハンド194(作業ハンド)により工具T8をステーションST8に取り付ける。
After the tool T2 is attached to the station ST2 (outer diameter) by the first hand 182 (working hand) in step 15, the inside turning state is entered in step 16, and the tool conveying section 114 is rotated in step 17 to rotate the second hand 194. is set as the working hand, and in step 18, the second hand 194 (working hand) attaches the tool T8 to the station ST8.
第2搬送順においては、外径側の工具T1と内径側の工具T7を工具格納部106からタレット164に運んで取り付けたあと、外径側の工具T2と内径側の工具T8をタレット164に取り付けることが想定されている。
In the second transfer order, after the outer diameter side tool T1 and the inner diameter side tool T7 are transported from the tool storage section 106 to the turret 164 and attached, the outer diameter side tool T2 and the inner diameter side tool T8 are attached to the turret 164. It is assumed that it will be installed.
第1搬送順と第2搬送順を比べた場合、第1搬送順の作業工数(ステップ数)の方が少ないため、スケジュール生成部132は第1搬送順を採用する。第2工程の2本搬送(図23のS72)においては、外径と外径、内径と内径のように同一方向にある複数の工具をまとめて運搬することで、旋回動作の回数を減らすことができる。
When comparing the first transportation order and the second transportation order, the number of man-hours (number of steps) for the first transportation order is smaller, so the schedule generation unit 132 adopts the first transportation order. In the second process, two-tool transfer (S72 in FIG. 23), a plurality of tools in the same direction, such as outer diameter and outer diameter, or inner diameter and inner diameter, are collectively conveyed to reduce the number of turning operations. can be done.
図26は、第3工程の処理過程を示すフローチャートである。
第1工程および第2工程の双方または一方を実行したあとに工具交換が完了する場合には、第3工程を実行する必要はない。
ここでは、第2工程の実行後、または、第2工程のスキップ後における工具パターンにおいて内部交換の必要があるとき(S80のY)、すなわち、あるステーションに取り付けられる工具TAと別のステーションに取り付けられる工具TBを位置交換する必要があるとき、第3工程が実行される(S82)。内部交換の必要性がないときには(S80のN)、第3工程はスキップされる。 FIG. 26 is a flow chart showing the process of the third step.
If the tool change is completed after performing either or both of the first and second steps, then there is no need to perform the third step.
Here, after execution of the second step or after skipping of the second step, when there is a need to internally replace the tool pattern (Y in S80), that is, the tool TA attached to one station and the tool TA attached to another station A third step is performed (S82) when it is necessary to change the position of the tool TB to be replaced. When there is no need for internal replacement (N of S80), the third step is skipped.
第1工程および第2工程の双方または一方を実行したあとに工具交換が完了する場合には、第3工程を実行する必要はない。
ここでは、第2工程の実行後、または、第2工程のスキップ後における工具パターンにおいて内部交換の必要があるとき(S80のY)、すなわち、あるステーションに取り付けられる工具TAと別のステーションに取り付けられる工具TBを位置交換する必要があるとき、第3工程が実行される(S82)。内部交換の必要性がないときには(S80のN)、第3工程はスキップされる。 FIG. 26 is a flow chart showing the process of the third step.
If the tool change is completed after performing either or both of the first and second steps, then there is no need to perform the third step.
Here, after execution of the second step or after skipping of the second step, when there is a need to internally replace the tool pattern (Y in S80), that is, the tool TA attached to one station and the tool TA attached to another station A third step is performed (S82) when it is necessary to change the position of the tool TB to be replaced. When there is no need for internal replacement (N of S80), the third step is skipped.
図27は、第3工程の第1搬送順を示す図である。
図27に示す現在パターンにおいては、ステーションST1(外径)、ステーションST2(外径)、ステーションST3(外径)に工具T3、T1、T2が取り付けられている。目標パターンにおいては、ステーションST1(外径)に工具T1、ステーションST2(外径)に工具T2、ステーションST3(外径)に工具T3が取り付けられる。
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182は予備ハンド、第2ハンド194は作業ハンドとなっている。工具搬送部114自体はタレット164側(作業側)に位置している。 FIG. 27 is a diagram showing the first transfer order in the third step.
In the current pattern shown in FIG. 27, tools T3, T1, and T2 are attached to station ST1 (outer diameter), station ST2 (outer diameter), and station ST3 (outer diameter). In the target pattern, the tool T1 is attached to station ST1 (outer diameter), the tool T2 is attached to station ST2 (outer diameter), and the tool T3 is attached to station ST3 (outer diameter).
At the start of tool exchange, thetool conveying section 114 is in an outer diameter turning state, the first hand 182 is a spare hand, and the second hand 194 is a working hand. The tool carrier 114 itself is located on the turret 164 side (working side).
図27に示す現在パターンにおいては、ステーションST1(外径)、ステーションST2(外径)、ステーションST3(外径)に工具T3、T1、T2が取り付けられている。目標パターンにおいては、ステーションST1(外径)に工具T1、ステーションST2(外径)に工具T2、ステーションST3(外径)に工具T3が取り付けられる。
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182は予備ハンド、第2ハンド194は作業ハンドとなっている。工具搬送部114自体はタレット164側(作業側)に位置している。 FIG. 27 is a diagram showing the first transfer order in the third step.
In the current pattern shown in FIG. 27, tools T3, T1, and T2 are attached to station ST1 (outer diameter), station ST2 (outer diameter), and station ST3 (outer diameter). In the target pattern, the tool T1 is attached to station ST1 (outer diameter), the tool T2 is attached to station ST2 (outer diameter), and the tool T3 is attached to station ST3 (outer diameter).
At the start of tool exchange, the
図27においては、3つの工具T1、T2、T3の取り付け位置を変更する場合に、工具T3を本来の移動先ではないステーションST2に一時的に取り付ける場合を想定している(以下、「仮設置」とよぶ)。
In FIG. 27, when changing the attachment positions of the three tools T1, T2, and T3, it is assumed that the tool T3 is temporarily attached to the station ST2, which is not the original destination (hereinafter referred to as "temporary installation ”).
ステップ1では第2ハンド194(作業ハンド)によりステーションST1(外径)から工具T3を取り出し、ステップ2で工具搬送部114を回転させて第1ハンド182を作業ハンドに設定し、ステップ3で第1ハンド182(作業ハンド)によりステーションST2(外径)から工具T1を取り出す。ステップ4で第1ハンド182(作業ハンド)により工具T1を空いたステーションST1(外径)に取り付け、ステップ5で工具搬送部114を回転させて第2ハンド194を作業ハンドに設定し、ステップ6で第2ハンド194(作業ハンド)により空いたステーションST2(外径)に工具T3を仮設置する。
In step 1, the second hand 194 (working hand) picks up the tool T3 from the station ST1 (outer diameter). A tool T1 is taken out from the station ST2 (outer diameter) by a hand 182 (working hand). In step 4, the tool T1 is attached to the empty station ST1 (outer diameter) by the first hand 182 (working hand). , the tool T3 is temporarily installed in the vacant station ST2 (outer diameter) by the second hand 194 (working hand).
ステップ7で再びステーションST2から工具T3を第2ハンド194(作業ハンド)によって取り外し、ステップ8で工具搬送部114を回転させて第1ハンド182を作業ハンドとして設定し、ステップ9で第1ハンド182(作業ハンド)によりステーションST3(外径)から工具T2を取り出し、ステップ10で第1ハンド182(作業ハンド)により工具T2をステーションST2に取り付ける。
In step 7, the tool T3 is again removed from the station ST2 by the second hand 194 (working hand). The tool T2 is taken out from the station ST3 (outer diameter) by the (working hand), and in step 10, the tool T2 is attached to the station ST2 by the first hand 182 (working hand).
ステップ11で工具搬送部114を回転させることで第2ハンド194を作業ハンドに設定し、ステップ12で第2ハンド194(作業ハンド)により工具T3をステーションST3に取り付ける。第3工程における第1搬送順の作業工数は12ステップとなる。
At step 11, the second hand 194 is set as the working hand by rotating the tool transporting unit 114, and at step 12, the second hand 194 (working hand) attaches the tool T3 to the station ST3. The work man-hour for the first transfer order in the third step is 12 steps.
図28は、第3工程の第2搬送順を示す図である。
図28に示す第2搬送順では、工具T1、T2、T3をステーションST1(外径)、ステーションST2(外径)、ステーションST3(外径)の間で循環させる方式を想定する。 FIG. 28 is a diagram showing the second transfer order in the third step.
In the second transfer order shown in FIG. 28, it is assumed that the tools T1, T2, and T3 are circulated among stations ST1 (outer diameter), station ST2 (outer diameter), and station ST3 (outer diameter).
図28に示す第2搬送順では、工具T1、T2、T3をステーションST1(外径)、ステーションST2(外径)、ステーションST3(外径)の間で循環させる方式を想定する。 FIG. 28 is a diagram showing the second transfer order in the third step.
In the second transfer order shown in FIG. 28, it is assumed that the tools T1, T2, and T3 are circulated among stations ST1 (outer diameter), station ST2 (outer diameter), and station ST3 (outer diameter).
ステップ1からステップ4までは第1搬送順と同じである。ステップ5では第1ハンド182(作業ハンド)によりステーションST3(外径)から工具T2を取り出し、ステップ6で第1ハンド182(作業ハンド)によりステーションST2に工具T2が取り付ける。ステップ7で工具搬送部114を回転させて第2ハンド194を作業ハンドとして設定し、ステップ8で第2ハンド194(作業ハンド)により工具T3をステーションST3(外径)に取り付ける。
Steps 1 to 4 are the same as in the first transport order. In step 5, the first hand 182 (working hand) picks up the tool T2 from the station ST3 (outer diameter), and in step 6, the first hand 182 (working hand) attaches the tool T2 to the station ST2. In step 7, the tool conveying unit 114 is rotated to set the second hand 194 as the working hand, and in step 8, the second hand 194 (working hand) attaches the tool T3 to the station ST3 (outer diameter).
第2搬送順の工数は8ステップである。したがって、スケジュール生成部132は第2搬送順を採用する。
The number of man-hours for the second transport order is 8 steps. Therefore, the schedule generator 132 adopts the second transport order.
図29は、第4工程の処理過程を示すフローチャートである。
第1工程および第2工程の双方または一方を実行したあとに工具交換が完了する場合には、第3工程だけでなく、第4工程を実行する必要はない。
ここでは、第3工程の実行後、または、第3工程のスキップ後の工具パターンにおいて外部交換の必要があるとき(S90のY)、すなわち、あるステーションに取り付けられる工具TAと工具格納部106に格納される工具TBの交換が必要であるとき、第4工程が実行される(S92)。外部交換の必要性がないときには(S90のN)、第4工程はスキップされる。 FIG. 29 is a flow chart showing the process of the fourth step.
If the tool change is completed after performing both or one of the first and second steps, it is not necessary to perform not only the third step but also the fourth step.
Here, after execution of the third step or when the tool pattern after skipping the third step needs to be replaced externally (Y in S90), that is, when the tool TA attached to a certain station and thetool storage unit 106 are When the stored tool TB needs to be replaced, a fourth step is performed (S92). When there is no need for external replacement (N of S90), the fourth step is skipped.
第1工程および第2工程の双方または一方を実行したあとに工具交換が完了する場合には、第3工程だけでなく、第4工程を実行する必要はない。
ここでは、第3工程の実行後、または、第3工程のスキップ後の工具パターンにおいて外部交換の必要があるとき(S90のY)、すなわち、あるステーションに取り付けられる工具TAと工具格納部106に格納される工具TBの交換が必要であるとき、第4工程が実行される(S92)。外部交換の必要性がないときには(S90のN)、第4工程はスキップされる。 FIG. 29 is a flow chart showing the process of the fourth step.
If the tool change is completed after performing both or one of the first and second steps, it is not necessary to perform not only the third step but also the fourth step.
Here, after execution of the third step or when the tool pattern after skipping the third step needs to be replaced externally (Y in S90), that is, when the tool TA attached to a certain station and the
図30は、第4工程の第1搬送順を示す図である。
図30に示す現在パターンにおいては、ステーションST1(外径)、ステーションST2(外径)、ステーションST3(外径)には工具T15、T1、T2が取り付けられている。工具格納部106の保持ポッドMG1には工具T3が格納されている。目標パターンにおいては、ステーションST1(外径)に工具T1、ステーションST2(外径)に工具T2、ステーションST3(外径)に工具T3が取り付けられる。
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182は予備ハンド、第2ハンド194は作業ハンドに設定されている。工具搬送部114自体は工具格納部106側(予備側)に位置している。 FIG. 30 is a diagram showing the first transfer order in the fourth step.
In the current pattern shown in FIG. 30, tools T15, T1, and T2 are attached to station ST1 (outer diameter), station ST2 (outer diameter), and station ST3 (outer diameter). A tool T3 is stored in the holding pod MG1 of thetool storage section 106. As shown in FIG. In the target pattern, the tool T1 is attached to station ST1 (outer diameter), the tool T2 is attached to station ST2 (outer diameter), and the tool T3 is attached to station ST3 (outer diameter).
At the start of tool exchange, thetool conveying section 114 is in an outer diameter turning state, the first hand 182 is set as a backup hand, and the second hand 194 is set as a working hand. The tool carrier 114 itself is located on the side of the tool storage 106 (reserve side).
図30に示す現在パターンにおいては、ステーションST1(外径)、ステーションST2(外径)、ステーションST3(外径)には工具T15、T1、T2が取り付けられている。工具格納部106の保持ポッドMG1には工具T3が格納されている。目標パターンにおいては、ステーションST1(外径)に工具T1、ステーションST2(外径)に工具T2、ステーションST3(外径)に工具T3が取り付けられる。
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182は予備ハンド、第2ハンド194は作業ハンドに設定されている。工具搬送部114自体は工具格納部106側(予備側)に位置している。 FIG. 30 is a diagram showing the first transfer order in the fourth step.
In the current pattern shown in FIG. 30, tools T15, T1, and T2 are attached to station ST1 (outer diameter), station ST2 (outer diameter), and station ST3 (outer diameter). A tool T3 is stored in the holding pod MG1 of the
At the start of tool exchange, the
第1搬送順においては、工具T1、T2がステーションST1、ST2にあり、工具T3が工具格納部106にある状態において、工具T1、T2を一時的に工具格納部106に退避させる(以下、「仮退避」とよぶ)。
In the first transfer order, tools T1 and T2 are in stations ST1 and ST2 and tool T3 is in tool storage section 106, and tools T1 and T2 are temporarily retracted to tool storage section 106 (hereinafter referred to as " (called “Temporary Evacuation”).
ステップ1で第1ハンド182(予備ハンド)により保持ポッドMG1から工具T3を取り出し、ステップ2で工具搬送部114により工具T3をタレット164側に運搬する。ステップ3でタレット164から第2ハンド194(作業ハンド)により工具T2を取り出し、ステップ4で工具搬送部114を回転させて第1ハンド182を作業ハンドに設定したあと、ステップ5で第1ハンド182(作業ハンド)により工具T3をステーションST3に取り付ける。
In step 1, the tool T3 is taken out from the holding pod MG1 by the first hand 182 (backup hand), and in step 2, the tool transport section 114 transports the tool T3 to the turret 164 side. In step 3, the tool T2 is taken out from the turret 164 by the second hand 194 (working hand). The tool T3 is attached to the station ST3 by (working hand).
続いて、ステップ6で工具搬送部114は工具T2を工具格納部106側に運搬し、ステップ7で第2ハンド194(予備ハンド)により工具T2を保持ポッドMG1に仮退避させ、ステップ8で第2ハンド194(予備ハンド)により工具T2を工具格納部106から取り出し、ステップ9で工具T2を再びタレット164側に運搬する。
Subsequently, in step 6, the tool conveying unit 114 conveys the tool T2 to the tool storage unit 106 side, in step 7, the second hand 194 (backup hand) temporarily retracts the tool T2 to the holding pod MG1, and in step 8, the The tool T2 is taken out from the tool storage section 106 by the second hand 194 (backup hand), and in step 9 the tool T2 is carried to the turret 164 side again.
ステップ10で第1ハンド182(作業ハンド)によりステーションST2から工具T1を取り出し、ステップ11で工具搬送部114を回転させて第2ハンド194を作業ハンドに設定し、ステップ12で第2ハンド194(作業ハンド)により工具T2をステーションST2(外径)に取り付ける。ステップ13で工具T1を工具格納部106に運搬し、ステップ14で工具T1を工具格納部106に仮退避させる。
At step 10, the tool T1 is taken out from the station ST2 by the first hand 182 (working hand). At step 11, the tool carrier 114 is rotated to set the second hand 194 as the working hand. The tool T2 is attached to the station ST2 (outer diameter) by a work hand). In step 13, the tool T1 is transported to the tool storage section 106, and in step 14, the tool T1 is temporarily retracted to the tool storage section 106.
ステップ15で第1ハンド182(予備ハンド)により工具T1を工具格納部106から取り出し、ステップ16で工具T1をタレット164側に運搬し、ステップ17で第2ハンド194(作業ハンド)によりタレット164から工具T15を取り外す。ステップ18で工具搬送部114を回転させて第1ハンド182を作業ハンドに設定し、ステップ19で第1ハンド182(作業ハンド)によりステーションST1(外径)に工具T1を取り付けたあと、ステップ20で工具T15を工具格納部106側に運搬し、ステップ21で第2ハンド194(予備ハンド)により工具T15を工具格納部106に格納する。
In step 15, the first hand 182 (backup hand) takes out the tool T1 from the tool storage section 106. In step 16, the tool T1 is carried to the turret 164 side. Remove tool T15. In step 18, the first hand 182 is set as the working hand by rotating the tool conveying unit 114. In step 19, the first hand 182 (working hand) attaches the tool T1 to the station ST1 (outer diameter). In step 21, the tool T15 is stored in the tool storage section 106 by the second hand 194 (backup hand).
図31は、第4工程の第2搬送順を示す図である。
ステップ1からステップ5までは第1搬送順と同じである。ステップ6で第1ハンド182(作業ハンド)によりステーションST2(外径)から工具T1を取り外す。ステップ7で工具搬送部114を回転させて第2ハンド194を作業ハンドに設定し、ステップ8で第2ハンド194(作業ハンド)によりステーションST2(外径)に工具T2を取り付け、ステップ9で空いた第2ハンド194(作業ハンド)によりステーションST1(外径)から工具T15を取り出す。 FIG. 31 is a diagram showing the second transfer order in the fourth step.
Steps 1 to 5 are the same as in the first transfer order. In step 6, the first hand 182 (working hand) removes the tool T1 from the station ST2 (outer diameter). In step 7, the tool carrier 114 is rotated to set the second hand 194 as the working hand. Then, the second hand 194 (working hand) picks up the tool T15 from the station ST1 (outer diameter).
ステップ1からステップ5までは第1搬送順と同じである。ステップ6で第1ハンド182(作業ハンド)によりステーションST2(外径)から工具T1を取り外す。ステップ7で工具搬送部114を回転させて第2ハンド194を作業ハンドに設定し、ステップ8で第2ハンド194(作業ハンド)によりステーションST2(外径)に工具T2を取り付け、ステップ9で空いた第2ハンド194(作業ハンド)によりステーションST1(外径)から工具T15を取り出す。 FIG. 31 is a diagram showing the second transfer order in the fourth step.
ステップ10で工具搬送部114を回転させて第1ハンド182を作業ハンドに設定し、ステップ11で第1ハンド182(作業ハンド)によりステーションST1(外径)に工具T1を取り付ける。ステップ12で工具搬送部114は工具T15を工具格納部106に運搬し、ステップ13で第2ハンド194(予備ハンド)により工具T15を工具格納部106に格納する。
At step 10, the tool conveying unit 114 is rotated to set the first hand 182 as the working hand, and at step 11, the first hand 182 (working hand) attaches the tool T1 to the station ST1 (outer diameter). In step 12, the tool conveying section 114 conveys the tool T15 to the tool storage section 106, and in step 13, the tool T15 is stored in the tool storage section 106 by the second hand 194 (backup hand).
以上のシミュレーションの結果、第1搬送順に比べて第2搬送順の方が作業工数(ステップ数)は格段に少ないことがわかる。したがって、スケジュール生成部132は第2搬送順を採用する。
As a result of the above simulation, it can be seen that the number of work steps (number of steps) is much smaller in the second transfer order than in the first transfer order. Therefore, the schedule generator 132 adopts the second transport order.
図32は、第1例における第5工程実行前の搬送スケジュールを示す図である。
第1工程から第4工程について上記アルゴリズムにて搬送スケジュールを生成したあと、スケジュール生成部132は更に搬送スケジュールを最適化可能か判断するための第5工程を実行する。なお、第1工程および第2工程の双方または一方を実行したあとに工具交換が完了する場合には、第1工程および第2工程の双方または一方についての搬送スケジュールが生成され、この搬送スケジュールに基づいて最適化可能かについての判断がなされる。最適化条件は任意に設定可能である。たとえば、直進動作(工具の運搬)に際しては、可能な限り工具を2本まとめて運搬する、タレット164から不要な工具を取り出すことを優先する、などが考えられる。
第5工程については、第1例および第2例に分けて説明する。第1例については図32、図33に基づいて説明し、第2例については図34、図35に基づいて説明する。 FIG. 32 is a diagram showing a transfer schedule before execution of the fifth process in the first example.
After generating the transfer schedule for the first to fourth steps using the above algorithm, theschedule generator 132 further executes the fifth step for determining whether the transfer schedule can be optimized. In addition, when the tool change is completed after executing both or one of the first process and the second process, a transfer schedule for both or one of the first process and the second process is generated, and this transfer schedule is used. A decision is made as to whether optimization is possible based on Optimization conditions can be set arbitrarily. For example, in straight movement (carrying tools), it is conceivable to carry two tools together as much as possible, or to give priority to removing unnecessary tools from the turret 164 .
The fifth step will be described separately for the first example and the second example. A first example will be described with reference to FIGS. 32 and 33, and a second example will be described with reference to FIGS. 34 and 35. FIG.
第1工程から第4工程について上記アルゴリズムにて搬送スケジュールを生成したあと、スケジュール生成部132は更に搬送スケジュールを最適化可能か判断するための第5工程を実行する。なお、第1工程および第2工程の双方または一方を実行したあとに工具交換が完了する場合には、第1工程および第2工程の双方または一方についての搬送スケジュールが生成され、この搬送スケジュールに基づいて最適化可能かについての判断がなされる。最適化条件は任意に設定可能である。たとえば、直進動作(工具の運搬)に際しては、可能な限り工具を2本まとめて運搬する、タレット164から不要な工具を取り出すことを優先する、などが考えられる。
第5工程については、第1例および第2例に分けて説明する。第1例については図32、図33に基づいて説明し、第2例については図34、図35に基づいて説明する。 FIG. 32 is a diagram showing a transfer schedule before execution of the fifth process in the first example.
After generating the transfer schedule for the first to fourth steps using the above algorithm, the
The fifth step will be described separately for the first example and the second example. A first example will be described with reference to FIGS. 32 and 33, and a second example will be described with reference to FIGS. 34 and 35. FIG.
第1例(図32、図33)の現在パターンにおいては、ステーションST1(外径)、ステーションST2(外径)、ステーションST3(外径)には工具T15、T1、T2が取り付けられている。工具格納部106の保持ポッドMG1、MG2には工具T3、T4が格納されている。目標パターンにおいては、ステーションST1(外径)に工具T1、ステーションST2(外径)に工具T2、ステーションST3(外径)に工具T3、ステーションST4(外径)に工具T4が取り付けられる。
In the current pattern of the first example (FIGS. 32 and 33), tools T15, T1, and T2 are attached to station ST1 (outer diameter), station ST2 (outer diameter), and station ST3 (outer diameter). Tools T3 and T4 are stored in the holding pods MG1 and MG2 of the tool storage section 106, respectively. In the target pattern, the tool T1 is attached to station ST1 (outer diameter), the tool T2 is attached to station ST2 (outer diameter), the tool T3 is attached to station ST3 (outer diameter), and the tool T4 is attached to station ST4 (outer diameter).
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182は予備ハンド、第2ハンド194は作業ハンドとなっている。工具搬送部114自体は工具格納部106側(予備側)に位置している。
At the start of tool exchange, the tool conveying section 114 is in an outer diameter turning state, the first hand 182 is a spare hand, and the second hand 194 is a working hand. The tool carrier 114 itself is located on the side of the tool storage 106 (reserve side).
第1工程から第4工程を経た上で、図32に示す工具搬送順(搬送スケジュール)が生成されたとする。工具交換の合計ステップ数は18となる。スケジュール生成部132は、図32に示す搬送スケジュールが最適解であるか確認するために第5工程(最適化処理)を実行する。
Assume that the tool transfer order (transfer schedule) shown in FIG. 32 is generated after the first to fourth processes. The total number of steps for tool change is 18. The schedule generator 132 executes the fifth step (optimization process) to confirm whether the transfer schedule shown in FIG. 32 is the optimum solution.
図33は、第1例における第5工程実行後の搬送スケジュールを示す図である。
第5工程実行前(最適化前)の搬送スケジュールにおいては、ステップ3において、工具搬送部114は第1ハンド182に工具T4を保持させた状態で回転し、ステップ4において第1ハンド182(作業ハンド)により工具T4をステーションST4に取り付ける。一方、第5工程実行後(最適化後)の搬送スケジュールでは、ステップ3において、工具搬送部114は工具T4に加えて工具T3も工具格納部106から取り出している。 FIG. 33 is a diagram showing a transfer schedule after execution of the fifth process in the first example.
In the transfer schedule before execution of the fifth step (before optimization), instep 3, the tool transfer section 114 rotates with the first hand 182 holding the tool T4, and in step 4, the first hand 182 (work The tool T4 is attached to the station ST4 by hand). On the other hand, in the transfer schedule after execution of the fifth step (after optimization), in step 3, the tool transfer section 114 takes out the tool T3 from the tool storage section 106 in addition to the tool T4.
第5工程実行前(最適化前)の搬送スケジュールにおいては、ステップ3において、工具搬送部114は第1ハンド182に工具T4を保持させた状態で回転し、ステップ4において第1ハンド182(作業ハンド)により工具T4をステーションST4に取り付ける。一方、第5工程実行後(最適化後)の搬送スケジュールでは、ステップ3において、工具搬送部114は工具T4に加えて工具T3も工具格納部106から取り出している。 FIG. 33 is a diagram showing a transfer schedule after execution of the fifth process in the first example.
In the transfer schedule before execution of the fifth step (before optimization), in
第5工程実行後の搬送スケジュールでは、工具搬送部114は工具T3、T4を工具格納部106から取り出したあと、2本まとめて運搬することで、合計ステップ数を16回に抑制できている。したがって、スケジュール生成部132は図32に示した第5工程実行前の搬送スケジュールではなく、第5工程実行後の搬送スケジュールを採用する。ただし、工具搬送部114が2本の工具を運搬することが最適とはいえない場合もある。第2例では、そのような場合について説明する。
In the transfer schedule after execution of the fifth process, the tool transfer section 114 takes out the tools T3 and T4 from the tool storage section 106 and then transfers them together, thereby suppressing the total number of steps to 16. Therefore, the schedule generation unit 132 adopts the transfer schedule after execution of the fifth process, not the transfer schedule before execution of the fifth process shown in FIG. However, it may not be optimal for the tool carrier 114 to carry two tools. A second example describes such a case.
図34は、第2例における第5工程実行前の搬送スケジュールを示す図である。
第2例(図34、図35)の現在パターンにおいては、ステーションST1(外径)、ステーションST7(内径)、ステーションST8(内径)には工具T15、T8、T7が取り付けられている。工具格納部106の保持ポッドMG1、MG2には工具T1、T9が格納されている。目標パターンにおいては、ステーションST1(外径)に工具T1、ステーションST7(内径)に工具T7、ステーションST8(内径)に工具T8、ステーションST9(内径)に工具T9が取り付けられる。
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182は予備ハンド、第2ハンド194は作業ハンドに設定されている。工具搬送部114自体は工具格納部106側(予備側)に位置している。 FIG. 34 is a diagram showing a transfer schedule before execution of the fifth step in the second example.
In the current pattern of the second example (FIGS. 34 and 35), tools T15, T8 and T7 are attached to station ST1 (outer diameter), station ST7 (inner diameter) and station ST8 (inner diameter). Tools T1 and T9 are stored in the holding pods MG1 and MG2 of thetool storage section 106, respectively. In the target pattern, the tool T1 is attached to station ST1 (outer diameter), the tool T7 is attached to station ST7 (inner diameter), the tool T8 is attached to station ST8 (inner diameter), and the tool T9 is attached to station ST9 (inner diameter).
At the start of tool exchange, thetool conveying section 114 is in an outer diameter turning state, the first hand 182 is set as a backup hand, and the second hand 194 is set as a working hand. The tool carrier 114 itself is located on the side of the tool storage 106 (reserve side).
第2例(図34、図35)の現在パターンにおいては、ステーションST1(外径)、ステーションST7(内径)、ステーションST8(内径)には工具T15、T8、T7が取り付けられている。工具格納部106の保持ポッドMG1、MG2には工具T1、T9が格納されている。目標パターンにおいては、ステーションST1(外径)に工具T1、ステーションST7(内径)に工具T7、ステーションST8(内径)に工具T8、ステーションST9(内径)に工具T9が取り付けられる。
工具交換開始時において、工具搬送部114は外径旋回状態にあり、第1ハンド182は予備ハンド、第2ハンド194は作業ハンドに設定されている。工具搬送部114自体は工具格納部106側(予備側)に位置している。 FIG. 34 is a diagram showing a transfer schedule before execution of the fifth step in the second example.
In the current pattern of the second example (FIGS. 34 and 35), tools T15, T8 and T7 are attached to station ST1 (outer diameter), station ST7 (inner diameter) and station ST8 (inner diameter). Tools T1 and T9 are stored in the holding pods MG1 and MG2 of the
At the start of tool exchange, the
第1工程から第4工程を経た上で、図34に示す搬送スケジュールが生成されたとする。このときの合計ステップ数は20である。
Assume that the transport schedule shown in FIG. 34 is generated after going through the first to fourth processes. The total number of steps at this time is 20.
図35は、第2例における第5工程実行後の搬送スケジュールを示す図である。
第5工程実行前の搬送スケジュールでは4回の直進動作が発生しているが、いずれの場合においても工具搬送部114は1本しか工具を運搬していない。これに対して、第5工程実行後の搬送スケジュールでも4回の直進動作が発生し、そのうち、ステップ14において工具搬送部114は工具T9、T1を運搬している。しかし、第5工程実行後の合計ステップ数は22回であり、第5工程実行前よりもステップ数は多くなっている。このため、スケジュール生成部132は第5工程実行前の搬送スケジュールを採用する。 FIG. 35 is a diagram showing a transfer schedule after execution of the fifth step in the second example.
In the transfer schedule before execution of the fifth step, four straight movements occur, but in each case thetool transfer section 114 transfers only one tool. On the other hand, even in the transfer schedule after execution of the fifth step, four straight movements occur, and the tool transfer section 114 transfers the tools T9 and T1 in step 14 among them. However, the total number of steps after execution of the fifth step is 22, which is greater than that before execution of the fifth step. Therefore, the schedule generator 132 adopts the transfer schedule before execution of the fifth step.
第5工程実行前の搬送スケジュールでは4回の直進動作が発生しているが、いずれの場合においても工具搬送部114は1本しか工具を運搬していない。これに対して、第5工程実行後の搬送スケジュールでも4回の直進動作が発生し、そのうち、ステップ14において工具搬送部114は工具T9、T1を運搬している。しかし、第5工程実行後の合計ステップ数は22回であり、第5工程実行前よりもステップ数は多くなっている。このため、スケジュール生成部132は第5工程実行前の搬送スケジュールを採用する。 FIG. 35 is a diagram showing a transfer schedule after execution of the fifth step in the second example.
In the transfer schedule before execution of the fifth step, four straight movements occur, but in each case the
[総括]
以上、実施形態に基づいて、工作機械100の工具交換について説明した。
搬送スケジュールの生成に際しては、スケジュール生成部132は第1工程および第2工程を実行し、第2工程の実行後にタレット164に空STが残らないように工具搬送順をつくる。第3工程は内部交換なので、工具搬送部114をタレット164側に位置させる必要がある。第2工程の終了時点において、工具搬送部114はタレット164側にあるため、第3工程の開始時に工具搬送部114をタレット164側に移動させる必要がない。一方、第4工程は外部交換なので、工具搬送部114を工具格納部106側に位置させる必要がある。以上の理由により、第1工程、第2工程の後は第4工程ではなく第3工程を実行することが望ましい。 [Summary]
The tool change of themachine tool 100 has been described above based on the embodiment.
When generating the transfer schedule, theschedule generation unit 132 executes the first step and the second step, and creates the tool transfer order so that no empty ST remains in the turret 164 after the execution of the second step. Since the third step is internal replacement, it is necessary to position the tool carrier 114 on the turret 164 side. Since the tool carrier 114 is on the turret 164 side at the end of the second step, there is no need to move the tool carrier 114 to the turret 164 side at the start of the third step. On the other hand, since the fourth step is an external replacement, it is necessary to position the tool transport section 114 on the tool storage section 106 side. For the above reasons, it is desirable to perform the third step instead of the fourth step after the first and second steps.
以上、実施形態に基づいて、工作機械100の工具交換について説明した。
搬送スケジュールの生成に際しては、スケジュール生成部132は第1工程および第2工程を実行し、第2工程の実行後にタレット164に空STが残らないように工具搬送順をつくる。第3工程は内部交換なので、工具搬送部114をタレット164側に位置させる必要がある。第2工程の終了時点において、工具搬送部114はタレット164側にあるため、第3工程の開始時に工具搬送部114をタレット164側に移動させる必要がない。一方、第4工程は外部交換なので、工具搬送部114を工具格納部106側に位置させる必要がある。以上の理由により、第1工程、第2工程の後は第4工程ではなく第3工程を実行することが望ましい。 [Summary]
The tool change of the
When generating the transfer schedule, the
現在パターンにおいてタレット164に空STが存在しない場合には、スケジュール生成部132は第1工程、第2工程をスキップして、第3工程以降のアルゴリズムに基づいて搬送スケジュールを生成すればよい。この場合には、スケジュール生成部132は第4工程を第3工程より先に実行してもよい。
If there is no empty ST in the turret 164 in the current pattern, the schedule generator 132 may skip the first and second processes and generate a transport schedule based on the algorithm for the third and subsequent processes. In this case, the schedule generator 132 may execute the fourth step before the third step.
スケジュール生成部132は、現在パターンと目標パターンに基づいて、どの工具から移動させるか、どのステーション222から先に工具を移動させるか、といったさまざまな組み合わせについて総当りで工具搬送順を計算してもよい。たとえば、第1工程においても、現在パターンおよび目標パターンの組み合わせに基づいてさまざまな工具搬送順をつくることが可能である。スケジュール生成部132はこのようにして生成された多数の工具搬送順からもっとも作業効率のよい工具搬送順を採用すればよい。
Based on the current pattern and the target pattern, the schedule generation unit 132 may calculate the tool transfer order by round-robin for various combinations such as from which tool to move and from which station 222 to move the tool first. good. For example, even in the first step, it is possible to create various tool transfer orders based on the combination of the current pattern and the target pattern. The schedule generation unit 132 may select the most efficient tool transfer order from among many tool transfer orders generated in this way.
スケジュール生成部132は、特に、工具格納部106への仮退避、タレット164への仮設置が生じないように搬送スケジュールを組むことで、工具交換に要する作業工数を減らすことができる。
The schedule generating unit 132 can reduce the number of man-hours required for tool replacement by arranging a transfer schedule so that temporary evacuation to the tool storage unit 106 and temporary installation to the turret 164 do not occur.
また、スケジュール生成部132は、複数の工具交換のステップ数が同一となるときは、運搬動作、旋回動作および回転動作それぞれに要する時間を指標化した時間ポイントに基づいて、どの搬送順がもっとも作業効率がよいかを判定できる。
In addition, when the number of steps for a plurality of tool exchanges is the same, the schedule generation unit 132 determines which transport order is the most work based on the time points indexed for the time required for each of the transport operation, the turning operation, and the rotating operation. You can judge whether it is efficient or not.
上述したように、第1工程から第5工程の一部はスキップされる可能性もある。たとえば、第1工程および第2工程の実行により工具交換が完了する場合もあるので、この場合には第3工程以降は不要である。
As mentioned above, part of the first to fifth steps may be skipped. For example, the tool change may be completed by executing the first and second steps, so in this case, the third and subsequent steps are unnecessary.
なお、本発明は上記実施形態や変形例に限定されるものではなく、要旨を逸脱しない範囲で構成要素を変形して具体化することができる。上記実施形態や変形例に開示されている複数の構成要素を適宜組み合わせることにより種々の発明を形成してもよい。また、上記実施形態や変形例に示される全構成要素からいくつかの構成要素を削除してもよい。
It should be noted that the present invention is not limited to the above embodiments and modifications, and can be embodied by modifying the constituent elements without departing from the scope of the invention. Various inventions may be formed by appropriately combining a plurality of constituent elements disclosed in the above embodiments and modifications. Also, some components may be deleted from all the components shown in the above embodiments and modifications.
これまでの説明の通り、本発明によれば、工具の段取り等を含めた加工に関連する総時間を短くできる。そのため、省エネ性を高めた工作機械等の提供が可能になる。
As explained so far, according to the present invention, the total time related to machining, including tool setup, can be shortened. Therefore, it is possible to provide a machine tool or the like with improved energy efficiency.
[変形例]
本実施形態においては、第1ホルダ168Aは「ワークの内径側を削るための工具を保持するホルダ168」、第2ホルダ168Bは「ワークの外径側を削るための工具を保持するホルダ168」であるとして説明した。本発明は、内径側/外径側に限らず、タレット164において複数の工具保持方法が可能である場合に適用可能である。 [Modification]
In this embodiment, thefirst holder 168A is "a holder 168 that holds a tool for cutting the inner diameter side of a work", and the second holder 168B is "a holder 168 that holds a tool for cutting the outer diameter side of a work". explained as being. The present invention is not limited to inner diameter/outer diameter and is applicable to cases where a plurality of tool holding methods are possible in the turret 164 .
本実施形態においては、第1ホルダ168Aは「ワークの内径側を削るための工具を保持するホルダ168」、第2ホルダ168Bは「ワークの外径側を削るための工具を保持するホルダ168」であるとして説明した。本発明は、内径側/外径側に限らず、タレット164において複数の工具保持方法が可能である場合に適用可能である。 [Modification]
In this embodiment, the
たとえば、第1ホルダ168Aの長軸方向(第1方向)と第2ホルダ168Bの長軸方向(第2方向)において、第1方向と第2方向は任意であり、互いに直交しない場合も考えられる。
For example, in the major axis direction (first direction) of first holder 168A and the major axis direction (second direction) of second holder 168B, the first direction and second direction are arbitrary, and may not be perpendicular to each other. .
工具Tによっては旋削加工と回転加工の両方に対応できるものがある。ステーション222に旋削ホルダ168Mを取り付け、旋削ホルダ168Mに工具Tを取り付けたとき、この工具Tは旋削加工に使用される。一方、ステーション222に回転ホルダ168Nを取り付け、回転ホルダ168Nに同一種類の工具Tを取り付けたとき、この工具Tは回転加工に使用される。このように旋削ホルダ168Mおよび回転ホルダ168Nの双方を備えるタレット164を対象とした工具交換においても、スケジュール生成部132は同様にして搬送スケジュールを生成可能である。
Some tools T can handle both turning and rotary machining. When the turning holder 168M is attached to the station 222 and the tool T is attached to the turning holder 168M, this tool T is used for turning. On the other hand, when the rotary holder 168N is attached to the station 222 and the same type of tool T is attached to the rotary holder 168N, this tool T is used for rotary machining. The schedule generator 132 can similarly generate a transfer schedule in tool exchange targeting the turret 164 including both the turning holder 168M and the rotary holder 168N.
事前配置情報としての現在パターンおよび目標配置情報としての目標パターンによっては、すべてのステーション222が空STである状態から、工具Tを所定本数、たとえば、1本だけ取り付ける状況もあり得る。たとえば、工具格納部106から所定本数の工具Tを搬送し、12箇所の空STの全部または一部に工具を取り付ける場合も考えられる。
Depending on the current pattern as the pre-arrangement information and the target pattern as the target arrangement information, there may be a situation in which a predetermined number of tools T, for example, only one tool T, are attached from a state in which all stations 222 are empty STs. For example, it is conceivable that a predetermined number of tools T are transported from the tool storage section 106 and the tools are attached to all or part of the 12 empty STs.
あるいは、すべてのステーション222に工具が取り付けられている状態から、所定本数、たとえば、1本の工具を取り外す場合もあり得る。たとえば、刃物台230から12本未満の所定本数の工具Tを搬送し、工具格納部106にこれらの工具を格納する場合も考えられる。
Alternatively, a predetermined number of tools, for example, one tool may be removed from a state in which tools are attached to all stations 222 . For example, a predetermined number of tools T less than 12 may be transported from the tool post 230 and stored in the tool storage section 106 .
このように、ステーション222の一部または全部が空STとなっている状態から工具交換が開始されることも権利範囲として想定可能であることは当業者には理解されるところである。
It should be understood by those skilled in the art that it is possible to assume that the tool change is started from a state in which part or all of the station 222 is empty ST in this way.
この特許出願は、日本の特願2022-013925(2022年2月1日出願)の優先権を主張し、その全体が参照により本明細書に組み込まれるものとする。
This patent application claims priority from Japanese Patent Application No. 2022-013925 (filed on February 1, 2022), which is incorporated herein by reference in its entirety.
Claims (6)
- 複数の工具を保持可能な複数のホルダを有する刃物台と、
加工プログラムにしたがって、前記刃物台に保持される工具を制御し、ワークを加工する加工制御部と、
複数の工具を格納する工具格納部と、
工具を搬送可能な工具搬送部と、
工具搬送順を示す搬送スケジュールを生成するスケジュール生成部と、
前記搬送スケジュールにしたがって前記工具搬送部を制御することにより、前記刃物台における工具の保持位置を変更する工具搬送制御部と、を備え、
前記スケジュール生成部は、
前記刃物台における交換前の工具の配置を示す事前配置情報と、搬送後の工具の配置を示す目標配置情報にしたがって、
前記刃物台に配置済みの工具を空きホルダに移動させる第1工程と、
前記工具格納部に格納される工具を前記刃物台の空きホルダに保持させる第2工程と、を順番に実行する工具の搬送順として前記搬送スケジュールを生成する、工作機械。 a tool rest having a plurality of holders capable of holding a plurality of tools;
a machining control unit that controls a tool held on the tool post to machine a workpiece according to a machining program;
a tool storage section for storing a plurality of tools;
a tool carrier capable of carrying a tool;
a schedule generator that generates a transfer schedule indicating the order of tool transfer;
a tool transfer control unit that changes a holding position of the tool on the tool post by controlling the tool transfer unit according to the transfer schedule;
The schedule generator,
According to the pre-arrangement information indicating the arrangement of the tools before replacement on the tool post and the target arrangement information indicating the arrangement of the tools after transfer,
a first step of moving the tool already arranged on the tool post to an empty holder;
and a second step of holding the tool stored in the tool storage unit in an empty holder of the tool post. - 前記第1工程および前記第2工程の実行後、更に、
前記刃物台のホルダ間において工具の保持位置を変更する第3工程と、
前記工具格納部に格納される工具と前記刃物台に保持される工具を交換する第4工程と、を順番に実行する工具の搬送順として前記搬送スケジュールを生成する、請求項1に記載の工作機械。 After performing the first step and the second step, further
a third step of changing the holding position of the tool between the holders of the tool post;
2. The machine tool according to claim 1, wherein said transfer schedule is generated as a tool transfer order in which a tool stored in said tool storage unit and a fourth step of exchanging a tool held in said tool post are sequentially executed. machine. - 前記スケジュール生成部は、前記搬送スケジュールを生成した後、更に、前記工具搬送部により前記刃物台と前記工具格納部間における1回あたりの工具の搬送本数を変更することにより、前記搬送スケジュールを調整する、請求項2に記載の工作機械。 After generating the transfer schedule, the schedule generation unit further adjusts the transfer schedule by changing the number of tools per transfer between the tool post and the tool storage unit by the tool transfer unit. 3. The machine tool of claim 2, wherein
- 前記刃物台は、ワークの内径側を削るために工具を保持する第1のホルダと、ワークの外径側を削るために工具を保持する第2のホルダと、を含み、
前記工具搬送部は、複数の工具を同時に保持可能であり、かつ、旋回または回転により第1ホルダまたは第2のホルダに対して工具の着脱が可能である、請求項1に記載の工作機械。 The tool post includes a first holder that holds a tool for cutting the inner diameter side of the work, and a second holder that holds the tool for cutting the outer diameter side of the work,
2. The machine tool according to claim 1, wherein said tool carrier can simultaneously hold a plurality of tools and can attach and detach the tools to and from the first holder or the second holder by swiveling or rotating. - 前記刃物台は、工具を旋削加工可能に保持する旋削ホルダと、工具を回転加工可能に保持する回転ホルダと、を含み、
前記工具搬送部は、複数の工具を同時に保持可能であり、かつ、旋回または回転により前記旋削ホルダまたは前記回転ホルダに対して工具の着脱が可能である、請求項1に記載の工作機械。 The tool post includes a turning holder that holds the tool so that it can be turned, and a rotary holder that holds the tool so that it can be turned,
2. The machine tool according to claim 1, wherein said tool carrier can hold a plurality of tools at the same time, and can attach and detach tools to said turning holder or said rotary holder by swiveling or rotating. - 前記スケジュール生成部は、前記第1工程において、工具を保持されている複数のホルダから、同数以上の空いている複数のホルダに工具を搬送させる際、前記工具が保持されている複数のホルダから前記工具搬送部が1本ずつ工具を取り外して前記空いているホルダに搬送する前記搬送スケジュールを生成する、請求項1に記載の工作機械。 The schedule generating unit, in the first step, when conveying the tools from the plurality of holders holding the tools to the plurality of empty holders of the same number or more, the plurality of holders holding the tools 2. The machine tool according to claim 1, wherein the tool transfer section generates the transfer schedule in which the tools are removed one by one and transferred to the vacant holder.
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WO2022004123A1 (en) * | 2020-06-29 | 2022-01-06 | Dmg森精機株式会社 | Information processing system and machine tool |
JP2022016711A (en) * | 2020-06-29 | 2022-01-24 | Dmg森精機株式会社 | Machine tool |
WO2022018923A1 (en) * | 2020-07-20 | 2022-01-27 | Dmg森精機株式会社 | Machine tool |
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