WO2024095602A1 - Tool management device and object management device - Google Patents

Tool management device and object management device Download PDF

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Publication number
WO2024095602A1
WO2024095602A1 PCT/JP2023/032330 JP2023032330W WO2024095602A1 WO 2024095602 A1 WO2024095602 A1 WO 2024095602A1 JP 2023032330 W JP2023032330 W JP 2023032330W WO 2024095602 A1 WO2024095602 A1 WO 2024095602A1
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WO
WIPO (PCT)
Prior art keywords
tool
machine
stand
information
transport
Prior art date
Application number
PCT/JP2023/032330
Other languages
French (fr)
Japanese (ja)
Inventor
哲志 淺田
剛大 瀧口
敦士 本郷
Original Assignee
Dmg森精機株式会社
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Filing date
Publication date
Application filed by Dmg森精機株式会社 filed Critical Dmg森精機株式会社
Publication of WO2024095602A1 publication Critical patent/WO2024095602A1/en

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Classifications

    • 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
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • 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
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • 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
    • 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
    • B23Q41/02—Features relating to transfer of work between machines
    • 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
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]

Definitions

  • the present invention relates to technology for managing various objects such as tools used in machine tools.
  • Machine tools include devices that cut workpieces into a desired shape, and devices that create workpieces by layering metal powder and other materials.
  • Machine tools that perform cutting include turning centers, which process workpieces by applying a cutting tool to a rotating workpiece, machining centers, which process workpieces by applying a rotating tool to the workpiece, and multitasking machines, which combine these functions.
  • Tools are fixed to a tool holder such as a spindle or tool rest.
  • the machine tool machines the workpiece by moving the tool holder and replacing the tool according to a pre-prepared machining program.
  • the cutting edge of the tool gradually wears down due to friction with the workpiece.
  • the worker removes the tool from the machine tool as appropriate and inspects it in the replacement area. When the tool is too worn out to be suitable for continued use, it must be replaced with a new tool.
  • a worker removes a tool from a machine tool
  • he or she first places the tool on a cart near the machine tool.
  • the worker then pushes the cart to transport the tool to the replacement area.
  • the task of transporting tools using a cart between the machining area where the machine tool is located and the replacement area where the tools are inspected and replaced can easily be a factor in reducing work efficiency.
  • the inventors have studied a method for unmanned transport of tools detached from a machine tool. In doing so, they have recognized that there are cases where tools, particularly heavy tools, are not suitable for unmanned transport.
  • An object management device in one embodiment of the present invention includes an object management unit that changes data contained in object information, including the location and weight of the object, based on table installation information that indicates the correspondence between the machine tool and the table on which the object is placed, and a receiving unit that receives a removal notification when the object is removed from the machine tool.
  • the object management unit sets the location of the object in the object information to a platform on which the object is placed from the machine tool if the weight of the object is equal to or less than a predetermined threshold, and sets the location of the object in the object information to a location different from the platform on which the object is placed if the weight of the object is greater than the threshold.
  • the table on which the object is placed is a table on which the object to be transported by the automatic transport device is placed.
  • the position different from the platform on which the object is placed is a position where an object that is not to be transported by the automatic transport device is placed.
  • a tool management device in another aspect of the present invention, includes a tool management unit that changes data contained in tool information, including the location and weight of the tool, based on table installation information indicating the correspondence between the machine tool and the tool table, and a receiving unit that receives a removal notification when a tool is removed from the machine tool.
  • the tool management unit sets the location of the tool in the tool information to a specified tool stand from the machine tool if the weight of the tool is equal to or less than a specified threshold, and sets the location of the tool in the tool information to a position different from the specified tool stand if the weight of the tool is greater than the threshold.
  • the predetermined tool table is a table on which tools to be transported by the automatic transport machine are placed.
  • the position different from the specified tool stand is a position where tools that are not to be transported by the automatic transport machine are placed.
  • the present invention enables the appropriate transportation of objects, such as tools, by taking into account their weight.
  • FIG. 2 is a schematic diagram for explaining the relationship between a processing area, an exchange area, and an automatic conveyor.
  • 2 is a hardware block diagram of a tool management system and a functional block diagram of a tool management device.
  • FIG. FIG. 2 is a functional block diagram of an automatic conveyor.
  • FIG. 2 is a functional block diagram of an electronic device.
  • FIG. 11 is a data structure diagram of table installation information.
  • FIG. 4 is a data structure diagram of tool information.
  • 1 is a data structure diagram of machine stored information and an external view of a machine tool.
  • FIG. 13 is a data structure diagram of stand storage information and an external view of a tool stand.
  • FIG. 1 is a data structure diagram of conveyor storage information and an external view of an automatic conveyor.
  • FIG. 13 is a screen diagram of a transport instruction screen.
  • FIG. FIG. 11 is a sequence diagram showing the process of removing a tool from a machine tool and loading the tool onto a nearby tool stand.
  • 11 is a sequence diagram showing a process for causing an automatic conveying machine to convey a light tool on a tool table.
  • FIG. FIG. 4 is a data structure diagram of transport instruction information.
  • FIG. 11 is a sequence diagram showing the process when the automatic transport machine carries a light tool onto a tool table in an exchange area.
  • FIG. 11 is a sequence diagram showing a process when an automatic transport machine transports a light tool to a machining area.
  • FIG. 1 is a sequence diagram showing a process of attaching a light tool to a machine tool after the light tool is carried onto a tool stand in a machining area.
  • FIG. 11 is a sequence diagram showing a process of attaching a heavy tool to a machine tool after the heavy tool is brought into a machining area.
  • FIG. 1 is a schematic diagram for explaining the relationship between a processing area 102, an exchange area 108, and an automatic conveyor 116. As shown in FIG.
  • the machining area 102 is an area including a machine tool 100 and a plurality of tool tables 106. In this embodiment, two tool tables 106 are associated with one machine tool 100.
  • the machine tool 100 is assumed to be a machining center, a turning center, or a multi-tasking machine.
  • the machine tool 100 has a tool storage section, generally called a magazine.
  • the tool storage section stores multiple tools.
  • the pots in which the tools are stored in the tool storage section are identified by "pot numbers.”
  • machine tool 100 As mentioned above, multiple machining areas 102 are set up in the factory 104, and a machine tool 100 is installed in each machining area 102.
  • the machine tool 100 is identified by a "machine ID.”
  • the machine ID of the machine tool 100a installed in the machining area 102a is "MC1.”
  • the machine ID of the machine tool 100b in the machining area 102b is "MC2,” and therefore the machine tool 100b will be written as "machine tool 100 (MC2).”
  • a tool table 106 is installed near the machine tool 100.
  • the tool table 106 is identified by a "table ID.”
  • the table ID of the tool table 106a in the machining area 102a is "B01”
  • the table ID of the tool table 106b is "B02.”
  • the tool table 106 in this embodiment is configured as a cart, but is not particularly limited to this form.
  • the tool table may be a fixed table located at a position where a tool can be removed from the machine tool 100 by the arm robot and the tool can be placed thereon.
  • the tool table 106 (B01) is set to be immovable
  • the tool table 106 (B02) is set to be movable.
  • two tool tables 106 are associated with one machine tool 100, one of which is set to be immovable and the other is set to be movable.
  • the tool table 106 set to be immovable will be referred to as a "fixed table” and the tool table 106 set to be movable will be referred to as a "movable table”.
  • the tool table 106 (B01) associated with the machine tool 100 (MC1) is a fixed table
  • the tool table 106 (B02) is a movable table
  • the tool table 106 (B03) associated with the machine tool 100 (MC2) is a fixed table
  • the tool table 106 (B05) is a movable table.
  • a worker can temporarily place multiple tools on the tool table 106.
  • the pots in which the tools are stored on the tool table 106 are also identified by "pot numbers.”
  • Tools weighing more than a certain weight, for example 10 kilograms or more, are placed on a movable table, and the worker transports the tools by pushing the movable table.
  • tools weighing less than a certain weight are placed on a fixed table, and are transported by an automatic carrier described below.
  • tools weighing more than a certain weight are referred to as “heavy tools,” and tools weighing less than a certain weight are referred to as “light tools,” and when no distinction is made, they are simply referred to as “tools.”
  • heavy tools are transported by workers on movable tables, and light tools are transported by the automatic carrier. This is because the automatic carrier has a weight limit in its specifications and is prohibited from transporting heavy tools.
  • the fixed table of the tool table 106 in this embodiment is fixedly installed in the factory 104, and its position is specified by a "position number.” Furthermore, the position of the movable table, which indicates its home position, is specified by a position number. For example, the position number of a movable table installed in the processing area 102 is set to the processing area 102. Furthermore, the position number of a movable table installed in the exchange area 108 is set to the exchange area 108.
  • the worker When a worker installs a new tool table 106 in the factory 104, the worker registers the table ID, position number, and the position coordinates of the tool table 106 in the factory 104 in the tool management device 200, which will be described later. Therefore, if the table ID of the tool table 106 is known, the position of this tool table 106 can be known.
  • the position number of the tool table 106 (B01), which is a fixed table is "Q01."
  • the position number of the tool table 106 (B02), which is a movable table, is "Q02."
  • the position coordinates of the tool table 106 (B01) are associated with the position number "Q01," and the position coordinates of the tool table 106 (B02) are associated with the position number "Q02."
  • the position coordinates may be managed in the transport control device 124 described below, rather than in the tool management device 200 as the object management device.
  • the table ID, position number, and position coordinates may be associated in the transport control device 124.
  • the tool management device 200 and the transport control device 124 may be configured to be able to mutually refer to or exchange such position-related information.
  • the replacement area 108 is a place for inspecting and replacing tools. Typically, the machining area 102 and the replacement area 108 are separated by several meters to several tens of meters.
  • a tool measuring device 110, a replacement work table 112, and multiple tool tables 106 are installed in the replacement area 108.
  • the tool measuring device 110 is a device for inspecting tools for wear and breakage.
  • the replacement work table 112 is a table for replacing tools by removing the tool from the holder and shank and attaching a new tool (cutting edge) to the shank.
  • the multiple tool stands 106 (B22) to 106 (B26) installed in the exchange area 108 are also identified by stand IDs and assigned position numbers.
  • the factory 104 also has a number of automated transporters 116 (automated transporters 116a to 116c).
  • the automated transporters 116 are self-propelled robots that have robotic arms and can transport tools.
  • the automated transporter 116 sets a travel route 114 connecting the tool table 106, which is a fixed table on the processing area 102 side, and the tool table 106, which is a fixed table on the exchange area 108 side. More specifically, a locator (not shown) attached to the factory 104 detects the arrangement of objects within the factory 104. The automated transporter 116 moves within the factory 104 based on the object arrangement, and map information is formed in advance. The automated transporter 116 determines the direction of movement while referring to the map information based on its current position, thereby determining the actual travel route 114. Furthermore, the automated transporter 116 automatically stops when a sensor detects an obstacle such as a worker, thereby avoiding collision with the obstacle.
  • the automatic transport machine 116 transports tools between the tool stand 106 on the processing area 102 side and the tool stand 106 on the exchange area 108 side.
  • the automatic conveyor 116 is identified by a "conveyor ID.”
  • the conveyor ID of the automatic conveyor 116a is "A01”
  • the conveyor ID of the automatic conveyor 116b is "A02.”
  • the automatic conveyor 116 also has multiple pots for storing tools, and each pot is identified by a pot number. Note that the movement path 114 shown in Figure 1 shows the movement path assumed for the automatic conveyor 116 (A02).
  • machine the worker who is primarily responsible for machining the workpiece in the machining area 102
  • replacement area 108 the worker who inspects and replaces tools in the replacement area 108
  • workers the worker who inspects and replaces tools in the replacement area 108
  • FIG. 2 is a hardware block diagram of the tool management system 118 and a functional block diagram of a tool management device 200.
  • Tool management device 200 is a device for managing the location of tools.
  • Machine tool 100 is connected to tool management device 200.
  • machine tool 100 transmits a removal notice to tool management device 200.
  • machine tool 100 transmits an attachment notice to tool management device 200.
  • the attachment notice and removal notice include the machine ID, the tool ID for identifying the tool, and the pot number of the pot to which the tool was attached or removed.
  • a machine-side electronic device 120 is installed near the tool stand 106 on the machining area 102 side.
  • the machine-side electronic device 120 is installed corresponding to the fixed stand, and is not installed corresponding to the movable stand. In the machining area 102, the fixed stand and the machine-side electronic device 120 are in one-to-one correspondence.
  • the machine-side electronic device 120 may be a personal computer (PC), an electronic tablet, a smartphone, or the like.
  • the processor can instruct the automatic carrier 116 to transport tools (described later).
  • the processor can check the storage status of the tools by accessing the tool management device 200 through the machine-side electronic device 120.
  • one machine-side electronic device 120 may be associated with a plurality of tool stands 106. In this case, the machine-side electronic device 120 may select the tool stand 106 that is the source of the transfer.
  • a replacement side electronic device 122 is installed near the tool stand 106 in the exchange area 108.
  • the replacement side electronic device 122 is also a computer terminal such as a personal computer.
  • the replacement person can instruct tool transportation by operating the replacement side electronic device 122.
  • the replacement person can also check the storage status of the tools using the replacement side electronic device 122.
  • one exchange side electronic device 122 may be associated with a plurality of tool tables 106, for example, five tool tables 106.
  • the machine side electronic device 120 and the switching side electronic device 122 are collectively referred to or when no particular distinction is made between them, they will be simply referred to as "electronic device 300.”
  • the transport control device 124 manages multiple automatic transport machines 116.
  • the automatic transport machines 116 operate according to instructions from the transport control device 124.
  • Each component of the tool management device 200 is realized by hardware including computing units such as a CPU (Central Processing Unit) and various co-processors, storage devices such as memory and storage, and wired or wireless communication lines connecting them, and software stored in the storage devices and supplying processing instructions to the computing units.
  • the computer program may be composed of a device driver, an operating system, various application programs located at higher layers thereof, and a library that provides common functions to these programs.
  • Each block described below represents a functional block rather than a hardware-based configuration. The same applies to the automatic transporter 116 described later in relation to FIG. 3 and the functional blocks of the electronic device 300 described later in relation to FIG.
  • the tool management device 200 includes a communication unit 202 , a data processing unit 204 , and a data storage unit 206 .
  • the communication unit 202 is responsible for communication processing with external devices such as the machine tool 100, the machine-side electronic device 120, the exchange-side electronic device 122, and the transport control device 124.
  • the data processing unit 204 executes various processes based on the data acquired by the communication unit 202 and the data stored in the data storage unit 206.
  • the data processing unit 204 also functions as an interface between the communication unit 202 and the data storage unit 206.
  • the data storage unit 206 stores various programs and setting data.
  • the communication unit 202 includes a transmission unit 208 that transmits data and a reception unit 210 that receives data.
  • the data processing unit 204 includes a tool management unit 212 and an instruction unit 214.
  • the tool management unit 212 manages the location of tools.
  • the instruction unit 214 creates various instructions for the automatic conveyor 116 for the conveyor control device 124.
  • the instruction unit 214 also instructs the worker on the tool installation position (position of the pot on the tool table 106) via the machine side electronic device 120, the exchange side electronic device 122, etc.
  • FIG. 3 is a functional block diagram of the automatic conveyor 116.
  • the automated transporter 116 includes a mechanical unit 128 as a hardware mechanism, and a control unit 126 realized by electronic devices and a computer program that controls the mechanical unit 128.
  • the mechanical unit 128 includes a robot arm 142 that grips a tool, and a drive wheel 144.
  • the control unit 126 includes a communication unit 130 that is responsible for communication with the transport control device 124 , and a data processing unit 132 that controls the mechanism unit 128 in accordance with instructions from the communication unit 130 .
  • the communication unit 130 includes a transmission unit 134 that transmits data and a reception unit 136 that receives data.
  • the data processing unit 132 includes an arm control unit 138 that controls a robot arm 142, and a movement control unit 140 that controls drive wheels 144.
  • FIG. 4 is a functional block diagram of electronic device 300.
  • the electronic device 300 includes a user interface processor 302 , a communication processor 304 , a data processor 306 and a data storage processor 308 .
  • the user interface processing unit 302 is responsible for user interface processing for the operator.
  • the communication unit 304 is responsible for communication processing with external devices such as the machine tool 100, other electronic devices 300, and the transport control device 124.
  • the data processing unit 306 executes various processes based on data acquired by the user interface processing unit 302 and the communication unit 304 and data stored in the data storage unit 308.
  • the data processing unit 306 also functions as an interface for the communication unit 304 and the data storage unit 308.
  • the data storage unit 308 stores various programs and setting data.
  • the user interface processing unit 302 includes an input unit 310 that accepts input from the operator, and a display unit 312 that displays various information.
  • the communication unit 304 includes a transmission unit 314 that transmits data and a reception unit 316 that receives data.
  • FIG. 5 is a data structure diagram of the table installation information 150. As shown in FIG. The table installation information 150 is stored in the data storage unit 206 of the tool management device 200. When an operator installs the tool table 106 in the factory 104, the operator registers the tool table 106 in the table installation information 150. As described above, the tool table 106 is identified by the table ID and associated with the machine tool 100 or the exchange area 108.
  • the tool table 106 (B01: fixed table) is associated with the machine tool 100 (MC1).
  • the name of the tool table 106 (B01) is "CMC9M.”
  • the position number of the tool table 106 (B01) is "Q01.” As described above, the position number "Q01" is associated in advance with position coordinates (not shown) in the factory 104.
  • the tool table 106 (B02: movable table) is also associated with the machine tool 100 (MC1).
  • the tool table 106 (B02) is moved by the worker between the machining area 102 and the factory 104, and its position number in the machining area 102a is set to "Q02" (see Figure 1).
  • the position number "Q02" indicates the initial position of the tool table 106 (B02).
  • the tool table 106 (B03: fixed table) and the tool table 106 (B05: movable table) are associated with the machine tool 100 (MC2) (see FIG. 1).
  • the tool table 106 (B22) and others are not associated with the machine tool 100.
  • These tool tables 106 (B22) to 106 (B26) are installed in the exchange area 108, not in the machining area 102 (see FIG. 1).
  • FIG. 6 is a diagram showing the data structure of the tool information 160.
  • the tool information 160 is stored in the data storage unit 206 of the tool management device 200.
  • the tool information 160 includes data for managing the location of the tool.
  • the tool information 160 may be configured as a part of "object information" for managing the location of objects to be managed other than the tool.
  • the object information may include the tool information 160, work information for managing the location of the work, and measuring instrument information for managing the location of the measuring instrument.
  • the tool information 160 including the tool location management data will be used for explanation.
  • the above-mentioned tool management unit 212 may be configured as an "object management unit" for managing objects below the tool.
  • the tool management device 200 may be configured as an "object management device”. 6
  • the "tool length compensation” column indicates the compensation value in the length direction of the tool, and the “tool diameter compensation” column indicates the compensation value in the radial direction of the tool.
  • the "Set life” column in the tool information 160 indicates the set life.
  • the tool management unit 212 notifies the machine tool 100 to perform a tool inspection.
  • the machine tool 100 instructs the operator to perform a tool inspection on the operation screen (not shown) of the machine tool itself.
  • the "Number of uses” column indicates the number of times a tool has been used. Each time the machine tool 100 assigns a tool to the tool holding unit, it notifies the tool management device 200 of the tool ID, and the tool management unit 212 updates the number of times the tool has been used.
  • the "Warning Life” column in tool information 160 indicates the number of uses that should be used to warn the operator that a tool inspection should be performed in the near future. For example, if the current number of uses of tool (T01) is "0 times," and the number of uses of tool (T01) reaches the warning number of "80 times," machine tool 100 will recommend that the operator inspect tool (T01).
  • the weight of a tool is pre-classified into weight ranks 1 to 10.
  • the "Weight" column in tool information 160 indicates the weight rank of the tool. The higher the weight rank, the heavier the tool.
  • the tool management unit 212 updates the tool information 160 as appropriate when a new tool is registered or when a tool is moved. In this embodiment, a tool with a weight rank of 10 or more corresponds to a "heavy tool," and a tool with a weight rank of less than 10 corresponds to a "light tool.”
  • a tool (T05) with a weight rank of "10" is a heavy tool.
  • the worker stores the tool (T05) in any pot on the movable table rather than on a fixed table.
  • the worker carries the movable table carrying the heavy tool from the processing area 102 to the exchange area 108.
  • the tool management unit 212 sets the location of the tool (T05: heavy tool) to the "exchange area 108" which is its destination, rather than to the tool table 106 which is the first tool table (table on which the object is placed).
  • the location of the tool (T05: heavy tool) is "Under exchange”.
  • the actual location of the heavy tool is either the moving table, the exchange area 108, or the machine tool 100.
  • the location point in the tool information 160 is the machine tool 100, and when it is removed from the machine tool 100, it is set to "Under exchange (exchange area 108)", which is different from the "tool table (fixed table) on which the object is placed”.
  • FIG. 7 is a data structure diagram of machine stored information 180 and an external view of machine tool 100.
  • the machine tool 100 includes a tool storage section 170 having a plurality of pots 172 .
  • the machine storage information 180 is stored in the data storage unit 206 of the tool management device 200.
  • the machine storage information 180 indicates the storage status of tools in the machine tool 100.
  • Figure 7 shows the machine storage information 180 of the machine tool 100 (MC1).
  • a tool (T01) is stored in pot 172 (hereafter referred to as "pot 172 (P01)") with pot number P01 of machine tool 100 (MC1) (see Figure 6).
  • a tool (T02) is stored in another pot 172 (P02), a tool (T03) is stored in pot 172 (P03), and a tool (T04) is stored in pot 172 (P04).
  • pots 172 (P05) to 172 (P10) of machine tool 100 (MC1) are empty pots.
  • the machine tool 100 When the operator removes a tool from the tool storage section 170 of the machine tool 100, the machine tool 100 sends a removal notification to the tool management device 200, and the tool management section 212 of the tool management device 200 updates the machine storage information 180. In addition, when a tool is attached to an empty pot in the tool storage section 170, the machine tool 100 sends an attachment notification to the tool management device 200, and the tool management section 212 updates the machine storage information 180. In response to the attachment and detachment of a tool, the tool management section 212 also updates the tool information 160.
  • the worker When the worker removes a light tool from the tool storage section 170 of the machine tool 100, the worker stores the light tool on the fixed table. On the other hand, when the worker removes a heavy tool from the tool storage section 170, the worker stores the heavy tool on the movable table.
  • FIG. 8 is a data structure diagram of the table storage information 190 and an external view of the tool table 106.
  • the table storage information 190 is prepared only for the fixed table.
  • the table storage information 190 is not prepared for the movable table.
  • the tool table 106 is provided with casters 194 and is configured to be movable. In the fixed table, the casters 194 are fixed.
  • a plurality of pots 192 are formed on the ceiling surface of the tool table 106. An operator can store a tool with a holder and a shank attached in the pot 192.
  • the tool table 106 does not have an electrical mechanism.
  • the machine side electronic device 120 or the exchange side electronic device 122 is associated with the fixed table.
  • the table storage information 190 is stored in the data storage unit 206 of the tool management device 200.
  • the table storage information 190 indicates the storage status of tools on the tool table 106 (fixed table).
  • Figure 8 shows the table storage information 190 for the tool table 106 (B01: fixed table).
  • the tool table name of the tool table 106 (B01) is "CMC9M" (see Figure 4).
  • a tool (T06) is stored in pot 192 (P02) on tool stand 106 (B01: fixed stand) (see FIG. 5).
  • pot 192 (P01) on tool stand 106 (B01) is an empty pot.
  • the tool management unit 212 refers to the stand storage information 190, and the instruction unit 214 instructs the worker on the empty pot to which the tool is to be attached. After the attachment instruction is given, the tool management unit 212 updates the stand storage information 190 (described later). In addition, when the automatic carrier 116 or the like removes a tool from the tool stand 106 (B01), the tool management device 200 also updates the stand storage information 190.
  • the tool management unit 212 changes the location of the heavy tool from the machine tool 100 to the exchange area 108, even if the heavy tool has not been carried to the exchange area 108.
  • the worker stores the removed heavy tool in the movable table and carries it to the exchange area 108.
  • the tool management unit 212 changes the location of the heavy tool from the exchange area 108 to the machine tool 100.
  • FIG. 9 is a data structure diagram of the conveyor storage information 220 and an external view of the automatic conveyor 116.
  • the automated conveyor 116 includes a working unit 230 and a self-propelled unit 232.
  • the working unit 230 and the self-propelled unit 232 correspond to the mechanism unit 128 described in relation to Fig. 3.
  • the control unit 126 of the automated conveyor 116 is composed of an electronic circuit and a computer program for controlling the working unit 230 and the self-propelled unit 232.
  • the self-propelled unit 232 includes drive wheels 144.
  • the self-propelled unit 232 is equipped with a sensor (not shown).
  • the movement control unit 140 controls the drive wheels 144 to move the automatic conveyor 116.
  • the working unit 230 is configured with a tool storage unit 234.
  • the tool storage unit 234 also has multiple pots for storing tools.
  • a hand 236 for grasping a tool is formed at the tip of the robot arm 142 formed in the working unit 230.
  • the robot arm 142 takes a tool from the tool table 106 and stores it in an empty pot in the tool storage unit 234 at the rear.
  • the robot arm 142 can also take a tool from the tool storage unit 234 and store it in an empty pot in the tool table 106.
  • the transport machine storage information 220 is stored in the data storage unit 206 of the tool management device 200.
  • the transport machine storage information 220 indicates the storage status of tools in the automatic transport machine 116.
  • Figure 9 shows the transport machine storage information 220 of the automatic transport machine 116 (A01).
  • a tool (T12) is stored in the pot (P01) of the automatic conveyor 116 (A01).
  • the pot (P02) of the automatic conveyor 116 (A01) is an empty pot.
  • a tool (T07) is stored in the pot (P03) of the automatic conveyor 116 (A01) (see Figure 5).
  • the tool management section 212 updates the carrier storage information 220 (described later). Also, when the automatic carrier 116 stores a tool in the tool table 106 (B01), the tool management section 212 updates the carrier storage information 220.
  • FIG. 10 is a diagram showing the transport instruction screen 240.
  • the transport instruction screen 240 is displayed on the electronic device 300, i.e., the machine-side electronic device 120 or the exchange-side electronic device 122.
  • the transport instruction screen 240 is assumed to be displayed on the machine-side electronic device 120 associated with the tool stand 106 (B01: fixed stand) in the processing area 102.
  • the electronic device 300 creates the transport instruction screen 240 based on various data such as table installation information 150 (see FIG. 5), tool information 160 (see FIG. 6), machine storage information 180 (see FIG. 7), table storage information 190 (see FIG. 8), and transport machine storage information 220 (see FIG. 9).
  • the tool management device 200 may generate screen data and display it on the electronic device 300.
  • the transmission unit 314 of the machine-side electronic device 120 sends an update request to the tool management device 200
  • the communication unit 304 obtains the latest data from the tool management device 200
  • the display unit 312 updates the transport instruction screen 240.
  • a tool (T11: light tool) is stored in pot 192 (P01) of the tool stand 106 (B01: CMC9M), and the holder name of the tool (T11) is "HSK50".
  • a tool (T06) is stored in pot 192 (P02) (see FIGS. 6 and 8).
  • the worker wants to remove a tool from the tool table 106 (B01), he touches the removal button 246.
  • the input unit 310 detects that the removal button 246 has been touched, the display unit 312 displays a removal screen (not shown).
  • the worker specifies a pot in which to store the tool to be removed from the tool table 106.
  • transporting out removing a tool from the tool table 106 etc. is referred to as "transporting out.”
  • the worker touches the transport button 248.
  • a tool (T11: light tool) stored in pot 192 (P01) of tool table 106 (B01) is to be transported to pot 192 (P05) of tool table 106 (B22) in the exchange area 108
  • the worker selects "B22" in the "Destination” column and "P05” in the "Destination pot” column for the row corresponding to the tool (T11), and then touches the transport button 248.
  • input in the "Destination pot” column is optional.
  • the tool management unit 212 may select the destination pot from among the empty pots in the tool table 106 (B22).
  • a transport request is sent from the machine-side electronic device 120 to the tool management device 200.
  • the transport request includes the table ID and pot number of the source, the tool ID of the tool to be transported, and the table ID and pot number of the destination.
  • the tool management device 200 instructs the automatic transport machine 116 to transport the tool (T11) via the transport control device 124.
  • the automatic transport machine 116 A01 has been selected.
  • the display unit 312 of the machine-side electronic device 120 deletes the row for the tool (T11) on the transport instruction screen 240 before or after the transport request is sent. This prevents the worker from selecting the tool (T11) again as the tool to be removed before the tool (T11) for which a transport instruction has already been issued is actually removed. In other words, consideration is given to preventing the inconvenience of a duplicate transport instruction being issued for the same tool after a transport instruction has been issued for a certain tool.
  • the automatic transport machine 116 Upon receiving the transport instruction, the automatic transport machine 116 (A01) removes the tool (T11) from the tool table 106 (B01), stores the tool (T11) in the tool storage section 234 of its own device, and then moves close to the tool table 106 (B22) to which the tool is to be transported, and transports the tool (T11) into the pot 192 (P05) of the tool table 106 (B22).
  • the transport instruction screen 240 displayed on the switching side electronic device 122 can be operated in the same manner.
  • FIG. 11 is a screen diagram of the installation screen 250.
  • the installation screen 250 is displayed.
  • FIG. 11 shows an input state when the worker carries the tool (T18) into the pot 192 (P09) on the tool table 106 (CMC9M:B01).
  • the worker brings the tool (T18) and carries the tool (T18) into the empty pot 192 (P09) on the tool table 106 (B01), and then touches the OK button 252.
  • a tool installation notification is sent from the machine side electronic device 120 to the tool management device 200.
  • the installation notification includes the table ID, the tool ID, and the pot number.
  • the instruction unit 214 of the tool management device 200 updates various data such as the table storage information 190 according to the installation notification.
  • the cancel button 254 is touched, the attachment notification is not sent.
  • FIG. 12 is a sequence diagram showing the process of removing a tool from machine tool 100 and loading this tool onto a nearby tool stand 106.
  • the operator removes the tool to be inspected and replaced from the machine tool 100 (S10).
  • the operator may remove the tool from the tool holding unit of the machine tool 100, or may remove the tool from the tool storage unit 170.
  • the machine tool 100 detects the removal of the tool, it transmits a removal notification to the tool management device 200 (S12).
  • the receiving unit 210 of the tool management device 200 receives the removal notification.
  • a tool T01: light tool
  • P01 pot 172
  • MC1 machine tool 100
  • the tool management unit 212 updates data such as the machine storage information 180 in accordance with the removal notification (S14). Specifically, for the machine storage information 180 of the machine tool 100 (MC1), the pot 172 (P01) in which the tool (T01) was stored is changed to an empty pot. Next, the tool management unit 212 refers to the tool information 160 to identify that the tool (T01) is a light tool. 212 refers to the table installation information 150 to identify the tool table 106 (B01), which is a fixed table associated with the machine tool 100 (MC1), and searches for an empty pot on the tool table 106 (B01) based on the table storage information 190.
  • the tool management unit 212 has selected the pot 192 (P03) on the tool table 106 (B01).
  • the tool management unit 212 updates the table storage information 190 and pre-sets the tool (T01) in the pot 192 (P03) on the tool table 106 (B01).
  • the worker who has removed the tool (T01) touches the update button 242 on the transport instruction screen 240 of the machine-side electronic device 120.
  • the receiving unit 316 of the machine-side electronic device 120 sends an update request to the tool management device 200 (S16).
  • the instruction unit 214 instructs the machine-side electronic device 120 to store the tool (T01) in the pot 192 (P03) on the tool stand 106 (B01).
  • the sending unit 208 sends an instruction including the stand ID (B01) and pot number (P03) (S18).
  • the receiving unit 316 of the machine-side electronic device 120 receives the instruction, and the display unit 312 updates the transport instruction screen 240 to indicate that the tool (T01) has been attached to the pot (P03) on the tool stand 106 (B01).
  • the worker follows the instructions and attaches the tool (T01) to the pot 192 (P03) on the tool stand 106 (B01) (S20).
  • the display unit 312 may update the transport instruction screen 240 after the attachment of the tool (T01) is complete.
  • the processor when the processor removes the tool (T01: light tool) from the machine tool 100 (MC1), the machine side electronic device 120 located near the machine tool 100 (MC1) instructs the tool table 106 and empty pot to which the tool (T01: light tool) should be transferred.
  • the processor transfers the tool (T01) to the specified storage location.
  • the tool management device 200 updates various data such as the tool information 160, machine storage information 180, and table storage information 190, and tracks and manages the location of the tool (T01).
  • Tool management device 200 refers to tool information 160 and determines that tool (T15) is a heavy tool.
  • tool management section 212 of tool management device 200 updates tool information 160 and changes the location of tool (T15: heavy tool) from machine tool 100 (MC1) to "Replacing (replacement area 108)". The operator stores tool (T15: heavy tool) on the mobile table.
  • FIG. 13 is a sequence diagram showing the process of transporting a light tool on the tool stand 106 by the automatic transporter 116.
  • a tool T01: light tool
  • a tool stand 106 B01
  • another tool stand 106 B22
  • the worker designates the tool stand 106 (B22) to be the transport destination and touches the transport button 248.
  • the machine-side electronic device 120 transmits a transport request including the stand ID (B01) and pot number (P03) of the tool stand 106 from which the tool is to be transported, the tool (T01) to be transported, and the stand ID (B22) of the tool stand 106 to which the tool is to be transported to the tool management device 200 (S30).
  • the display unit 312 of the machine-side electronic device 120 deletes the line corresponding to the tool (T01) from the transport instruction screen 240.
  • the tool management device 200 receives a transport request from the machine-side electronic device 120 and transmits a transport instruction to the transport control device 124 (S34). Details of the transport instruction transmitted from the tool management device 200 to the transport control device 124 will be explained in relation to the following FIG. 14.
  • the tool management unit 212 selects a pot 192 to which the tool (T01) is to be transported from among the empty pots on the tool table 106 (B22) to which the tool is to be transported.
  • pot 192 (P10) on the tool table 106 (B22) has been selected.
  • the transport control device 124 selects an automatic transport machine 116 that should transport the tool (T01).
  • the method of selecting the automatic transport machine 116 is arbitrary, but the transport control device 124 may preferentially select an automatic transport machine 116 that is not moving. The explanation will continue assuming that the transport control device 124 selects the automatic transport machine 116 (A01).
  • the transport control device 124 instructs the automatic transport machine 116 (A01) to transport the tool (T01) (S36).
  • the transport instruction at this time includes the tool (T01), the table ID and pot number of the tool table 106 (B01) from which the tool is to be transported, and the table ID and pot number of the tool table 106 (B22) to which the tool is to be transported.
  • the automatic carrier 116 (A01) receives a carrier instruction from the carrier control device 124.
  • the automatic carrier 116 (A01) moves toward the tool stand 106 (B01) and transports the tool (T01) from the pot 192 (P03) on the tool stand 106 (B01) by the robot arm 142 (S38).
  • the automatic conveyor 116 (A01) removes the tool (T01) and stores it in the tool storage unit 234 of its own device, and transmits a notification of removal to the conveyor control device 124 (S40).
  • the notification of removal includes the conveyor ID (A01) and the pot number of the pot in the tool storage unit 234 into which the tool (T01) was removed.
  • the automatic conveyor 116 (A01) stores the tool (T01) in the pot (P04) of the tool storage unit 234.
  • the conveyor control device 124 further transmits a removal instruction to the tool management device 200 (S42).
  • the tool management unit 212 When the tool management unit 212 receives the removal instruction, it updates the data of the tool information 160, table storage information 190, and conveyor storage information 220 so as to change the location of the tool (T01) from the tool table 106 (B01: P03) to the automatic conveyor 116 (A01: P04) (S44).
  • the transport control device 124 transmits a movement instruction to the automatic transport machine 116 (A01) including the position number or position coordinates of the tool table 106 (B22) to which the tool (T01) is to be transported (S46). Based on this movement instruction, the automatic transport machine 116 (A01) transports the tool (T01) toward the tool table 106 (B22).
  • FIG. 14 is a data structure diagram of the transport instruction information 260.
  • the transport instruction information 260 is transmitted from the tool management device 200 to the transport control device 124 (see S34 in FIG. 13).
  • the command ID column 253 describes a command ID for identifying the transport instruction information 260.
  • the date and time column 255 indicates the transmission date and time of the transport instruction information 260.
  • the transport instruction information 260 shown in FIG. 14 was transmitted at 15:37 on September 27th.
  • the source column 256 indicates the source tool stand 106 and its pot number
  • the destination column 258 indicates the destination tool stand 106 and its pot number
  • the tool column 261 indicates the tool ID of the tool (T01) to be transported
  • the holder column 262 indicates the holder name.
  • the tool (T01) attached to the holder "HSK-A-100" is to be transported from the tool stand 106 (B01:P03) to the tool stand 106 (B22:P10).
  • the tool management unit 212 After transmitting the transport instruction information 260, the tool management unit 212 changes the pot 192 (P10) on the tool table 106 (B22) from “empty pot” to "reserved pot” and sets it so that no tools other than the tool (T01) are stored.
  • FIG. 15 is a sequence diagram showing the process when the automatic carrier 116 carries a light tool onto the tool stand 106 in the exchange area 108.
  • a description will be given assuming a scene in which a tool (T01: light tool) stored in the automatic carrier 116 (A01: P04) is carried into the tool stand 106 (B22: P10).
  • the automatic carrier 116 (A01) moves close to the destination tool stand 106 (B22) and carries the tool (T01) into the tool stand 106 (B22: P10) (S50).
  • the automatic carrier 116 (A01) sends a delivery notification to the carrier control device 124 indicating that the tool (T01) has been delivered to the tool stand 106 (B22: P10) (S52).
  • the carrier control device 124 further transfers the delivery notification to the tool management device 200 (S54).
  • the tool management unit 212 updates the data so that the location of the tool (T01) is changed from the automatic carrier 116 (A02: P04) to the tool stand 106 (B22: P10) (S56).
  • the replacement person manually removes the tool (T01) from the tool table 106 (B22:P10) (S58). At this time, the replacement person operates the replacement side electronic device 122 associated with the tool table 106 (B22) to input the removal.
  • the transmission unit 314 of the replacement side electronic device 122 transmits a removal notification to the tool management device 200 (S60).
  • the removal notification includes the table ID and pot number of the tool table 106 (B22) and the tool ID of the removed tool (T01).
  • the tool management unit 212 changes the location of the tool (T01) to "replacement in progress".
  • the replacement person transports the removed tool (T01) to the tool measurement device 110 for inspection, and replaces it at the replacement work table 112 if necessary.
  • the replacer After inspecting and replacing the tool (T01), the replacer attaches the tool (T01) to one of the tool tables 106 in the replacement area 108 (S64).
  • the instruction unit 214 instructs the replacer in advance of the tool table 106 and pot 192 (empty pot) to which the tool (T01) will be attached.
  • pot 192 (P04) on the tool table 106 (B23) has been specified as the destination.
  • the worker After attaching the tool (T01) to the tool stand 106 (B23: P04), the worker operates the replacement electronic device 122 to input the attachment of the tool (T01).
  • the transmission unit 314 of the replacement electronic device 122 transmits an attachment notification to the tool management device 200 (S66).
  • the tool management unit 212 After receiving the attachment notification, the tool management unit 212 changes the location of the tool (T01) to the tool stand 106 (B23: P04) (S68).
  • the worker carries the heavy tool from the processing area 102 to the exchange area 108 on the tool stand 106 (mobile stand).
  • a tool T05: heavy tool
  • B02 mobile stand
  • the processor When the processor removes the tool (T05: heavy tool) from the machine tool 100, the machine tool 100 sends a removal notification of the tool (T05) to the tool management device 200, and the tool management unit 212 sets the location of the tool (T05: heavy tool) to the exchange area 108.
  • the processor stores the tool (T05: heavy tool) in a pot on the tool table 106 (B02: mobile table) and carries the tool table 106 (B02: mobile table) to the exchange area 108.
  • the exchanger manually removes the tool (T05: heavy tool) from the tool table (B02: mobile table). At this time, the exchanger operates the exchange side electronic device 122 to input the removal. The exchange side electronic device 122 sends a removal notification to the tool management device 200. At this time, the exchanger inputs in the exchange side electronic device 122 the machine ID of the machine tool 100 to which the tool (T05: heavy tool) should be attached after inspection. The tool management unit 212 updates the tool information 160 and changes the location of the tool (T05: heavy tool) from the exchange area 108 to the machine tool 100. The exchanger transports the removed tool (T05) to the tool measurement device 110 for inspection, and replaces it on the exchange work table 112 if necessary.
  • the person replacing the tool After inspecting and replacing the tool (T05), the person replacing the tool attaches the tool (T05: heavy tool) to the original tool stand 106 (B02: mobile stand) in the replacement area 108. After attaching the tool (T05) to the tool stand 106 (B22), the person carries the tool stand 106 (B22) to the machining area 102 of the machine tool 100, which is the destination.
  • FIG. 16 is a sequence diagram showing the process when the automatic carrier 116 transports a light tool to the machining area 102.
  • the following description is based on the assumption that a tool (T01: light tool) stored on the tool stand 106 (B23: P04) is to be transported to a pot 192 (P03) on the tool stand 106 (B03).
  • the exchanger issues an instruction to the exchange side electronic device 122 associated with the tool stand 106 (B23) to transport the tool (T01) from the tool stand 106 (B23: P04) to the tool stand 106 (B03) (S70).
  • the transmission unit 314 of the exchange side electronic device 122 transmits a transport request including the tool ID, the stand ID of the tool stand 106 as the transport destination, the stand ID of the tool stand 106 as the transport source, etc. to the tool management device 200 (S72).
  • the tool management device 200 transmits a transport instruction for the tool (T01) to the transport control device 124 (S74).
  • the transport control device 124 further transmits a transport instruction to the automatic transport device 116 that should transport the tool (T01) from among the multiple automatic transport devices 116 (S76).
  • the automatic transport device 116 (A03) is selected.
  • the automatic transport machine 116 (A03) moves close to the tool stand 106 (B23) from which the tool was transported, and transports the specified tool (T01) from the tool stand 106 (B23: P04) (S78).
  • the automatic transport machine 116 (A03) takes out the tool (T01) from the tool stand 106 (B23) and stores it in an empty pot in the tool storage section 234, and sends a transport notification to the transport control device 124 (S80).
  • the transport control device 124 further transmits a removal notification to the tool management device 200 (S82).
  • the tool management unit 212 changes the location of the tool (T01) from the tool stand 106 (B23) to the automatic transport machine 116 (A03) (S84).
  • the transport control device 124 instructs the automatic transport machine 116 (A03) to move to the tool stand 106 (B03) (S86).
  • FIG. 17 is a sequence diagram showing the process of attaching a light tool to the machine tool 100 after it has been carried into the tool stand 106 in the machining area 102.
  • the automatic carrier 116 (A03) carries the tool (T01: light tool) into the tool stand 106 (B03: P03) (S90).
  • the automatic carrier 116 (A03) transmits a carry-in notification to the carrier control device 124 (S93).
  • the carrier control device 124 further transmits the carry-in notification to the tool management device 200 (S94).
  • the tool management device 200 changes the location of the tool (T01) from the automatic carrier 116 (A03) to the tool stand 106 (B03) (S96).
  • the processor removes the tool (T01) stored on the tool stand 106 (B03:P03) (S98).
  • the processor inputs removal and attachment to the machine tool 100 in the machine side electronic device 120 associated with the tool stand 106 (B03).
  • the machine side electronic device 120 sends a removal notification to the tool management device 200 (S100).
  • the tool management unit 212 changes the location of the tool (T01) from the tool stand 106 (B03) to the machine tool 100 (S102).
  • the operator attaches the tool (T01) to the machine tool 100 (S104). After attachment, the machine tool 100 sends an attachment notification to the tool management device 200 (S106).
  • FIG. 18 is a sequence diagram showing the process of attaching a heavy tool to the machine tool 100 after the heavy tool is carried into the machining area 102.
  • the worker removes the heavy tool carried on the tool stand 106 (movable stand) from the tool stand 106 and attaches it to the machine tool 100 (S104).
  • S104 machine tool 100
  • T05 heavy tool
  • MC1 machine tool 100
  • the machine tool 100 sends an attachment notification to the tool management device 200 (S106).
  • the tool management unit 212 of the tool management device 200 receives the attachment notification, it updates various data such as the tool information 160 and the machine storage information 180 (S108).
  • the tool management system 118 has been described above based on the embodiment.
  • the tool management system 118 allows for proper tracking of the location of tools as they are transported between the machining area 102 and the exchange area 108.
  • a machine operator moves tools between the machine tool 100 and the tool table 106.
  • a changer also moves tools within the exchange area 108.
  • the tool management unit 212 can appropriately update the tool information 160 and the machine storage information 180. Even if there is a weight limit on the tools that can be transported by the automatic transporter 116, heavy tools are not subject to transport by the automatic transporter 116, so tools can be handled appropriately even in a work environment where light and heavy tools are mixed.
  • the present invention is not limited to the above-described embodiments and modifications, and can be embodied by modifying the components without departing from the spirit of the invention.
  • Various inventions may be formed by appropriately combining multiple components disclosed in the above-described embodiments and modifications.
  • some components may be deleted from all the components shown in the above-described embodiments and modifications.
  • the table ID is associated with a position number, and the position number is associated with a position coordinate, so that the position of the tool table 106 can be identified by knowing the table ID.
  • the table ID may be directly associated with the position coordinate.
  • the position coordinate data may be used as the table ID.
  • the worker may operate the machine-side electronic device 120 to input the tool ID, as well as the stand ID and pot number of the tool stand 106 to be attached, to the machine-side electronic device 120.
  • the machine-side electronic device 120 may send an attachment notification including the input stand ID, pot number, and tool ID to the tool management device 200.
  • the tool management unit 212 may update various data related to the tool location.
  • the tool management unit 212 changes the location of the heavy tool from the machine tool 100 to the exchange area 108 and registers it in the tool information 160.
  • the tool management unit 212 may set the location of the heavy tool to "NULL" or to a mobile stand.
  • the object to be managed, weight checked, and transported is assumed to be a tool, but the objects to be managed in this manner are not limited to tools. Other than tools, workpieces, measuring instruments, screw drills, and the like may also be managed in the same manner.
  • a stand movable stand or fixed stand. Stands on which tools are placed are not limited to this, and the tool storage section 234 of the automatic transporter 116 is also one type of stand on which objects are placed.
  • a stand corresponding to a machine tool may be the tool storage section 234 of the automatic transporter 116 that is waiting near the machine tool.
  • the object is a "pallet with workpieces attached.”
  • the object when the object is heavier than the reference weight (e.g., 20 kilograms), it is handled like a heavy tool (hereinafter referred to as a "heavy object"), and when the object is less than the reference weight, it is handled like a light tool (hereinafter referred to as a "light object”). That is, when the worker removes the heavy object from the machine tool 100, the worker places the heavy object on a manually movable transport vehicle. The worker manually moves the transport vehicle carrying the heavy object. When the heavy object is removed from the machine tool 100, the tool management unit 212 sets the location of the heavy object in advance to its destination (e.g., exchange area 108).
  • the destination e.g., exchange area 108
  • the worker when the worker removes the light object from the machine tool 100, the worker places the light object on the fixed table. At this time, the automatic carrier 116 moves the light object from the fixed table.

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Abstract

An object management device includes an object management unit that, on the basis of stand installation information expressing correspondence between a machine tool and a stand for placing an object, changes data included in object information including the location and the weight of the object; and a receiving unit that receives a removal notification when the object is removed from the machine tool.　In a case in which a removal signal is received: when the weight of the object is less than or equal to a predetermined threshold, the object management unit sets the location of the object in the object information so that the location is switched from the machine tool to the stand for placing the object, and the object management unit sets the location of the object in the object information to a position different than the stand for placing the object when the weight of the object is greater than the threshold. The "stand for placing the object" is a stand on which an object to be conveyed is placed by an automatic conveyor; and the "position different than the stand for placing the object" is a position at which an object not to be conveyed is placed by the automatic conveyor.

Description

工具管理装置および対象物管理装置Tool management device and object management device
　本発明は、工作機械で使用する工具等の各種対象物を管理するための技術に関する。 The present invention relates to technology for managing various objects such as tools used in 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 a desired shape, and devices that create workpieces by layering metal powder and other materials. Machine tools that perform cutting include turning centers, which process workpieces by applying a cutting tool to a rotating workpiece, machining centers, which process workpieces by applying a rotating tool to the workpiece, and multitasking machines, which combine these functions.
　主軸あるいは刃物台などの工具保持部に工具は固定される。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、工具を交換しつつ、工具保持部を動かしながらワークを加工する。ワークとの摩擦により工具の刃先は徐々に摩耗する。作業者は、適宜、工作機械から工具を取り外し、交換エリアにて工具を検査する。継続使用に適さないほど摩耗が大きいときには、取り外した工具を新しい工具に交換する必要がある。 　Tools are fixed to a tool holder such as a spindle or tool rest. The machine tool machines the workpiece by moving the tool holder and replacing the tool according to a pre-prepared machining program. The cutting edge of the tool gradually wears down due to friction with the workpiece. The worker removes the tool from the machine tool as appropriate and inspects it in the replacement area. When the tool is too worn out to be suitable for continued use, it must be replaced with a new tool.
特許第６８５１５２５号Patent No. 6851525
　一般的には、作業者は、工作機械から工具を取り外したあと、いったんは工作機械の近くにある台車にこの工具を置く。次に、作業者は台車を押して工具を交換エリアに運搬する。工作機械のある加工エリアと、工具を検査・交換するための交換エリアとの間で台車によって工具を運搬する作業は、作業効率を低下させる要因となりやすい。 Typically, after a worker removes a tool from a machine tool, he or she first places the tool on a cart near the machine tool. The worker then pushes the cart to transport the tool to the replacement area. The task of transporting tools using a cart between the machining area where the machine tool is located and the replacement area where the tools are inspected and replaced can easily be a factor in reducing work efficiency.
　本発明者らは、工作機械から取り外されて工具を無人搬送する方法について検討した。その上で、特に重い工具については無人搬送に適さない場合があることを認識した。 The inventors have studied a method for unmanned transport of tools detached from a machine tool. In doing so, they have recognized that there are cases where tools, particularly heavy tools, are not suitable for unmanned transport.
　本発明のある態様における対象物管理装置は、工作機械と対象物を置く台との対応を示す台設置情報に基づいて、対象物の所在地および重量を含む対象物情報に含まれるデータを変更する対象物管理部と、工作機械から対象物が取り外された際に、取り外し通知を受信する受信部と、を備える。
　対象物管理部は、取り外し通知が受信された場合において、対象物の重量が所定の閾値以下のときには対象物情報における対象物の所在地を前記工作機械から前記対象物を置く台に設定し、対象物の重量が前記閾値よりも大きいときには対象物情報において対象物の所在地を対象物を置く台と異なる位置に設定する。
　対象物を置く台は自動搬送機により搬送対象となる対象物が設置される台である。
　対象物を置く台とは異なる位置とは、自動搬送機により搬送対象とはならない対象物が設置される位置である。 An object management device in one embodiment of the present invention includes an object management unit that changes data contained in object information, including the location and weight of the object, based on table installation information that indicates the correspondence between the machine tool and the table on which the object is placed, and a receiving unit that receives a removal notification when the object is removed from the machine tool.
When a removal notification is received, the object management unit sets the location of the object in the object information to a platform on which the object is placed from the machine tool if the weight of the object is equal to or less than a predetermined threshold, and sets the location of the object in the object information to a location different from the platform on which the object is placed if the weight of the object is greater than the threshold.
The table on which the object is placed is a table on which the object to be transported by the automatic transport device is placed.
The position different from the platform on which the object is placed is a position where an object that is not to be transported by the automatic transport device is placed.
　本発明の別の態様における工具管理装置は、工作機械と工具台の対応を示す台設置情報に基づいて、工具の所在地および重量を含む工具情報に含まれるデータを変更する工具管理部と、工作機械から工具が取り外された際に、取り外し通知を受信する受信部と、を備える。
　工具管理部は、取り外し信号が受信された場合において、工具の重量が所定の閾値以下のときには工具情報における工具の所在地を工作機械から所定の工具台に設定し、工具の重量が閾値よりも大きいときには工具情報において工具の所在地を前記所定の工具台とは異なる位置に設定する。
　所定の工具台は自動搬送機により搬送対象となる工具が設置される台である。
　所定の工具台とは異なる位置とは、自動搬送機により搬送対象とはならない工具が設置される位置である。 In another aspect of the present invention, a tool management device includes a tool management unit that changes data contained in tool information, including the location and weight of the tool, based on table installation information indicating the correspondence between the machine tool and the tool table, and a receiving unit that receives a removal notification when a tool is removed from the machine tool.
When a removal signal is received, the tool management unit sets the location of the tool in the tool information to a specified tool stand from the machine tool if the weight of the tool is equal to or less than a specified threshold, and sets the location of the tool in the tool information to a position different from the specified tool stand if the weight of the tool is greater than the threshold.
The predetermined tool table is a table on which tools to be transported by the automatic transport machine are placed.
The position different from the specified tool stand is a position where tools that are not to be transported by the automatic transport machine are placed.
　本発明によれば、工具等の対象物の重量を考慮して、対象物の適切な搬送が可能になる。 The present invention enables the appropriate transportation of objects, such as tools, by taking into account their weight.
加工エリア、交換エリアおよび自動搬送機の関係を説明するための模式図である。FIG. 2 is a schematic diagram for explaining the relationship between a processing area, an exchange area, and an automatic conveyor. 工具管理システムのハードウェア構成および工具管理装置の機能ブロック図である。2 is a hardware block diagram of a tool management system and a functional block diagram of a tool management device. FIG. 自動搬送機の機能ブロック図である。FIG. 2 is a functional block diagram of an automatic conveyor. 電子装置の機能ブロック図である。FIG. 2 is a functional block diagram of an electronic device. 台設置情報のデータ構造図である。FIG. 11 is a data structure diagram of table installation information. 工具情報のデータ構造図である。FIG. 4 is a data structure diagram of tool information. 機械格納情報のデータ構造図および工作機械の外観図である。1 is a data structure diagram of machine stored information and an external view of a machine tool. FIG. 台格納情報のデータ構造図および工具台の外観図である。13 is a data structure diagram of stand storage information and an external view of a tool stand. FIG. 搬送機格納情報のデータ構造図と自動搬送機の外観図である。1 is a data structure diagram of conveyor storage information and an external view of an automatic conveyor. FIG. 搬送指示画面の画面図である。FIG. 13 is a screen diagram of a transport instruction screen. 取付画面の画面図である。FIG. 工作機械から工具を取り外して、そばにある工具台にこの工具を搬入するときの処理過程を示すシーケンス図である。FIG. 11 is a sequence diagram showing the process of removing a tool from a machine tool and loading the tool onto a nearby tool stand. 工具台にある軽工具を自動搬送機に搬送させるときの処理過程を示すシーケンス図である。11 is a sequence diagram showing a process for causing an automatic conveying machine to convey a light tool on a tool table. FIG. 搬送指示情報のデータ構造図である。FIG. 4 is a data structure diagram of transport instruction information. 自動搬送機が軽工具を交換エリアの工具台に搬入するときの処理過程を示すシーケンス図である。FIG. 11 is a sequence diagram showing the process when the automatic transport machine carries a light tool onto a tool table in an exchange area. 自動搬送機が軽工具を加工エリアに搬送するときの処理過程を示すシーケンス図である。FIG. 11 is a sequence diagram showing a process when an automatic transport machine transports a light tool to a machining area. 加工エリアの工具台に軽工具を搬入したあと、工作機械に取り付ける処理過程を示すシーケンス図である。1 is a sequence diagram showing a process of attaching a light tool to a machine tool after the light tool is carried onto a tool stand in a machining area. 加工エリアに重工具を搬入したあと、工作機械に取り付ける処理過程を示すシーケンス図である。FIG. 11 is a sequence diagram showing a process of attaching a heavy tool to a machine tool after the heavy tool is brought into a machining area.
　本願に記載の技術によれば、工具等の対象物の重量を考慮することで、対象物の適切な搬送が可能になる。ここで、詳細には、工具の搬送で説明するが、搬送の対象は工具に限定されるものではない。対象物としては、工具に限らず、ワーク、計測器、ねじドリルなども想定される。このほか、対象物としては「ワークを取り付けたパレット」も想定される。
　以下で、工具の搬送に関して詳細な説明を行う。
　図１は、加工エリア１０２、交換エリア１０８および自動搬送機１１６の関係を説明するための模式図である。
　図１に示す工場１０４には、複数の加工エリア１０２（加工エリア１０２ａ、１０２ｂ・・・１０２ｎ）が設けられる。加工エリア１０２は、工作機械１００と複数の工具台１０６を含む領域である。本実施形態においては、１台の工作機械１００に対して２台の工具台１０６が対応づけられる。 According to the technology described in the present application, the weight of an object such as a tool is taken into consideration, thereby enabling the object to be appropriately transported. Here, the details will be described with reference to the transportation of a tool, but the object to be transported is not limited to a tool. The object is not limited to a tool, and may also be a workpiece, a measuring instrument, a screw drill, or the like. Another object may also be a "pallet with a workpiece attached."
A detailed description of the tool transport is given below.
FIG. 1 is a schematic diagram for explaining the relationship between a processing area 102, an exchange area 108, and an automatic conveyor 116. As shown in FIG.
1 is provided with a plurality of machining areas 102 ( machining areas 102a, 102b, . . . 102n). The machining area 102 is an area including a machine tool 100 and a plurality of tool tables 106. In this embodiment, two tool tables 106 are associated with one machine tool 100.
　工作機械１００としては、マシニングセンタ、ターニングセンタあるいは複合加工機が想定される。工作機械１００は、一般的にマガジンとよばれる工具格納部を備える。工具格納部には、複数の工具が格納される。また、工具格納部において工具が格納されるポットは「ポット番号」により識別される。 The machine tool 100 is assumed to be a machining center, a turning center, or a multi-tasking machine. The machine tool 100 has a tool storage section, generally called a magazine. The tool storage section stores multiple tools. Furthermore, the pots in which the tools are stored in the tool storage section are identified by "pot numbers."
　上述したように、工場１０４には複数の加工エリア１０２が設定され、加工エリア１０２ごとに工作機械１００が設置される。工作機械１００は「マシンＩＤ」により識別される。たとえば、加工エリア１０２ａに設置される工作機械１００ａのマシンＩＤは「ＭＣ１」である。以下、マシンＩＤ＝ＭＣ１の工作機械１００ａのことを「工作機械１００（ＭＣ１）」のように表記する。同様にして、加工エリア１０２ｂの工作機械１００ｂのマシンＩＤは「ＭＣ２」であるから、工作機械１００ｂのことを「工作機械１００（ＭＣ２）」と表記する。 As mentioned above, multiple machining areas 102 are set up in the factory 104, and a machine tool 100 is installed in each machining area 102. The machine tool 100 is identified by a "machine ID." For example, the machine ID of the machine tool 100a installed in the machining area 102a is "MC1." Hereinafter, the machine tool 100a with machine ID = MC1 will be written as "machine tool 100 (MC1)." Similarly, the machine ID of the machine tool 100b in the machining area 102b is "MC2," and therefore the machine tool 100b will be written as "machine tool 100 (MC2)."
　工作機械１００の近傍には工具台１０６が設置される。工具台１０６は「台ＩＤ」により識別される。たとえば、加工エリア１０２ａの工具台１０６ａの台ＩＤは「Ｂ０１」、工具台１０６ｂの台ＩＤは「Ｂ０２」である。以下、台ＩＤ＝Ｂ０１の工具台１０６ａを「工具台１０６（Ｂ０１）」のように表記する。 A tool table 106 is installed near the machine tool 100. The tool table 106 is identified by a "table ID." For example, the table ID of the tool table 106a in the machining area 102a is "B01," and the table ID of the tool table 106b is "B02." Hereinafter, the tool table 106a with table ID = B01 will be referred to as "tool table 106 (B01)."
　本実施形態の工具台１０６は台車として構成されるが、特に、この形態に限定されない。工具台は、工作機械１００からアームロボットで工具を取り外し、そのまま工具を置ける位置にある固定された台であってもよい。工作機械１００（ＭＣ１）に対応づけられる２つの工具台１０６のうち、工具台１０６（Ｂ０１）は移動不可に設定され、工具台１０６（Ｂ０２）は移動可能に設定される。このように、本実施形態においては、１台の工作機械１００に対して２台の工具台１０６が対応づけられており、１台は移動不可、１台は移動可能に設定される。以下、移動不可に設定される工具台１０６を「固定台」、移動可能に設定される工具台１０６を「移動台」ともよぶ。また、特に区別しない場合には、単に、工具台１０６とよぶ。
　図１においては、工作機械１００（ＭＣ１）に対応づけられる工具台１０６（Ｂ０１）は固定台、工具台１０６（Ｂ０２）は移動台である。また、工作機械１００（ＭＣ２）に対応づけられる工具台１０６（Ｂ０３）は固定台、工具台１０６（Ｂ０５）は移動台である。 The tool table 106 in this embodiment is configured as a cart, but is not particularly limited to this form. The tool table may be a fixed table located at a position where a tool can be removed from the machine tool 100 by the arm robot and the tool can be placed thereon. Of the two tool tables 106 associated with the machine tool 100 (MC1), the tool table 106 (B01) is set to be immovable, and the tool table 106 (B02) is set to be movable. In this manner, in this embodiment, two tool tables 106 are associated with one machine tool 100, one of which is set to be immovable and the other is set to be movable. Hereinafter, the tool table 106 set to be immovable will be referred to as a "fixed table" and the tool table 106 set to be movable will be referred to as a "movable table". In addition, when no particular distinction is made, they will simply be referred to as tool tables 106.
1, the tool table 106 (B01) associated with the machine tool 100 (MC1) is a fixed table, and the tool table 106 (B02) is a movable table. Also, the tool table 106 (B03) associated with the machine tool 100 (MC2) is a fixed table, and the tool table 106 (B05) is a movable table.
　作業者は、工具台１０６に複数の工具を一時的に置くことができる。工具台１０６において工具が格納されるポットも「ポット番号」により識別される。所定重量以上、たとえば、１０キログラム以上の工具は移動台に載せられ、作業者は移動台を押すことで工具を運搬する。一方、所定重量未満の工具は固定台に載せられ、後述する自動搬送機により工具を運搬する。以下においては、所定重量以上の工具を「重工具」、所定重量未満の工具を「軽工具」とよび、特に区別しないときには単に「工具」とよぶ。上述したように、重工具は移動台によって作業者が運搬し、軽工具は自動搬送機によって運搬される。これは、自動搬送機には仕様上の重量制限があり、重工具の運搬が禁じられているためである。 　A worker can temporarily place multiple tools on the tool table 106. The pots in which the tools are stored on the tool table 106 are also identified by "pot numbers." Tools weighing more than a certain weight, for example 10 kilograms or more, are placed on a movable table, and the worker transports the tools by pushing the movable table. On the other hand, tools weighing less than a certain weight are placed on a fixed table, and are transported by an automatic carrier described below. In the following, tools weighing more than a certain weight are referred to as "heavy tools," and tools weighing less than a certain weight are referred to as "light tools," and when no distinction is made, they are simply referred to as "tools." As mentioned above, heavy tools are transported by workers on movable tables, and light tools are transported by the automatic carrier. This is because the automatic carrier has a weight limit in its specifications and is prohibited from transporting heavy tools.
　本実施形態の工具台１０６のうちの固定台は、工場１０４において固定設置され、その位置は「位置番号」により特定される。また、移動台は、ホームポジションを示す位置が位置番号により指定される。たとえば、加工エリア１０２に設置される移動台の位置番号は、加工エリア１０２に設定される。また、交換エリア１０８に設置される移動台の位置番号は、交換エリア１０８に設定される。 The fixed table of the tool table 106 in this embodiment is fixedly installed in the factory 104, and its position is specified by a "position number." Furthermore, the position of the movable table, which indicates its home position, is specified by a position number. For example, the position number of a movable table installed in the processing area 102 is set to the processing area 102. Furthermore, the position number of a movable table installed in the exchange area 108 is set to the exchange area 108.
　作業者は、工場１０４に新たに工具台１０６を設置するとき、台ＩＤおよび位置番号、工場１０４における工具台１０６の位置座標を後述の工具管理装置２００に登録する。したがって、工具台１０６の台ＩＤがわかれば、この工具台１０６の位置がわかるようになっている。たとえば、固定台である工具台１０６（Ｂ０１）の位置番号は「Ｑ０１」である。移動台である工具台１０６（Ｂ０２）の位置番号は「Ｑ０２」である。位置番号「Ｑ０１」には工具台１０６（Ｂ０１）の位置座標が対応づけられ、位置番号「Ｑ０２」には工具台１０６（Ｂ０２）の位置座標が対応づけられている。 When a worker installs a new tool table 106 in the factory 104, the worker registers the table ID, position number, and the position coordinates of the tool table 106 in the factory 104 in the tool management device 200, which will be described later. Therefore, if the table ID of the tool table 106 is known, the position of this tool table 106 can be known. For example, the position number of the tool table 106 (B01), which is a fixed table, is "Q01." The position number of the tool table 106 (B02), which is a movable table, is "Q02." The position coordinates of the tool table 106 (B01) are associated with the position number "Q01," and the position coordinates of the tool table 106 (B02) are associated with the position number "Q02."
　なお、位置座標は対象物管理装置としての工具管理装置２００ではなく、後述の搬送制御装置１２４において管理されてもよい。すなわち、搬送制御装置１２４において、台ＩＤおよび位置番号、位置座標が対応づけられるとしてもよい。また、工具管理装置２００および搬送制御装置１２４は、このような位置に関する情報を相互に参照または交換可能に構成されてもよい。 The position coordinates may be managed in the transport control device 124 described below, rather than in the tool management device 200 as the object management device. In other words, the table ID, position number, and position coordinates may be associated in the transport control device 124. The tool management device 200 and the transport control device 124 may be configured to be able to mutually refer to or exchange such position-related information.
　交換エリア１０８は、工具の検査・交換作業をするための場所である。通常、加工エリア１０２と交換エリア１０８は数メートルから数十メートル離れている。交換エリア１０８には、工具計測装置１１０、交換作業台１１２および複数の工具台１０６が設置される。工具計測装置１１０は、工具の摩耗および折損を検査するための装置である。交換作業台１１２は、工具をホルダおよびシャンクから取り外し、シャンクに新しい工具（刃先）を取り付けることにより工具交換を行うための台である。 The replacement area 108 is a place for inspecting and replacing tools. Typically, the machining area 102 and the replacement area 108 are separated by several meters to several tens of meters. A tool measuring device 110, a replacement work table 112, and multiple tool tables 106 are installed in the replacement area 108. The tool measuring device 110 is a device for inspecting tools for wear and breakage. The replacement work table 112 is a table for replacing tools by removing the tool from the holder and shank and attaching a new tool (cutting edge) to the shank.
　交換エリア１０８に設置される複数の工具台１０６（Ｂ２２）～工具台１０６（Ｂ２６）も台ＩＤにより識別され、位置番号が設定される。 The multiple tool stands 106 (B22) to 106 (B26) installed in the exchange area 108 are also identified by stand IDs and assigned position numbers.
　工場１０４においては、更に、複数の自動搬送機１１６（自動搬送機１１６ａ～１１６ｃ）が設置される。自動搬送機１１６はロボットアームを有し、工具を運搬可能な自走ロボットである。 The factory 104 also has a number of automated transporters 116 (automated transporters 116a to 116c). The automated transporters 116 are self-propelled robots that have robotic arms and can transport tools.
　自動搬送機１１６は、加工エリア１０２側の固定台である工具台１０６と、交換エリア１０８側の固定台である工具台１０６を結ぶ移動経路１１４を設定する。より具体的には、工場１０４に取り付けられるロケータ（不図示）により、工場１０４内における物体の配置を検出する。自動搬送機１１６は物体配置に基づいて工場１０４内を移動し、あらかじめ地図情報を形成しておく。自動搬送機１１６は現在位置に基づいて地図情報を参照しながら移動方向を決定することで、実際の移動経路１１４が決まる。また、自動搬送機１１６は、作業者などの障害物をセンサにより検出したときには自動停止することで、障害物との衝突を回避する。 The automated transporter 116 sets a travel route 114 connecting the tool table 106, which is a fixed table on the processing area 102 side, and the tool table 106, which is a fixed table on the exchange area 108 side. More specifically, a locator (not shown) attached to the factory 104 detects the arrangement of objects within the factory 104. The automated transporter 116 moves within the factory 104 based on the object arrangement, and map information is formed in advance. The automated transporter 116 determines the direction of movement while referring to the map information based on its current position, thereby determining the actual travel route 114. Furthermore, the automated transporter 116 automatically stops when a sensor detects an obstacle such as a worker, thereby avoiding collision with the obstacle.
　本実施形態における自動搬送機１１６は、加工エリア１０２側の工具台１０６と、交換エリア１０８側の工具台１０６との間で工具を運搬する。 In this embodiment, the automatic transport machine 116 transports tools between the tool stand 106 on the processing area 102 side and the tool stand 106 on the exchange area 108 side.
　自動搬送機１１６は「搬送機ＩＤ」により識別される。たとえば、自動搬送機１１６ａの搬送機ＩＤは「Ａ０１」、自動搬送機１１６ｂの搬送機ＩＤは「Ａ０２」である。以下、搬送機ＩＤ＝Ａ０１の自動搬送機１１６ａを「自動搬送機１１６（Ａ０１）」のように表記する。自動搬送機１１６も工具を格納するための複数のポットを有し、各ポットはポット番号により識別される。なお、図１に示す移動経路１１４は、自動搬送機１１６（Ａ０２）について想定される移動経路を示している。 The automatic conveyor 116 is identified by a "conveyor ID." For example, the conveyor ID of the automatic conveyor 116a is "A01," and the conveyor ID of the automatic conveyor 116b is "A02." Hereinafter, the automatic conveyor 116a with conveyor ID = A01 will be written as "automatic conveyor 116 (A01)." The automatic conveyor 116 also has multiple pots for storing tools, and each pot is identified by a pot number. Note that the movement path 114 shown in Figure 1 shows the movement path assumed for the automatic conveyor 116 (A02).
　以下においては、加工エリア１０２において主にワークの加工作業を担当する作業者を「加工者」、交換エリア１０８において工具の検査および交換を行う作業者を「交換者」とよび、特に区別しないときには単に「作業者」とよぶ。 In the following, the worker who is primarily responsible for machining the workpiece in the machining area 102 will be referred to as the "machiner", and the worker who inspects and replaces tools in the replacement area 108 will be referred to as the "replacer", and when no particular distinction is made, they will simply be referred to as "workers".
　図２は、工具管理システム１１８のハードウェア構成および工具管理装置２００の機能ブロック図である。
　工具管理装置２００は、工具の所在を管理するための装置である。工作機械１００は、工具管理装置２００と接続される。工作機械１００は、工具格納部にある工具が取り外されたとき、取り外し通知を工具管理装置２００に送信する。また、加工者により、工具保持部等に新たに工具が取り付けられたとき、工作機械１００は取り付け通知を工具管理装置２００に送信する。取り付け通知および取り外し通知には、マシンＩＤ、工具を識別する工具ＩＤと工具の取り付けまたは取り外しの対象となったポットのポット番号が含まれる。 FIG. 2 is a hardware block diagram of the tool management system 118 and a functional block diagram of a tool management device 200.
Tool management device 200 is a device for managing the location of tools. Machine tool 100 is connected to tool management device 200. When a tool is removed from the tool storage unit, machine tool 100 transmits a removal notice to tool management device 200. In addition, when a new tool is attached to a tool holding unit or the like by a processor, machine tool 100 transmits an attachment notice to tool management device 200. The attachment notice and removal notice include the machine ID, the tool ID for identifying the tool, and the pot number of the pot to which the tool was attached or removed.
　加工エリア１０２側の工具台１０６のそばには、機械側電子装置１２０が設置される。本実施形態においては、機械側電子装置１２０は固定台に対応して設置され、移動台に対応しては設置されない。加工エリア１０２においては固定台と機械側電子装置１２０は１対１にて対応づけられる。機械側電子装置１２０としては、パーソナルコンピュータ（ＰＣ）、電子タブレット、スマートフォンなどが想定される。加工者は、機械側電子装置１２０を操作することにより、自動搬送機１１６による工具搬送を指示できる（後述）。また、加工者は、機械側電子装置１２０により工具管理装置２００にアクセスすることで工具の格納状態を確認できる。
　なお、複数の工具台１０６に対して１台の機械側電子装置１２０を対応づけてもよい。この場合には、機械側電子装置１２０において、搬送元となる工具台１０６を選択してもよい。 A machine-side electronic device 120 is installed near the tool stand 106 on the machining area 102 side. In this embodiment, the machine-side electronic device 120 is installed corresponding to the fixed stand, and is not installed corresponding to the movable stand. In the machining area 102, the fixed stand and the machine-side electronic device 120 are in one-to-one correspondence. The machine-side electronic device 120 may be a personal computer (PC), an electronic tablet, a smartphone, or the like. By operating the machine-side electronic device 120, the processor can instruct the automatic carrier 116 to transport tools (described later). In addition, the processor can check the storage status of the tools by accessing the tool management device 200 through the machine-side electronic device 120.
Note that one machine-side electronic device 120 may be associated with a plurality of tool stands 106. In this case, the machine-side electronic device 120 may select the tool stand 106 that is the source of the transfer.
　交換エリア１０８の工具台１０６のそばには、交換側電子装置１２２が設置される。交換エリア１０８においては工具台１０６と交換側電子装置１２２は１対１にて対応づけられる。交換側電子装置１２２もパーソナルコンピュータなどの各種のコンピュータ端末である。交換者は、交換側電子装置１２２を操作することにより工具搬送を指示できる。また、交換者は、交換側電子装置１２２により工具の格納状態を確認できる。
　交換エリア１０８においても、複数、たとえば、５台の工具台１０６に対して１台の交換側電子装置１２２が対応づけられてもよい。
　以下、機械側電子装置１２０および交換側電子装置１２２をまとめて言うとき、あるいは、特に区別しないときには、単に「電子装置３００」とよぶ。 A replacement side electronic device 122 is installed near the tool stand 106 in the exchange area 108. In the exchange area 108, the tool stand 106 and the replacement side electronic device 122 are in one-to-one correspondence. The replacement side electronic device 122 is also a computer terminal such as a personal computer. The replacement person can instruct tool transportation by operating the replacement side electronic device 122. The replacement person can also check the storage status of the tools using the replacement side electronic device 122.
In the exchange area 108 as well, one exchange side electronic device 122 may be associated with a plurality of tool tables 106, for example, five tool tables 106.
Hereinafter, when the machine side electronic device 120 and the switching side electronic device 122 are collectively referred to or when no particular distinction is made between them, they will be simply referred to as "electronic device 300."
　搬送制御装置１２４は、複数の自動搬送機１１６を管理する。自動搬送機１１６は、搬送制御装置１２４からの指示にしたがって動作する。 The transport control device 124 manages multiple automatic transport machines 116. The automatic transport machines 116 operate according to instructions from the transport control device 124.
　次に、工具管理装置２００の機能ブロック図について説明する。
　工具管理装置２００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。
　図３に関連して後述する自動搬送機１１６および図４に関連して後述する電子装置３００の機能ブロックに関しても同様である。 Next, a functional block diagram of the tool management device 200 will be described.
Each component of the tool management device 200 is realized by hardware including computing units such as a CPU (Central Processing Unit) and various co-processors, storage devices such as memory and storage, and wired or wireless communication lines connecting them, and software stored in the storage devices and supplying processing instructions to the computing units. The computer program may be composed of a device driver, an operating system, various application programs located at higher layers thereof, and a library that provides common functions to these programs. Each block described below represents a functional block rather than a hardware-based configuration.
The same applies to the automatic transporter 116 described later in relation to FIG. 3 and the functional blocks of the electronic device 300 described later in relation to FIG.
　工具管理装置２００は、通信部２０２、データ処理部２０４およびデータ格納部２０６を含む。
　通信部２０２は、工作機械１００、機械側電子装置１２０、交換側電子装置１２２、搬送制御装置１２４等の外部装置との通信処理を担当する。データ処理部２０４は、通信部２０２により取得されたデータおよびデータ格納部２０６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２０４は、通信部２０２およびデータ格納部２０６のインタフェースとしても機能する。データ格納部２０６は、各種プログラムと設定データを格納する。 The tool management device 200 includes a communication unit 202 , a data processing unit 204 , and a data storage unit 206 .
The communication unit 202 is responsible for communication processing with external devices such as the machine tool 100, the machine-side electronic device 120, the exchange-side electronic device 122, and the transport control device 124. The data processing unit 204 executes various processes based on the data acquired by the communication unit 202 and the data stored in the data storage unit 206. The data processing unit 204 also functions as an interface between the communication unit 202 and the data storage unit 206. The data storage unit 206 stores various programs and setting data.
　通信部２０２は、データを送信する送信部２０８と、データを受信する受信部２１０を含む。 The communication unit 202 includes a transmission unit 208 that transmits data and a reception unit 210 that receives data.
　データ処理部２０４は、工具管理部２１２および指示部２１４を含む。工具管理部２１２は、工具の所在地を管理する。指示部２１４は、搬送制御装置１２４に対して、自動搬送機１１６に対する各種指示を作成する。また、指示部２１４は、機械側電子装置１２０、交換側電子装置１２２等を介して作業者に工具の取り付け位置（工具台１０６におけるポットの位置）を指示する。 The data processing unit 204 includes a tool management unit 212 and an instruction unit 214. The tool management unit 212 manages the location of tools. The instruction unit 214 creates various instructions for the automatic conveyor 116 for the conveyor control device 124. The instruction unit 214 also instructs the worker on the tool installation position (position of the pot on the tool table 106) via the machine side electronic device 120, the exchange side electronic device 122, etc.
　図３は、自動搬送機１１６の機能ブロック図である。
　自動搬送機１１６は、ハードウェア機構としての機構部１２８と、機構部１２８を制御する電子機器およびコンピュータプログラムによって実現される制御部１２６を含む。機構部１２８は、工具を把持するロボットアーム１４２と駆動輪１４４を含む。 FIG. 3 is a functional block diagram of the automatic conveyor 116.
The automated transporter 116 includes a mechanical unit 128 as a hardware mechanism, and a control unit 126 realized by electronic devices and a computer program that controls the mechanical unit 128. The mechanical unit 128 includes a robot arm 142 that grips a tool, and a drive wheel 144.
　制御部１２６は、搬送制御装置１２４との通信を担当する通信部１３０と、通信部１３０からの指示にしたがって機構部１２８を制御するデータ処理部１３２を含む。
　通信部１３０は、データを送信する送信部１３４と、データを受信する受信部１３６を含む。データ処理部１３２は、ロボットアーム１４２を制御するアーム制御部１３８と、駆動輪１４４を制御する移動制御部１４０を含む。 The control unit 126 includes a communication unit 130 that is responsible for communication with the transport control device 124 , and a data processing unit 132 that controls the mechanism unit 128 in accordance with instructions from the communication unit 130 .
The communication unit 130 includes a transmission unit 134 that transmits data and a reception unit 136 that receives data. The data processing unit 132 includes an arm control unit 138 that controls a robot arm 142, and a movement control unit 140 that controls drive wheels 144.
　図４は、電子装置３００の機能ブロック図である。
　電子装置３００は、ユーザインタフェース処理部３０２、通信部３０４、データ処理部３０６およびデータ格納部３０８を含む。
　ユーザインタフェース処理部３０２は、作業者に対するユーザインタフェース処理を担当する。通信部３０４は、工作機械１００、他の電子装置３００、搬送制御装置１２４等の外部装置との通信処理を担当する。データ処理部３０６は、ユーザインタフェース処理部３０２、通信部３０４により取得されたデータおよびデータ格納部３０８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３０６は、通信部３０４およびデータ格納部３０８のインタフェースとしても機能する。データ格納部３０８は、各種プログラムと設定データを格納する。 FIG. 4 is a functional block diagram of electronic device 300.
The electronic device 300 includes a user interface processor 302 , a communication processor 304 , a data processor 306 and a data storage processor 308 .
The user interface processing unit 302 is responsible for user interface processing for the operator. The communication unit 304 is responsible for communication processing with external devices such as the machine tool 100, other electronic devices 300, and the transport control device 124. The data processing unit 306 executes various processes based on data acquired by the user interface processing unit 302 and the communication unit 304 and data stored in the data storage unit 308. The data processing unit 306 also functions as an interface for the communication unit 304 and the data storage unit 308. The data storage unit 308 stores various programs and setting data.
　ユーザインタフェース処理部３０２は、作業者からの入力を受け付ける入力部３１０と、各種情報を表示させる表示部３１２を含む。 The user interface processing unit 302 includes an input unit 310 that accepts input from the operator, and a display unit 312 that displays various information.
　通信部３０４は、データを送信する送信部３１４と、データを受信する受信部３１６を含む。 The communication unit 304 includes a transmission unit 314 that transmits data and a reception unit 316 that receives data.
　図５は、台設置情報１５０のデータ構造図である。
　台設置情報１５０は、工具管理装置２００のデータ格納部２０６に格納される。作業者は、工具台１０６を工場１０４に設置するときには、台設置情報１５０に工具台１０６を登録する。上述したように、工具台１０６は台ＩＤにより識別され、工作機械１００または交換エリア１０８に対応づけられる。 FIG. 5 is a data structure diagram of the table installation information 150. As shown in FIG.
The table installation information 150 is stored in the data storage unit 206 of the tool management device 200. When an operator installs the tool table 106 in the factory 104, the operator registers the tool table 106 in the table installation information 150. As described above, the tool table 106 is identified by the table ID and associated with the machine tool 100 or the exchange area 108.
　図５によれば、工具台１０６（Ｂ０１：固定台）は、工作機械１００（ＭＣ１）に対応づけられている。工具台１０６（Ｂ０１）の名称は「ＣＭＣ９Ｍ」である。また、工具台１０６（Ｂ０１）の位置番号は「Ｑ０１」である。上述したように、位置番号「Ｑ０１」には、あらかじめ、工場１０４における位置座標（不図示）が対応づけられる。 According to FIG. 5, the tool table 106 (B01: fixed table) is associated with the machine tool 100 (MC1). The name of the tool table 106 (B01) is "CMC9M." The position number of the tool table 106 (B01) is "Q01." As described above, the position number "Q01" is associated in advance with position coordinates (not shown) in the factory 104.
　工具台１０６（Ｂ０２：移動台）も工作機械１００（ＭＣ１）に対応づけられている。工具台１０６（Ｂ０２）は、作業者によって加工エリア１０２および工場１０４の間を移動するが、加工エリア１０２ａにおける位置番号は「Ｑ０２」が設定される（図１参照）。位置番号「Ｑ０２」は、工具台１０６（Ｂ０２）の初期位置を示す。 The tool table 106 (B02: movable table) is also associated with the machine tool 100 (MC1). The tool table 106 (B02) is moved by the worker between the machining area 102 and the factory 104, and its position number in the machining area 102a is set to "Q02" (see Figure 1). The position number "Q02" indicates the initial position of the tool table 106 (B02).
　工具台１０６（Ｂ０３：固定台）と工具台１０６（Ｂ０５：移動台）は、工作機械１００（ＭＣ２）に対応づけられている（図１参照）。一方、工具台１０６（Ｂ２２）等は工作機械１００に対応づけられていない。これらの工具台１０６（Ｂ２２）～工具台１０６（Ｂ２６）は、加工エリア１０２ではなく、交換エリア１０８に設置されている（図１参照）。 The tool table 106 (B03: fixed table) and the tool table 106 (B05: movable table) are associated with the machine tool 100 (MC2) (see FIG. 1). On the other hand, the tool table 106 (B22) and others are not associated with the machine tool 100. These tool tables 106 (B22) to 106 (B26) are installed in the exchange area 108, not in the machining area 102 (see FIG. 1).
　図６は、工具情報１６０のデータ構造図である。
　工具情報１６０は、工具管理装置２００のデータ格納部２０６に格納される。工具情報１６０は、工具の所在地を管理するデータを含むものである。工具情報１６０は、工具以外の管理対象となる対象物の所在地を管理する「対象物情報」の一部として構成されてもよい。たとえば、対象物情報には、工具情報１６０と、ワークの所在地を管理するためのワーク情報と、計測器の所在地を管理するための計測器情報とが含まれていてもよい。本実施形態においては、工具の所在地管理データを含む工具情報１６０を用いて説明する。同様に、上述した工具管理部２１２は、工具以下の対象物を管理する「対象物管理部」として構成されてもよい。この場合、工具管理装置２００は「対象物管理装置」として構成されてもよい。
　図６によれば、工具ＩＤ＝Ｔ０１の工具（以下、「工具（Ｔ０１）」のように表記する）は、工作機械１００（ＭＣ１）の工具格納部におけるポット番号＝Ｐ０１のポットに格納されている。「工具長補正」の欄は工具の長さ方向における補正値を示し、「工具径補正」の欄は工具の径方向における補正値を示す。 FIG. 6 is a diagram showing the data structure of the tool information 160. As shown in FIG.
The tool information 160 is stored in the data storage unit 206 of the tool management device 200. The tool information 160 includes data for managing the location of the tool. The tool information 160 may be configured as a part of "object information" for managing the location of objects to be managed other than the tool. For example, the object information may include the tool information 160, work information for managing the location of the work, and measuring instrument information for managing the location of the measuring instrument. In this embodiment, the tool information 160 including the tool location management data will be used for explanation. Similarly, the above-mentioned tool management unit 212 may be configured as an "object management unit" for managing objects below the tool. In this case, the tool management device 200 may be configured as an "object management device".
6, a tool with tool ID = T01 (hereinafter, referred to as "tool (T01)") is stored in a pot with pot number = P01 in a tool storage unit of machine tool 100 (MC1). The "tool length compensation" column indicates the compensation value in the length direction of the tool, and the "tool diameter compensation" column indicates the compensation value in the radial direction of the tool.
　工具情報１６０における「設定寿命」の欄は設定寿命を示す。工具の使用回数が設定寿命（回数）に到達したとき、工具管理部２１２は工作機械１００に工具検査を行うよう通知する。工作機械１００は、自装置の操作画面（不図示）において工具検査を行うように加工者に指示する。「使用回数」の欄は、工具の使用回数を示す。工作機械１００は、工具を工具保持部に割り出すごとに、工具ＩＤを工具管理装置２００に通知し、工具管理部２１２は該当工具の使用回数を更新する。 The "Set life" column in the tool information 160 indicates the set life. When the number of times a tool has been used reaches the set life (number of times), the tool management unit 212 notifies the machine tool 100 to perform a tool inspection. The machine tool 100 instructs the operator to perform a tool inspection on the operation screen (not shown) of the machine tool itself. The "Number of uses" column indicates the number of times a tool has been used. Each time the machine tool 100 assigns a tool to the tool holding unit, it notifies the tool management device 200 of the tool ID, and the tool management unit 212 updates the number of times the tool has been used.
　工具情報１６０における「警告寿命」の欄は、近いうちに工具検査を実行すべきと作業者に警告通知すべき使用回数を示す。たとえば、工具（Ｔ０１）の現在の使用回数は「０回」であり、工具（Ｔ０１）の使用回数が警告回数「８０回」に到達したとき、工作機械１００は加工者に対して工具（Ｔ０１）の検査を推奨する。 The "Warning Life" column in tool information 160 indicates the number of uses that should be used to warn the operator that a tool inspection should be performed in the near future. For example, if the current number of uses of tool (T01) is "0 times," and the number of uses of tool (T01) reaches the warning number of "80 times," machine tool 100 will recommend that the operator inspect tool (T01).
　工具の重量はあらかじめ重量ランク１～１０に分類される。工具情報１６０における「重量」の欄は、工具の重量ランクを示す。重量ランクが大きい工具ほど重い。工具管理部２１２は、工具の新規登録時および工具の移動時に工具情報１６０を適宜更新する。本実施形態においては、重量ランクが１０以上となる工具が「重工具」に対応し、１０未満となる工具が「軽工具」に対応する。 The weight of a tool is pre-classified into weight ranks 1 to 10. The "Weight" column in tool information 160 indicates the weight rank of the tool. The higher the weight rank, the heavier the tool. The tool management unit 212 updates the tool information 160 as appropriate when a new tool is registered or when a tool is moved. In this embodiment, a tool with a weight rank of 10 or more corresponds to a "heavy tool," and a tool with a weight rank of less than 10 corresponds to a "light tool."
　重量ランクが「１０」となる工具（Ｔ０５）は重工具である。工作機械１００から重工具である工具（Ｔ０５）を取り外したとき、作業者は工具（Ｔ０５）を固定台ではなく移動台の任意のポットに格納する。作業者は、重工具を搭載した移動台を加工エリア１０２から交換エリア１０８に運ぶ。工具管理部２１２は、工作機械１００から工具（Ｔ０５：重工具）が取り外されたときには、工具（Ｔ０５：重工具）の所在地を第１の工具台（対象物を置く台）としての工具台１０６ではなく、あらかじめその行き先となる「交換エリア１０８」に設定しておく。 A tool (T05) with a weight rank of "10" is a heavy tool. When removing a heavy tool (T05) from the machine tool 100, the worker stores the tool (T05) in any pot on the movable table rather than on a fixed table. The worker carries the movable table carrying the heavy tool from the processing area 102 to the exchange area 108. When a tool (T05: heavy tool) is removed from the machine tool 100, the tool management unit 212 sets the location of the tool (T05: heavy tool) to the "exchange area 108" which is its destination, rather than to the tool table 106 which is the first tool table (table on which the object is placed).
　図６においては、工具（Ｔ０５：重工具）の所在地は「交換中」となっている。重工具の実際の所在地は、移動台、交換エリア１０８または工作機械１００のいずれかである。重工具が工作機械１００に取り付けられているときには、工具情報１６０における所在地点は工作機械１００となり、工作機械１００から取り外されたときには「対象物を置く工具台（固定台）」とは異なる「交換中（交換エリア１０８）」に設定される。 In FIG. 6, the location of the tool (T05: heavy tool) is "Under exchange". The actual location of the heavy tool is either the moving table, the exchange area 108, or the machine tool 100. When the heavy tool is attached to the machine tool 100, the location point in the tool information 160 is the machine tool 100, and when it is removed from the machine tool 100, it is set to "Under exchange (exchange area 108)", which is different from the "tool table (fixed table) on which the object is placed".
　図７は、機械格納情報１８０のデータ構造図および工作機械１００の外観図である。
　工作機械１００は、工具格納部１７０を備え、工具格納部１７０は複数のポット１７２を有する。 FIG. 7 is a data structure diagram of machine stored information 180 and an external view of machine tool 100.
The machine tool 100 includes a tool storage section 170 having a plurality of pots 172 .
　機械格納情報１８０は、工具管理装置２００のデータ格納部２０６に格納される。機械格納情報１８０は、工作機械１００における工具の格納状態を示す。図７は、工作機械１００（ＭＣ１）の機械格納情報１８０を示す。 The machine storage information 180 is stored in the data storage unit 206 of the tool management device 200. The machine storage information 180 indicates the storage status of tools in the machine tool 100. Figure 7 shows the machine storage information 180 of the machine tool 100 (MC1).
　工作機械１００（ＭＣ１）のポット番号＝Ｐ０１のポット１７２（以下、「ポット１７２（Ｐ０１）」のように表記する）には、工具（Ｔ０１）が格納されている（図６参照）。別のポット１７２（Ｐ０２）には工具（Ｔ０２）、ポット１７２（Ｐ０３）には工具（Ｔ０３）、ポット１７２（Ｐ０４）には工具（Ｔ０４）が格納されている。また、工作機械１００（ＭＣ１）のポット１７２（Ｐ０５）～１７２（Ｐ１０）は空きポットになっている。 A tool (T01) is stored in pot 172 (hereafter referred to as "pot 172 (P01)") with pot number P01 of machine tool 100 (MC1) (see Figure 6). A tool (T02) is stored in another pot 172 (P02), a tool (T03) is stored in pot 172 (P03), and a tool (T04) is stored in pot 172 (P04). In addition, pots 172 (P05) to 172 (P10) of machine tool 100 (MC1) are empty pots.
　加工者が、工作機械１００の工具格納部１７０から工具を取り外したとき、工作機械１００は取り外し通知を工具管理装置２００に送信し、工具管理装置２００の工具管理部２１２は機械格納情報１８０を更新する。また、工具格納部１７０の空きポットに工具が取り付けられたときには、工作機械１００は取り付け通知を工具管理装置２００に送信し、工具管理部２１２は機械格納情報１８０を更新する。工具の着脱に応じて、工具管理部２１２は工具情報１６０も更新する。 When the operator removes a tool from the tool storage section 170 of the machine tool 100, the machine tool 100 sends a removal notification to the tool management device 200, and the tool management section 212 of the tool management device 200 updates the machine storage information 180. In addition, when a tool is attached to an empty pot in the tool storage section 170, the machine tool 100 sends an attachment notification to the tool management device 200, and the tool management section 212 updates the machine storage information 180. In response to the attachment and detachment of a tool, the tool management section 212 also updates the tool information 160.
　工作機械１００の工具格納部１７０から、加工者が軽工具を取り出したときには、加工者は固定台に軽工具を格納する。一方、加工者が工具格納部１７０から重工具を取り出したときには、加工者は移動台に重工具を格納する。 When the worker removes a light tool from the tool storage section 170 of the machine tool 100, the worker stores the light tool on the fixed table. On the other hand, when the worker removes a heavy tool from the tool storage section 170, the worker stores the heavy tool on the movable table.
　図８は、台格納情報１９０のデータ構造図および工具台１０６の外観図である。
　台格納情報１９０は、固定台についてのみ用意される。移動台については、台格納情報１９０は用意されない。工具台１０６は、キャスター１９４を備え、移動可能に構成される。固定台では、キャスター１９４は固定される。工具台１０６の天井面には複数のポット１９２が形成される。作業者は、ポット１９２にホルダおよびシャンクが付いた状態にて工具を格納できる。工具台１０６には電気的な機構はない。上述したように、固定台には機械側電子装置１２０または交換側電子装置１２２が対応づけられる。 FIG. 8 is a data structure diagram of the table storage information 190 and an external view of the tool table 106. As shown in FIG.
The table storage information 190 is prepared only for the fixed table. The table storage information 190 is not prepared for the movable table. The tool table 106 is provided with casters 194 and is configured to be movable. In the fixed table, the casters 194 are fixed. A plurality of pots 192 are formed on the ceiling surface of the tool table 106. An operator can store a tool with a holder and a shank attached in the pot 192. The tool table 106 does not have an electrical mechanism. As described above, the machine side electronic device 120 or the exchange side electronic device 122 is associated with the fixed table.
　台格納情報１９０は、工具管理装置２００のデータ格納部２０６に格納される。台格納情報１９０は、工具台１０６（固定台）における工具の格納状態を示す。図８は、工具台１０６（Ｂ０１：固定台）の台格納情報１９０を示す。工具台１０６（Ｂ０１）の工具台名は「ＣＭＣ９Ｍ」である（図４参照）。 The table storage information 190 is stored in the data storage unit 206 of the tool management device 200. The table storage information 190 indicates the storage status of tools on the tool table 106 (fixed table). Figure 8 shows the table storage information 190 for the tool table 106 (B01: fixed table). The tool table name of the tool table 106 (B01) is "CMC9M" (see Figure 4).
　工具台１０６（Ｂ０１：固定台）のポット１９２（Ｐ０２）には、工具（Ｔ０６）が格納されている（図５参照）。一方、工具台１０６（Ｂ０１）のポット１９２（Ｐ０１）は空きポットである。 A tool (T06) is stored in pot 192 (P02) on tool stand 106 (B01: fixed stand) (see FIG. 5). On the other hand, pot 192 (P01) on tool stand 106 (B01) is an empty pot.
　作業者が工具台１０６（Ｂ０１）に工具を取り付けるとき、工具管理部２１２は台格納情報１９０を参照し、指示部２１４は取り付け先となる空きポットを作業者に指示する。取り付け指示の後、工具管理部２１２は台格納情報１９０を更新する（後述）。また、自動搬送機１１６などが工具台１０６（Ｂ０１）から工具を取り出すときにも、工具管理装置２００は台格納情報１９０を更新する。 When a worker attaches a tool to the tool stand 106 (B01), the tool management unit 212 refers to the stand storage information 190, and the instruction unit 214 instructs the worker on the empty pot to which the tool is to be attached. After the attachment instruction is given, the tool management unit 212 updates the stand storage information 190 (described later). In addition, when the automatic carrier 116 or the like removes a tool from the tool stand 106 (B01), the tool management device 200 also updates the stand storage information 190.
　なお、作業者が、移動台に重工具を取り付けるときには、作業者は移動台の任意の空きポットに重工具を取り付ける。作業者が工作機械１００から重工具を取り外したとき、重工具が交換エリア１０８に運ばれていなくても、工具管理部２１２は重工具の所在地を工作機械１００から交換エリア１０８に変更する。作業者は取り外した重工具を移動台に格納して交換エリア１０８に運ぶ。交換作業のあと、作業者が交換エリア１０８から重工具を移動台で運び、重工具を工作機械１００に取り付けるとき、工具管理部２１２は重工具の所在地を交換エリア１０８から工作機械１００に変更する。 When the worker attaches a heavy tool to the movable table, the worker attaches the heavy tool to any empty pot on the movable table. When the worker removes the heavy tool from the machine tool 100, the tool management unit 212 changes the location of the heavy tool from the machine tool 100 to the exchange area 108, even if the heavy tool has not been carried to the exchange area 108. The worker stores the removed heavy tool in the movable table and carries it to the exchange area 108. After the exchange work, when the worker carries the heavy tool from the exchange area 108 on the movable table and attaches the heavy tool to the machine tool 100, the tool management unit 212 changes the location of the heavy tool from the exchange area 108 to the machine tool 100.
　図９は、搬送機格納情報２２０のデータ構造図と自動搬送機１１６の外観図である。
　自動搬送機１１６は、作業部２３０および自走部２３２を含む。作業部２３０と自走部２３２は、図３に関連して説明した機構部１２８に対応する。自動搬送機１１６の制御部１２６は、作業部２３０および自走部２３２を制御するための電子回路およびコンピュータプログラムにより構成される。 FIG. 9 is a data structure diagram of the conveyor storage information 220 and an external view of the automatic conveyor 116. As shown in FIG.
The automated conveyor 116 includes a working unit 230 and a self-propelled unit 232. The working unit 230 and the self-propelled unit 232 correspond to the mechanism unit 128 described in relation to Fig. 3. The control unit 126 of the automated conveyor 116 is composed of an electronic circuit and a computer program for controlling the working unit 230 and the self-propelled unit 232.
　自走部２３２には、駆動輪１４４が含まれる。自走部２３２は、図示しないセンサを搭載する。移動制御部１４０は、駆動輪１４４を制御し、自動搬送機１１６を移動させる。 The self-propelled unit 232 includes drive wheels 144. The self-propelled unit 232 is equipped with a sensor (not shown). The movement control unit 140 controls the drive wheels 144 to move the automatic conveyor 116.
　作業部２３０には、工具格納部２３４が構成される。工具格納部２３４にも工具を格納するための複数のポットが形成される。作業部２３０に形成されるロボットアーム１４２の先端には、工具を掴むためのハンド２３６が形成される。ロボットアーム１４２は、工具台１０６から工具を取り出して、後方の工具格納部２３４の空きポットに取り出した工具を格納する。また、ロボットアーム１４２は、工具格納部２３４から工具を取り出して、工具台１０６の空きポットに工具を格納することもできる。 The working unit 230 is configured with a tool storage unit 234. The tool storage unit 234 also has multiple pots for storing tools. A hand 236 for grasping a tool is formed at the tip of the robot arm 142 formed in the working unit 230. The robot arm 142 takes a tool from the tool table 106 and stores it in an empty pot in the tool storage unit 234 at the rear. The robot arm 142 can also take a tool from the tool storage unit 234 and store it in an empty pot in the tool table 106.
　搬送機格納情報２２０は、工具管理装置２００のデータ格納部２０６に格納される。搬送機格納情報２２０は、自動搬送機１１６における工具の格納状態を示す。図９は、自動搬送機１１６（Ａ０１）の搬送機格納情報２２０を示す。 The transport machine storage information 220 is stored in the data storage unit 206 of the tool management device 200. The transport machine storage information 220 indicates the storage status of tools in the automatic transport machine 116. Figure 9 shows the transport machine storage information 220 of the automatic transport machine 116 (A01).
　自動搬送機１１６（Ａ０１）のポット（Ｐ０１）には、工具（Ｔ１２）が格納されている。自動搬送機１１６（Ａ０１）のポット（Ｐ０２）は空きポットになっている。自動搬送機１１６（Ａ０１）のポット（Ｐ０３）には、工具（Ｔ０７）が格納されている（図５参照）。 A tool (T12) is stored in the pot (P01) of the automatic conveyor 116 (A01). The pot (P02) of the automatic conveyor 116 (A01) is an empty pot. A tool (T07) is stored in the pot (P03) of the automatic conveyor 116 (A01) (see Figure 5).
　ロボットアーム１４２が自動搬送機１１６（Ａ０１）の工具格納部２３４に工具を格納するとき、工具管理部２１２は搬送機格納情報２２０を更新する（後述）。また、自動搬送機１１６が工具台１０６（Ｂ０１）に工具を格納するときにも、工具管理部２１２は搬送機格納情報２２０を更新する。 When the robot arm 142 stores a tool in the tool storage section 234 of the automatic carrier 116 (A01), the tool management section 212 updates the carrier storage information 220 (described later). Also, when the automatic carrier 116 stores a tool in the tool table 106 (B01), the tool management section 212 updates the carrier storage information 220.
　図１０は、搬送指示画面２４０の画面図である。
　搬送指示画面２４０は、電子装置３００、すなわち、機械側電子装置１２０または交換側電子装置１２２に表示される。ここでは、加工エリア１０２の工具台１０６（Ｂ０１：固定台）に対応づけられる機械側電子装置１２０において表示される搬送指示画面２４０を想定して説明する。 FIG. 10 is a diagram showing the transport instruction screen 240. As shown in FIG.
The transport instruction screen 240 is displayed on the electronic device 300, i.e., the machine-side electronic device 120 or the exchange-side electronic device 122. Here, the transport instruction screen 240 is assumed to be displayed on the machine-side electronic device 120 associated with the tool stand 106 (B01: fixed stand) in the processing area 102.
　電子装置３００は、台設置情報１５０（図５参照）、工具情報１６０（図６参照）、機械格納情報１８０（図７参照）、台格納情報１９０（図８参照）、搬送機格納情報２２０（図９参照）等の各種データに基づいて、搬送指示画面２４０を構成する。なお、工具管理装置２００が画面データを生成し、電子装置３００に表示させるとしてもよい。 The electronic device 300 creates the transport instruction screen 240 based on various data such as table installation information 150 (see FIG. 5), tool information 160 (see FIG. 6), machine storage information 180 (see FIG. 7), table storage information 190 (see FIG. 8), and transport machine storage information 220 (see FIG. 9). The tool management device 200 may generate screen data and display it on the electronic device 300.
　作業者が更新ボタン２４２をタッチしたとき、機械側電子装置１２０の送信部３１４は工具管理装置２００に更新要求を送信し、通信部３０４は工具管理装置２００から最新データを取得し、表示部３１２は搬送指示画面２４０を更新する。図１０の搬送指示画面２４０によれば、工具台１０６（Ｂ０１：ＣＭＣ９Ｍ）のポット１９２（Ｐ０１）に工具（Ｔ１１：軽工具）が格納されており、工具（Ｔ１１）のホルダ名は「ＨＳＫ５０」である。また、ポット１９２（Ｐ０２）には工具（Ｔ０６）が格納されている（図６、図８参照）。 When the worker touches the update button 242, the transmission unit 314 of the machine-side electronic device 120 sends an update request to the tool management device 200, the communication unit 304 obtains the latest data from the tool management device 200, and the display unit 312 updates the transport instruction screen 240. According to the transport instruction screen 240 in FIG. 10, a tool (T11: light tool) is stored in pot 192 (P01) of the tool stand 106 (B01: CMC9M), and the holder name of the tool (T11) is "HSK50". In addition, a tool (T06) is stored in pot 192 (P02) (see FIGS. 6 and 8).
　作業者は、工具を工具台１０６（Ｂ０１）に取り付けるときには、取り付けボタン２４４をタッチする。入力部３１０が取り付けボタン２４４のタッチを検出すると、表示部３１２は取付画面２５０（図１１参照）を表示させる。工具台１０６への手動による工具の取り付けについては、後述する。以下、工具台１０６等へ工具を取り付けることを「搬入」とよぶ。 When the worker attaches a tool to the tool stand 106 (B01), he touches the attachment button 244. When the input unit 310 detects that the attachment button 244 has been touched, the display unit 312 displays the attachment screen 250 (see FIG. 11). Manual attachment of a tool to the tool stand 106 will be described later. Hereinafter, attaching a tool to the tool stand 106 etc. will be referred to as "carrying in."
　作業者は、工具台１０６（Ｂ０１）から工具を取り外すときには取り外しボタン２４６をタッチする。入力部３１０が取り外しボタン２４６のタッチを検出したときに表示部３１２は取外画面（不図示）を表示させる。取外画面において、作業者は工具台１０６から取り外しの対象となる工具を格納するポットを指定する。以下、工具台１０６等から工具を取り外すことを「搬出」とよぶ。 When the worker wants to remove a tool from the tool table 106 (B01), he touches the removal button 246. When the input unit 310 detects that the removal button 246 has been touched, the display unit 312 displays a removal screen (not shown). On the removal screen, the worker specifies a pot in which to store the tool to be removed from the tool table 106. Hereinafter, removing a tool from the tool table 106 etc. is referred to as "transporting out."
　工具台１０６に格納される軽工具を別の工具台１０６に搬送したいときには、作業者は搬送ボタン２４８をタッチする。たとえば、工具台１０６（Ｂ０１）のポット１９２（Ｐ０１）に格納される工具（Ｔ１１：軽工具）を、交換エリア１０８にある工具台１０６（Ｂ２２）のポット１９２（Ｐ０５）に搬送したいときには、作業者は工具（Ｔ１１）に対応する行について「搬送先」欄にて「Ｂ２２」、「搬送先ポット」欄にて「Ｐ０５」を選択した上で搬送ボタン２４８をタッチする。なお「搬送先ポット」欄の入力は任意である。後述するように、工具管理部２１２が工具台１０６（Ｂ２２）の空きポットから搬送先となるポットを選択してもよい。 When a light tool stored in a tool table 106 is to be transported to another tool table 106, the worker touches the transport button 248. For example, when a tool (T11: light tool) stored in pot 192 (P01) of tool table 106 (B01) is to be transported to pot 192 (P05) of tool table 106 (B22) in the exchange area 108, the worker selects "B22" in the "Destination" column and "P05" in the "Destination pot" column for the row corresponding to the tool (T11), and then touches the transport button 248. Note that input in the "Destination pot" column is optional. As described below, the tool management unit 212 may select the destination pot from among the empty pots in the tool table 106 (B22).
　搬送ボタン２４８がタッチされると、機械側電子装置１２０から工具管理装置２００に搬送要求が送信される。搬送要求には、搬送元の台ＩＤおよびポット番号、搬送対象となる工具の工具ＩＤ、搬送先の台ＩＤおよびポット番号が含まれる。工具管理装置２００は搬送制御装置１２４を介して自動搬送機１１６に工具（Ｔ１１）の搬送を指示する。ここでは、自動搬送機１１６（Ａ０１）が選ばれたとする。 When the transport button 248 is touched, a transport request is sent from the machine-side electronic device 120 to the tool management device 200. The transport request includes the table ID and pot number of the source, the tool ID of the tool to be transported, and the table ID and pot number of the destination. The tool management device 200 instructs the automatic transport machine 116 to transport the tool (T11) via the transport control device 124. Here, it is assumed that the automatic transport machine 116 (A01) has been selected.
　機械側電子装置１２０の表示部３１２は、たとえば、工具（Ｔ１１）が搬出対象として選択されたときには、搬送要求の送信前または送信後に、搬送指示画面２４０における工具（Ｔ１１）の行を削除する。このため、作業者は搬出指示済みの工具（Ｔ１１）が実際に搬出される前に、工具（Ｔ１１）を再度搬出対象として選択することがなくなる。いいかえれば、ある工具についていったん搬出指示がなされたあと、同じ工具に対して二重に搬出指示がなされるという不都合が生じないように考慮されている。 For example, when a tool (T11) is selected as the tool to be removed, the display unit 312 of the machine-side electronic device 120 deletes the row for the tool (T11) on the transport instruction screen 240 before or after the transport request is sent. This prevents the worker from selecting the tool (T11) again as the tool to be removed before the tool (T11) for which a transport instruction has already been issued is actually removed. In other words, consideration is given to preventing the inconvenience of a duplicate transport instruction being issued for the same tool after a transport instruction has been issued for a certain tool.
　搬送指示を受けた自動搬送機１１６（Ａ０１）は、工具台１０６（Ｂ０１）から工具（Ｔ１１）を搬出し、工具（Ｔ１１）を自装置の工具格納部２３４に格納したあと、搬送先である工具台１０６（Ｂ２２）の近くまで移動し、工具台１０６（Ｂ２２）のポット１９２（Ｐ０５）に工具（Ｔ１１）を搬入する。
　交換側電子装置１２２に表示される搬送指示画面２４０についても、操作方法は同じである。 Upon receiving the transport instruction, the automatic transport machine 116 (A01) removes the tool (T11) from the tool table 106 (B01), stores the tool (T11) in the tool storage section 234 of its own device, and then moves close to the tool table 106 (B22) to which the tool is to be transported, and transports the tool (T11) into the pot 192 (P05) of the tool table 106 (B22).
The transport instruction screen 240 displayed on the switching side electronic device 122 can be operated in the same manner.
　図１１は、取付画面２５０の画面図である。
　上述したように、作業者は工具を工具台１０６（Ｂ０１）の空いているポット１９２に格納したいときには、取付画面２５０を表示させる。図１１は、作業者が工具台１０６（ＣＭＣ９Ｍ：Ｂ０１）のポット１９２（Ｐ０９）に工具（Ｔ１８）を搬入するときの入力状態を示す。作業者は、工具（Ｔ１８）を持参して、工具台１０６（Ｂ０１）の空いているポット１９２（Ｐ０９）に工具（Ｔ１８）を搬入した後、ＯＫボタン２５２をタッチする。このとき、機械側電子装置１２０から工具管理装置２００に工具の取り付け通知が送信される。取り付け通知には、台ＩＤ、工具ＩＤおよびポット番号が含まれる。工具管理装置２００の指示部２１４は、取り付け通知にしたがって台格納情報１９０等の各種データを更新する。
　なお、キャンセルボタン２５４がタッチされたときには取り付け通知は送信されない。 FIG. 11 is a screen diagram of the installation screen 250.
As described above, when the worker wants to store a tool in an empty pot 192 on the tool table 106 (B01), the installation screen 250 is displayed. FIG. 11 shows an input state when the worker carries the tool (T18) into the pot 192 (P09) on the tool table 106 (CMC9M:B01). The worker brings the tool (T18) and carries the tool (T18) into the empty pot 192 (P09) on the tool table 106 (B01), and then touches the OK button 252. At this time, a tool installation notification is sent from the machine side electronic device 120 to the tool management device 200. The installation notification includes the table ID, the tool ID, and the pot number. The instruction unit 214 of the tool management device 200 updates various data such as the table storage information 190 according to the installation notification.
When the cancel button 254 is touched, the attachment notification is not sent.
　図１２は、工作機械１００から工具を取り外して、そばにある工具台１０６にこの工具を搬入するときの処理過程を示すシーケンス図である。
　加工者は、まず、検査・交換対象となる工具を工作機械１００から取り外す（Ｓ１０）。加工者は、工作機械１００の工具保持部から工具を取り外してもよいし、工具格納部１７０から工具を取り外してもよい。工作機械１００は、工具の取り外しを検出したとき、取り外し通知を工具管理装置２００に送信する（Ｓ１２）。工具管理装置２００の受信部２１０は、取り外し通知を受信する。
　ここでは工作機械１００（ＭＣ１）のポット１７２（Ｐ０１）から工具（Ｔ０１：軽工具）を取り外す場合を想定して説明する（図７参照）。 FIG. 12 is a sequence diagram showing the process of removing a tool from machine tool 100 and loading this tool onto a nearby tool stand 106.
First, the operator removes the tool to be inspected and replaced from the machine tool 100 (S10). The operator may remove the tool from the tool holding unit of the machine tool 100, or may remove the tool from the tool storage unit 170. When the machine tool 100 detects the removal of the tool, it transmits a removal notification to the tool management device 200 (S12). The receiving unit 210 of the tool management device 200 receives the removal notification.
Here, a case will be described assuming that a tool (T01: light tool) is removed from a pot 172 (P01) of a machine tool 100 (MC1) (see FIG. 7).
　工具管理部２１２は、取り外し通知にしたがって機械格納情報１８０等のデータを更新する（Ｓ１４）。具体的には、工作機械１００（ＭＣ１）の機械格納情報１８０について、工具（Ｔ０１）が格納されていたポット１７２（Ｐ０１）を空きポットに変更する。次に、工具管理部２１２は、工具情報１６０を参照して、工具（Ｔ０１）が軽工具であることを特定する。２１２は、台設置情報１５０を参照し、工作機械１００（ＭＣ１）に対応づけられている固定台である工具台１０６（Ｂ０１）を特定し、台格納情報１９０に基づいて工具台１０６（Ｂ０１）の空きポットを探す。ここでは、工具管理部２１２は工具台１０６（Ｂ０１）のポット１９２（Ｐ０３）を選んだとする。工具管理部２１２は、台格納情報１９０を更新し、工具台１０６（Ｂ０１）のポット１９２（Ｐ０３）に工具（Ｔ０１）をあらかじめ設定しておく。 The tool management unit 212 updates data such as the machine storage information 180 in accordance with the removal notification (S14). Specifically, for the machine storage information 180 of the machine tool 100 (MC1), the pot 172 (P01) in which the tool (T01) was stored is changed to an empty pot. Next, the tool management unit 212 refers to the tool information 160 to identify that the tool (T01) is a light tool. 212 refers to the table installation information 150 to identify the tool table 106 (B01), which is a fixed table associated with the machine tool 100 (MC1), and searches for an empty pot on the tool table 106 (B01) based on the table storage information 190. Here, it is assumed that the tool management unit 212 has selected the pot 192 (P03) on the tool table 106 (B01). The tool management unit 212 updates the table storage information 190 and pre-sets the tool (T01) in the pot 192 (P03) on the tool table 106 (B01).
　工具（Ｔ０１）を取り外した作業者は、機械側電子装置１２０の搬送指示画面２４０において更新ボタン２４２をタッチする。このとき、機械側電子装置１２０の受信部３１６は工具管理装置２００に更新要求を送信する（Ｓ１６）。指示部２１４は、工具台１０６（Ｂ０１）のポット１９２（Ｐ０３）を工具（Ｔ０１）の格納先として機械側電子装置１２０に指示する。このとき、送信部２０８は台ＩＤ（Ｂ０１）およびポット番号（Ｐ０３）を含む指示を送信する（Ｓ１８）。機械側電子装置１２０の受信部３１６は指示を受信し、表示部３１２は工具台１０６（Ｂ０１）のポット（Ｐ０３）に工具（Ｔ０１）が取り付けられたことを示すように搬送指示画面２４０を更新する。 The worker who has removed the tool (T01) touches the update button 242 on the transport instruction screen 240 of the machine-side electronic device 120. At this time, the receiving unit 316 of the machine-side electronic device 120 sends an update request to the tool management device 200 (S16). The instruction unit 214 instructs the machine-side electronic device 120 to store the tool (T01) in the pot 192 (P03) on the tool stand 106 (B01). At this time, the sending unit 208 sends an instruction including the stand ID (B01) and pot number (P03) (S18). The receiving unit 316 of the machine-side electronic device 120 receives the instruction, and the display unit 312 updates the transport instruction screen 240 to indicate that the tool (T01) has been attached to the pot (P03) on the tool stand 106 (B01).
　作業者は、指示にしたがって、工具（Ｔ０１）を工具台１０６（Ｂ０１）のポット１９２（Ｐ０３）に取り付ける（Ｓ２０）。表示部３１２は、工具（Ｔ０１）の取り付け完了後に搬送指示画面２４０を更新するとしてもよい。 The worker follows the instructions and attaches the tool (T01) to the pot 192 (P03) on the tool stand 106 (B01) (S20). The display unit 312 may update the transport instruction screen 240 after the attachment of the tool (T01) is complete.
　以上のように、加工者は工作機械１００（ＭＣ１）から工具（Ｔ０１：軽工具）を取り外したときには、工作機械１００（ＭＣ１）のそばにある機械側電子装置１２０においてこの工具（Ｔ０１：軽工具）の搬入先となる工具台１０６と空きポットを指示される。加工者は工具（Ｔ０１）を指定された格納場所に搬入する。この処理過程において、工具管理装置２００は、工具情報１６０、機械格納情報１８０、台格納情報１９０等の各種データを更新し、工具（Ｔ０１）の所在位置を追跡管理する。 As described above, when the processor removes the tool (T01: light tool) from the machine tool 100 (MC1), the machine side electronic device 120 located near the machine tool 100 (MC1) instructs the tool table 106 and empty pot to which the tool (T01: light tool) should be transferred. The processor transfers the tool (T01) to the specified storage location. During this process, the tool management device 200 updates various data such as the tool information 160, machine storage information 180, and table storage information 190, and tracks and manages the location of the tool (T01).
　一方、工作機械１００（ＭＣ１）のポット１７２（Ｐ１０）から工具（Ｔ１５：重工具）を取り外した場合も、工作機械１００は取り外し通知を工具管理装置２００に送信する。工具管理装置２００は、工具情報１６０を参照し、工具（Ｔ１５）が重工具であると判定する。このとき、工具管理装置２００の工具管理部２１２は、工具情報１６０を更新し、工具（Ｔ１５：重工具）の所在地を工作機械１００（ＭＣ１）から「交換中（交換エリア１０８）」に変更する。加工者は、工具（Ｔ１５：重工具）を移動台に格納する。 On the other hand, when a tool (T15: heavy tool) is removed from pot 172 (P10) of machine tool 100 (MC1), machine tool 100 also sends a removal notification to tool management device 200. Tool management device 200 refers to tool information 160 and determines that tool (T15) is a heavy tool. At this time, tool management section 212 of tool management device 200 updates tool information 160 and changes the location of tool (T15: heavy tool) from machine tool 100 (MC1) to "Replacing (replacement area 108)". The operator stores tool (T15: heavy tool) on the mobile table.
　図１３は、工具台１０６にある軽工具を自動搬送機１１６に搬送させるときの処理過程を示すシーケンス図である。
　次に、工具台１０６（Ｂ０１）に格納された工具（Ｔ０１：軽工具）を、別の工具台１０６（Ｂ２２）に搬送する場合を想定して説明する。まず、工具台１０６（Ｂ０１）に対応づけられる機械側電子装置１２０において、加工者は搬送先となる工具台１０６（Ｂ２２）を指定して搬送ボタン２４８をタッチする。このとき、機械側電子装置１２０は、搬送元の工具台１０６の台ＩＤ（Ｂ０１）とポット番号（Ｐ０３）、搬送対象となる工具（Ｔ０１）、搬送先の工具台１０６の台ＩＤ（Ｂ２２）を含む搬送要求を工具管理装置２００に送信する（Ｓ３０）。
　上述したように、このとき、機械側電子装置１２０の表示部３１２は搬送指示画面２４０から工具（Ｔ０１）に対応する行を削除する。 FIG. 13 is a sequence diagram showing the process of transporting a light tool on the tool stand 106 by the automatic transporter 116. In FIG.
Next, a case will be described assuming that a tool (T01: light tool) stored in a tool stand 106 (B01) is transported to another tool stand 106 (B22). First, in the machine-side electronic device 120 associated with the tool stand 106 (B01), the worker designates the tool stand 106 (B22) to be the transport destination and touches the transport button 248. At this time, the machine-side electronic device 120 transmits a transport request including the stand ID (B01) and pot number (P03) of the tool stand 106 from which the tool is to be transported, the tool (T01) to be transported, and the stand ID (B22) of the tool stand 106 to which the tool is to be transported to the tool management device 200 (S30).
As described above, at this time, the display unit 312 of the machine-side electronic device 120 deletes the line corresponding to the tool (T01) from the transport instruction screen 240.
　工具管理装置２００は、機械側電子装置１２０から搬送要求を受信し、搬送制御装置１２４に搬送指示を送信する（Ｓ３４）。工具管理装置２００から搬送制御装置１２４に送信される搬送指示の詳細は次の図１４に関連して説明する。このとき、工具管理部２１２は、搬送先となる工具台１０６（Ｂ２２）の空きポットから、工具（Ｔ０１）の搬入先となるポット１９２を選ぶ。ここでは、工具台１０６（Ｂ２２）のポット１９２（Ｐ１０）が選ばれたとする。 The tool management device 200 receives a transport request from the machine-side electronic device 120 and transmits a transport instruction to the transport control device 124 (S34). Details of the transport instruction transmitted from the tool management device 200 to the transport control device 124 will be explained in relation to the following FIG. 14. At this time, the tool management unit 212 selects a pot 192 to which the tool (T01) is to be transported from among the empty pots on the tool table 106 (B22) to which the tool is to be transported. Here, it is assumed that pot 192 (P10) on the tool table 106 (B22) has been selected.
　搬送制御装置１２４は、工具（Ｔ０１）を搬送すべき自動搬送機１１６を選ぶ。自動搬送機１１６の選び方は任意であるが、搬送制御装置１２４は、移動中ではない自動搬送機１１６を優先的に選んでもよい。搬送制御装置１２４は、自動搬送機１１６（Ａ０１）を選んだとして説明を続ける。 The transport control device 124 selects an automatic transport machine 116 that should transport the tool (T01). The method of selecting the automatic transport machine 116 is arbitrary, but the transport control device 124 may preferentially select an automatic transport machine 116 that is not moving. The explanation will continue assuming that the transport control device 124 selects the automatic transport machine 116 (A01).
　搬送制御装置１２４は、工具（Ｔ０１）の搬送を自動搬送機１１６（Ａ０１）に指示する（Ｓ３６）。このときの搬送指示には、工具（Ｔ０１）、搬出元である工具台１０６（Ｂ０１）の台ＩＤとポット番号、搬出先である工具台１０６（Ｂ２２）の台ＩＤとポット番号などが含まれる。 The transport control device 124 instructs the automatic transport machine 116 (A01) to transport the tool (T01) (S36). The transport instruction at this time includes the tool (T01), the table ID and pot number of the tool table 106 (B01) from which the tool is to be transported, and the table ID and pot number of the tool table 106 (B22) to which the tool is to be transported.
　自動搬送機１１６（Ａ０１）は、搬送制御装置１２４から搬送指示を受信する。自動搬送機１１６（Ａ０１）は工具台１０６（Ｂ０１）に向けて移動し、ロボットアーム１４２により工具台１０６（Ｂ０１）のポット１９２（Ｐ０３）から工具（Ｔ０１）を搬出する（Ｓ３８）。 The automatic carrier 116 (A01) receives a carrier instruction from the carrier control device 124. The automatic carrier 116 (A01) moves toward the tool stand 106 (B01) and transports the tool (T01) from the pot 192 (P03) on the tool stand 106 (B01) by the robot arm 142 (S38).
　自動搬送機１１６（Ａ０１）は、工具（Ｔ０１）を搬出して自装置の工具格納部２３４に格納し、搬出通知を搬送制御装置１２４に送信する（Ｓ４０）。搬出通知には、搬送機ＩＤ（Ａ０１）とともに工具格納部２３４において工具（Ｔ０１）を搬入したポットのポット番号が含まれる。ここでは自動搬送機１１６（Ａ０１）は工具格納部２３４のポット（Ｐ０４）に工具（Ｔ０１）を格納したとする。搬送制御装置１２４は、搬出指示を更に工具管理装置２００に送信する（Ｓ４２）。工具管理部２１２は、搬出指示を受信したとき、工具（Ｔ０１）の所在地を工具台１０６（Ｂ０１：Ｐ０３）から自動搬送機１１６（Ａ０１：Ｐ０４）に変更するように、工具情報１６０、台格納情報１９０および搬送機格納情報２２０のデータを更新する（Ｓ４４）。 The automatic conveyor 116 (A01) removes the tool (T01) and stores it in the tool storage unit 234 of its own device, and transmits a notification of removal to the conveyor control device 124 (S40). The notification of removal includes the conveyor ID (A01) and the pot number of the pot in the tool storage unit 234 into which the tool (T01) was removed. Here, it is assumed that the automatic conveyor 116 (A01) stores the tool (T01) in the pot (P04) of the tool storage unit 234. The conveyor control device 124 further transmits a removal instruction to the tool management device 200 (S42). When the tool management unit 212 receives the removal instruction, it updates the data of the tool information 160, table storage information 190, and conveyor storage information 220 so as to change the location of the tool (T01) from the tool table 106 (B01: P03) to the automatic conveyor 116 (A01: P04) (S44).
　続いて、搬送制御装置１２４は、自動搬送機１１６（Ａ０１）に工具（Ｔ０１）の搬送先である工具台１０６（Ｂ２２）の位置番号または位置座標を含む移動指示を送信する（Ｓ４６）。この移動指示に基づいて、自動搬送機１１６（Ａ０１）は工具（Ｔ０１）を工具台１０６（Ｂ２２）に向けて運搬する。 Then, the transport control device 124 transmits a movement instruction to the automatic transport machine 116 (A01) including the position number or position coordinates of the tool table 106 (B22) to which the tool (T01) is to be transported (S46). Based on this movement instruction, the automatic transport machine 116 (A01) transports the tool (T01) toward the tool table 106 (B22).
　図１４は、搬送指示情報２６０のデータ構造図である。
　搬送指示情報２６０は、工具管理装置２００から搬送制御装置１２４に送信される（図１３のＳ３４参照）。命令ＩＤ欄２５３には、搬送指示情報２６０を識別する命令ＩＤが記載される。日時欄２５５は、搬送指示情報２６０の送信日時を示す。図１４に示す搬送指示情報２６０は、９月２７日１５時３７分に送信されている。 FIG. 14 is a data structure diagram of the transport instruction information 260. As shown in FIG.
The transport instruction information 260 is transmitted from the tool management device 200 to the transport control device 124 (see S34 in FIG. 13). The command ID column 253 describes a command ID for identifying the transport instruction information 260. The date and time column 255 indicates the transmission date and time of the transport instruction information 260. The transport instruction information 260 shown in FIG. 14 was transmitted at 15:37 on September 27th.
　搬送元欄２５６は搬送元の工具台１０６とそのポット番号、搬送先欄２５８は搬送先の工具台１０６とそのポット番号を示す。工具欄２６１は、搬送対象となる工具（Ｔ０１）の工具ＩＤを示し、ホルダ欄２６２はホルダ名を示す。ここでは、工具台１０６（Ｂ０１：Ｐ０３）から工具台１０６（Ｂ２２：Ｐ１０）に、ホルダ「ＨＳＫ－Ａ－１００」に装着されている工具（Ｔ０１）を運搬することが示されている。 The source column 256 indicates the source tool stand 106 and its pot number, and the destination column 258 indicates the destination tool stand 106 and its pot number. The tool column 261 indicates the tool ID of the tool (T01) to be transported, and the holder column 262 indicates the holder name. Here, it is shown that the tool (T01) attached to the holder "HSK-A-100" is to be transported from the tool stand 106 (B01:P03) to the tool stand 106 (B22:P10).
　なお、搬送指示情報２６０の送信後、工具管理部２１２は工具台１０６（Ｂ２２）のポット１９２（Ｐ１０）を「空きポット」から「予約ポット」に変更し、工具（Ｔ０１）以外の工具が格納されないように設定しておく。 After transmitting the transport instruction information 260, the tool management unit 212 changes the pot 192 (P10) on the tool table 106 (B22) from "empty pot" to "reserved pot" and sets it so that no tools other than the tool (T01) are stored.
　図１５は、自動搬送機１１６が軽工具を交換エリア１０８の工具台１０６に搬入するときの処理過程を示すシーケンス図である。
　続いて、自動搬送機１１６（Ａ０１：Ｐ０４）に格納された工具（Ｔ０１：軽工具）を、工具台１０６（Ｂ２２：Ｐ１０）に搬入する場面を想定して説明する。自動搬送機１１６（Ａ０１）は、搬入先の工具台１０６（Ｂ２２）の近くまで移動し、工具（Ｔ０１）を工具台１０６（Ｂ２２：Ｐ１０）に搬入する（Ｓ５０）。 FIG. 15 is a sequence diagram showing the process when the automatic carrier 116 carries a light tool onto the tool stand 106 in the exchange area 108.
Next, a description will be given assuming a scene in which a tool (T01: light tool) stored in the automatic carrier 116 (A01: P04) is carried into the tool stand 106 (B22: P10). The automatic carrier 116 (A01) moves close to the destination tool stand 106 (B22) and carries the tool (T01) into the tool stand 106 (B22: P10) (S50).
　自動搬送機１１６（Ａ０１）は、工具（Ｔ０１）を工具台１０６（Ｂ２２：Ｐ１０）に搬入したことを示す搬入通知を搬送制御装置１２４に送信する（Ｓ５２）。搬送制御装置１２４は、更に、搬入通知を工具管理装置２００に転送する（Ｓ５４）。工具管理部２１２は、搬入通知にしたがって、工具（Ｔ０１）の所在地を自動搬送機１１６（Ａ０２：Ｐ０４）から工具台１０６（Ｂ２２：Ｐ１０）となるようにデータを更新する（Ｓ５６）。 The automatic carrier 116 (A01) sends a delivery notification to the carrier control device 124 indicating that the tool (T01) has been delivered to the tool stand 106 (B22: P10) (S52). The carrier control device 124 further transfers the delivery notification to the tool management device 200 (S54). In accordance with the delivery notification, the tool management unit 212 updates the data so that the location of the tool (T01) is changed from the automatic carrier 116 (A02: P04) to the tool stand 106 (B22: P10) (S56).
　次に、工具台１０６（Ｂ２２：Ｐ１０）に取り付けられた工具（Ｔ０１）を工具計測装置１１０において検査し、交換作業台１１２においてシャンクから工具（Ｔ０１）を取り外して新しい工具（Ｔ０１）と交換する場面を想定して説明する。 Next, we will explain a scenario in which a tool (T01) attached to the tool table 106 (B22: P10) is inspected by the tool measuring device 110, and the tool (T01) is removed from the shank on the replacement work table 112 and replaced with a new tool (T01).
　交換者は、工具台１０６（Ｂ２２：Ｐ１０）から工具（Ｔ０１）を手動にて取り外す（Ｓ５８）。このとき、交換者は、工具台１０６（Ｂ２２）に対応づけられる交換側電子装置１２２を操作して取り外しを入力する。交換側電子装置１２２の送信部３１４は取り外し通知を工具管理装置２００に送信する（Ｓ６０）。取り外し通知には、工具台１０６（Ｂ２２）の台ＩＤおよびポット番号、取り外された工具（Ｔ０１）の工具ＩＤが含まれる。工具管理部２１２は、工具（Ｔ０１）の所在地を「交換中」に変更する。交換者は、取り外した工具（Ｔ０１）を工具計測装置１１０に運んで検査を行い、必要に応じて交換作業台１１２で交換する。 The replacement person manually removes the tool (T01) from the tool table 106 (B22:P10) (S58). At this time, the replacement person operates the replacement side electronic device 122 associated with the tool table 106 (B22) to input the removal. The transmission unit 314 of the replacement side electronic device 122 transmits a removal notification to the tool management device 200 (S60). The removal notification includes the table ID and pot number of the tool table 106 (B22) and the tool ID of the removed tool (T01). The tool management unit 212 changes the location of the tool (T01) to "replacement in progress". The replacement person transports the removed tool (T01) to the tool measurement device 110 for inspection, and replaces it at the replacement work table 112 if necessary.
　工具（Ｔ０１）の検査および交換のあと、交換者は工具（Ｔ０１）を交換エリア１０８にあるいずれかの工具台１０６に取り付ける（Ｓ６４）。工具（Ｔ０１）の取り付けに際しては、指示部２１４はあらかじめ取り付け先となる工具台１０６およびポット１９２（空きポット）を交換者に指示しておく。ここでは、工具台１０６（Ｂ２３）のポット１９２（Ｐ０４）が搬入先として指定されたとする。 After inspecting and replacing the tool (T01), the replacer attaches the tool (T01) to one of the tool tables 106 in the replacement area 108 (S64). When attaching the tool (T01), the instruction unit 214 instructs the replacer in advance of the tool table 106 and pot 192 (empty pot) to which the tool (T01) will be attached. Here, it is assumed that pot 192 (P04) on the tool table 106 (B23) has been specified as the destination.
　工具（Ｔ０１）を工具台１０６（Ｂ２３：Ｐ０４）に取り付けた後、作業者は交換側電子装置１２２を操作して工具（Ｔ０１）の取り付けを入力する。交換側電子装置１２２の送信部３１４は取り付け通知を工具管理装置２００に送信する（Ｓ６６）。工具管理部２１２は、取り付け通知を受信したあと、工具（Ｔ０１）の所在地を工具台１０６（Ｂ２３：Ｐ０４）に変更する（Ｓ６８）。 After attaching the tool (T01) to the tool stand 106 (B23: P04), the worker operates the replacement electronic device 122 to input the attachment of the tool (T01). The transmission unit 314 of the replacement electronic device 122 transmits an attachment notification to the tool management device 200 (S66). After receiving the attachment notification, the tool management unit 212 changes the location of the tool (T01) to the tool stand 106 (B23: P04) (S68).
　重工具の場合には、作業者は工具台１０６（移動台）にて重工具を加工エリア１０２から交換エリア１０８に運ぶ。ここでは、加工エリア１０２ａにある工具台１０６（Ｂ０２：移動台）により、工具（Ｔ０５：重工具）を交換エリア１０８へ運ぶ場合を想定して説明する。 In the case of heavy tools, the worker carries the heavy tool from the processing area 102 to the exchange area 108 on the tool stand 106 (mobile stand). Here, we will explain the case where a tool (T05: heavy tool) is carried to the exchange area 108 on the tool stand 106 (B02: mobile stand) in the processing area 102a.
　加工者が、工具（Ｔ０５：重工具）を工作機械１００から取り外したとき、工作機械１００は工具（Ｔ０５）の取り外し通知を工具管理装置２００に送信し、工具管理部２１２は工具（Ｔ０５：重工具）の所在地を交換エリア１０８に設定する。加工者は、工具（Ｔ０５：重工具）を工具台１０６（Ｂ０２：移動台）のポットに格納し、工具台１０６（Ｂ０２：移動台）を交換エリア１０８に運ぶ。 When the processor removes the tool (T05: heavy tool) from the machine tool 100, the machine tool 100 sends a removal notification of the tool (T05) to the tool management device 200, and the tool management unit 212 sets the location of the tool (T05: heavy tool) to the exchange area 108. The processor stores the tool (T05: heavy tool) in a pot on the tool table 106 (B02: mobile table) and carries the tool table 106 (B02: mobile table) to the exchange area 108.
　交換者は、工具台（Ｂ０２：移動台）から工具（Ｔ０５：重工具）を手動にて取り外す。このとき、交換者は、交換側電子装置１２２を操作して取り外しを入力する。交換側電子装置１２２は取り外し通知を工具管理装置２００に送信する。このとき、交換者は検査後に工具（Ｔ０５：重工具）を取り付けるべき工作機械１００のマシンＩＤを交換側電子装置１２２において入力する。工具管理部２１２は、工具情報１６０を更新し、工具（Ｔ０５：重工具）の所在地を交換エリア１０８から工作機械１００に変更する。交換者は、取り外した工具（Ｔ０５）を工具計測装置１１０に運んで検査を行い、必要に応じて交換作業台１１２で交換する。 The exchanger manually removes the tool (T05: heavy tool) from the tool table (B02: mobile table). At this time, the exchanger operates the exchange side electronic device 122 to input the removal. The exchange side electronic device 122 sends a removal notification to the tool management device 200. At this time, the exchanger inputs in the exchange side electronic device 122 the machine ID of the machine tool 100 to which the tool (T05: heavy tool) should be attached after inspection. The tool management unit 212 updates the tool information 160 and changes the location of the tool (T05: heavy tool) from the exchange area 108 to the machine tool 100. The exchanger transports the removed tool (T05) to the tool measurement device 110 for inspection, and replaces it on the exchange work table 112 if necessary.
　工具（Ｔ０５）の検査および交換のあと、交換者は工具（Ｔ０５：重工具）を交換エリア１０８にある元の工具台１０６（Ｂ０２：移動台）に取り付ける。工具（Ｔ０５）を工具台１０６（Ｂ２２）に取り付けた後、工具台１０６（Ｂ２２）を搬入先となる工作機械１００の加工エリア１０２に運ぶ。 After inspecting and replacing the tool (T05), the person replacing the tool attaches the tool (T05: heavy tool) to the original tool stand 106 (B02: mobile stand) in the replacement area 108. After attaching the tool (T05) to the tool stand 106 (B22), the person carries the tool stand 106 (B22) to the machining area 102 of the machine tool 100, which is the destination.
　図１６は、自動搬送機１１６が軽工具を加工エリア１０２に搬送するときの処理過程を示すシーケンス図である。
　工具台１０６（Ｂ２３：Ｐ０４）に格納された工具（Ｔ０１：軽工具）を工具台１０６（Ｂ０３）のポット１９２（Ｐ０３）に運ぶ場面を想定して説明する。まず、交換者は工具台１０６（Ｂ２３）に対応づけられる交換側電子装置１２２において、工具（Ｔ０１）を工具台１０６（Ｂ２３：Ｐ０４）から工具台１０６（Ｂ０３）へ搬送するように指示する（Ｓ７０）。交換側電子装置１２２の送信部３１４は、工具ＩＤ、搬送先の工具台１０６の台ＩＤ、搬送元の工具台１０６の台ＩＤ等を含む搬送要求を工具管理装置２００に送信する（Ｓ７２）。 FIG. 16 is a sequence diagram showing the process when the automatic carrier 116 transports a light tool to the machining area 102.
The following description is based on the assumption that a tool (T01: light tool) stored on the tool stand 106 (B23: P04) is to be transported to a pot 192 (P03) on the tool stand 106 (B03). First, the exchanger issues an instruction to the exchange side electronic device 122 associated with the tool stand 106 (B23) to transport the tool (T01) from the tool stand 106 (B23: P04) to the tool stand 106 (B03) (S70). The transmission unit 314 of the exchange side electronic device 122 transmits a transport request including the tool ID, the stand ID of the tool stand 106 as the transport destination, the stand ID of the tool stand 106 as the transport source, etc. to the tool management device 200 (S72).
　工具管理装置２００は、工具（Ｔ０１）の搬送指示を搬送制御装置１２４に送信する（Ｓ７４）。搬送制御装置１２４は、更に、複数の自動搬送機１１６から工具（Ｔ０１）を搬送すべき自動搬送機１１６に搬送指示を送信する（Ｓ７６）。ここでは、自動搬送機１１６（Ａ０３）が選ばれたとする。 The tool management device 200 transmits a transport instruction for the tool (T01) to the transport control device 124 (S74). The transport control device 124 further transmits a transport instruction to the automatic transport device 116 that should transport the tool (T01) from among the multiple automatic transport devices 116 (S76). Here, it is assumed that the automatic transport device 116 (A03) is selected.
　自動搬送機１１６（Ａ０３）は、搬送元の工具台１０６（Ｂ２３）の近くに移動し、指定された工具（Ｔ０１）を工具台１０６（Ｂ２３：Ｐ０４）から搬出する（Ｓ７８）。自動搬送機１１６（Ａ０３）は、工具台１０６（Ｂ２３）から工具（Ｔ０１）を取り出して工具格納部２３４の空きポットに格納し、搬出通知を搬送制御装置１２４に送信する（Ｓ８０）。 The automatic transport machine 116 (A03) moves close to the tool stand 106 (B23) from which the tool was transported, and transports the specified tool (T01) from the tool stand 106 (B23: P04) (S78). The automatic transport machine 116 (A03) takes out the tool (T01) from the tool stand 106 (B23) and stores it in an empty pot in the tool storage section 234, and sends a transport notification to the transport control device 124 (S80).
　搬送制御装置１２４は、更に、搬出通知を工具管理装置２００に送信する（Ｓ８２）。工具管理部２１２は、工具（Ｔ０１）の所在地を工具台１０６（Ｂ２３）から自動搬送機１１６（Ａ０３）に変更する（Ｓ８４）。搬送制御装置１２４は、自動搬送機１１６（Ａ０３）に工具台１０６（Ｂ０３）へ移動するように指示する（Ｓ８６）。 The transport control device 124 further transmits a removal notification to the tool management device 200 (S82). The tool management unit 212 changes the location of the tool (T01) from the tool stand 106 (B23) to the automatic transport machine 116 (A03) (S84). The transport control device 124 instructs the automatic transport machine 116 (A03) to move to the tool stand 106 (B03) (S86).
　図１７は、加工エリア１０２の工具台１０６に軽工具を搬入したあと、工作機械１００に取り付ける処理過程を示すシーケンス図である。
　自動搬送機１１６（Ａ０３）は、工具（Ｔ０１：軽工具）を工具台１０６（Ｂ０３：Ｐ０３）に搬入する（Ｓ９０）。自動搬送機１１６（Ａ０３）は搬入通知を搬送制御装置１２４に送信する（Ｓ９３）。搬送制御装置１２４は、更に、搬入通知を工具管理装置２００に送信する（Ｓ９４）。工具管理装置２００は、工具（Ｔ０１）の所在地を自動搬送機１１６（Ａ０３）から工具台１０６（Ｂ０３）に変更する（Ｓ９６）。 FIG. 17 is a sequence diagram showing the process of attaching a light tool to the machine tool 100 after it has been carried into the tool stand 106 in the machining area 102.
The automatic carrier 116 (A03) carries the tool (T01: light tool) into the tool stand 106 (B03: P03) (S90). The automatic carrier 116 (A03) transmits a carry-in notification to the carrier control device 124 (S93). The carrier control device 124 further transmits the carry-in notification to the tool management device 200 (S94). The tool management device 200 changes the location of the tool (T01) from the automatic carrier 116 (A03) to the tool stand 106 (B03) (S96).
　次に、加工者は工具台１０６（Ｂ０３：Ｐ０３）に格納された工具（Ｔ０１）を取り外す（Ｓ９８）。このとき、工具台１０６（Ｂ０３）に対応づけられる機械側電子装置１２０において、加工者は取り外しと、工作機械１００への取り付けを入力する。機械側電子装置１２０は、工具管理装置２００に取り外し通知を送信する（Ｓ１００）。工具管理部２１２は、工具（Ｔ０１）の所在地を工具台１０６（Ｂ０３）から工作機械１００に変更する（Ｓ１０２）。 Next, the processor removes the tool (T01) stored on the tool stand 106 (B03:P03) (S98). At this time, the processor inputs removal and attachment to the machine tool 100 in the machine side electronic device 120 associated with the tool stand 106 (B03). The machine side electronic device 120 sends a removal notification to the tool management device 200 (S100). The tool management unit 212 changes the location of the tool (T01) from the tool stand 106 (B03) to the machine tool 100 (S102).
　加工者は、工作機械１００に工具（Ｔ０１）を取り付ける（Ｓ１０４）。取り付け後、工作機械１００は取り付け通知を工具管理装置２００に送信する（Ｓ１０６）。 The operator attaches the tool (T01) to the machine tool 100 (S104). After attachment, the machine tool 100 sends an attachment notification to the tool management device 200 (S106).
　図１８は、加工エリア１０２に重工具を搬入したあと、工作機械１００に取り付ける処理過程を示すシーケンス図である。
　作業者は、工具台１０６（移動台）で運んだ重工具を工具台１０６から取り外し、工作機械１００に取り付ける（Ｓ１０４）。ここでは工具（Ｔ０５：重工具）を工作機械１００（ＭＣ１）に取り付ける場合を想定して説明する。 FIG. 18 is a sequence diagram showing the process of attaching a heavy tool to the machine tool 100 after the heavy tool is carried into the machining area 102.
The worker removes the heavy tool carried on the tool stand 106 (movable stand) from the tool stand 106 and attaches it to the machine tool 100 (S104). Here, a case will be described assuming that a tool (T05: heavy tool) is attached to the machine tool 100 (MC1).
　工作機械１００は、取り付け通知を工具管理装置２００に送信する（Ｓ１０６）。取り付け通知にはマシンＩＤ＝ＭＣ１、取り付け先となるポット番号、工具ＩＤ＝Ｔ０５が含まれる。工具管理装置２００の工具管理部２１２は取り付け通知を受信したとき、工具情報１６０、機械格納情報１８０等の各種データを更新する（Ｓ１０８）。 The machine tool 100 sends an attachment notification to the tool management device 200 (S106). The attachment notification includes the machine ID = MC1, the pot number to which the tool will be attached, and the tool ID = T05. When the tool management unit 212 of the tool management device 200 receives the attachment notification, it updates various data such as the tool information 160 and the machine storage information 180 (S108).
＜総括＞
　以上、実施形態に基づいて、工具管理システム１１８を説明した。
　工具管理システム１１８によれば、加工エリア１０２および交換エリア１０８の間で工具が運搬されるときにも、工具の位置を適切に追跡管理できる。加工者は工作機械１００と工具台１０６の間での工具を移動させる。また、交換者は交換エリア１０８内において工具を移動させる。 <Summary>
The tool management system 118 has been described above based on the embodiment.
The tool management system 118 allows for proper tracking of the location of tools as they are transported between the machining area 102 and the exchange area 108. A machine operator moves tools between the machine tool 100 and the tool table 106. A changer also moves tools within the exchange area 108.
　加工エリア１０２および交換エリア１０８の間では、軽工具は自動搬送機１１６により運搬される。加工エリア１０２から交換エリア１０８の間における工具運搬にかかる作業を自動化できるため、作業効率を向上させることができる。 Between the processing area 102 and the exchange area 108, light tools are transported by an automatic carrier 116. Since the work involved in transporting tools between the processing area 102 and the exchange area 108 can be automated, work efficiency can be improved.
　一方、重工具は、工具台１０６（移動台）により作業者によって運搬される。重工具の運搬に際しても、工具管理部２１２は工具情報１６０および機械格納情報１８０を適切に更新できる。また、自動搬送機１１６の運搬可能な工具に重量制限がある場合であっても、重工具が自動搬送機１１６による運搬対象外となるので、軽工具と重工具が混在する作業環境においても、工具を適切に取り扱うことが可能となる。 On the other hand, heavy tools are transported by the worker on the tool stand 106 (mobile stand). When transporting heavy tools, the tool management unit 212 can appropriately update the tool information 160 and the machine storage information 180. Even if there is a weight limit on the tools that can be transported by the automatic transporter 116, heavy tools are not subject to transport by the automatic transporter 116, so tools can be handled appropriately even in a work environment where light and heavy tools are mixed.
　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。 The present invention is not limited to the above-described embodiments and modifications, and can be embodied by modifying the components without departing from the spirit of the invention. Various inventions may be formed by appropriately combining multiple components disclosed in the above-described embodiments and modifications. In addition, some components may be deleted from all the components shown in the above-described embodiments and modifications.
＜変形例＞
　本実施形態においては、台ＩＤと位置番号が対応づけられ、位置番号に位置座標が対応づけられるため、台ＩＤがわかれば工具台１０６の位置が特定できるとして説明した。変形例として、台ＩＤと位置座標を直接対応づけてもよい。あるいは、位置座標データを台ＩＤとして使用してもよい。 <Modification>
In the present embodiment, the table ID is associated with a position number, and the position number is associated with a position coordinate, so that the position of the tool table 106 can be identified by knowing the table ID. As a modified example, the table ID may be directly associated with the position coordinate. Alternatively, the position coordinate data may be used as the table ID.
　工具台１０６（固定台）に軽工具を取り付けるとき、作業者は機械側電子装置１２０を操作して、工具ＩＤのほか、取り付け先となる工具台１０６の台ＩＤおよびポット番号を機械側電子装置１２０に入力してもよい。機械側電子装置１２０は、入力された台ＩＤ、ポット番号および工具ＩＤを含む取り付け通知を工具管理装置２００に送信してもよい。工具管理部２１２は取り付け通知を受信したことを契機として、工具所在地に関する各種のデータを更新するとしてもよい。 When attaching a light tool to the tool stand 106 (fixed stand), the worker may operate the machine-side electronic device 120 to input the tool ID, as well as the stand ID and pot number of the tool stand 106 to be attached, to the machine-side electronic device 120. The machine-side electronic device 120 may send an attachment notification including the input stand ID, pot number, and tool ID to the tool management device 200. Upon receiving the attachment notification, the tool management unit 212 may update various data related to the tool location.
　本実施形態においては、工作機械１００から重工具が取り外されたとき、工具管理部２１２は重工具の所在地を工作機械１００から交換エリア１０８に変更して、工具情報１６０に登録するとして説明した。変形例として、工具管理部２１２は重工具の所在地を「ＮＵＬＬ」としてもよいし、移動台としてもよい。 In this embodiment, it has been explained that when a heavy tool is removed from the machine tool 100, the tool management unit 212 changes the location of the heavy tool from the machine tool 100 to the exchange area 108 and registers it in the tool information 160. As a variation, the tool management unit 212 may set the location of the heavy tool to "NULL" or to a mobile stand.
　本実施形態においては、所在地管理、重量確認および運搬の対象となる物体として工具を想定して説明したが、このような管理対象となるのは工具に限られるものではない。工具以外にも、ワーク、計測器、ねじドリルなども同様に管理されてもよい。 In this embodiment, the object to be managed, weight checked, and transported is assumed to be a tool, but the objects to be managed in this manner are not limited to tools. Other than tools, workpieces, measuring instruments, screw drills, and the like may also be managed in the same manner.
　本実施形態においては、工具等の対象物を工具台（移動台または固定台）に置くとして説明した。工具が置かれる台はこれに限らず、自動搬送機１１６の工具格納部２３４も対象物が置かれる台の一種である。たとえば、工作機械に対応する台は、工作機械のそばに待機する自動搬送機１１６の工具格納部２３４であってもよい。 In this embodiment, it has been described that objects such as tools are placed on a tool stand (movable stand or fixed stand). Stands on which tools are placed are not limited to this, and the tool storage section 234 of the automatic transporter 116 is also one type of stand on which objects are placed. For example, a stand corresponding to a machine tool may be the tool storage section 234 of the automatic transporter 116 that is waiting near the machine tool.
　対象物が「ワークを取り付けたパレット」である場合についても付言する。この場合、対象物が基準重量（たとえば、２０キログラム）よりも重いときには重工具と同様に取り扱い（以下、「重対象物」とよぶ）、対象物が基準重量未満のときには軽工具と同様に取り扱えばよい（以下、「軽対象物」とよぶ）。すなわち、作業者は、重対象物を工作機械１００から取り外したときには、作業者は重対象物を手動で移動可能な運搬車に乗せる。作業者は、重対象物を乗せた運搬車を手動で移動させる。工具管理部２１２は、工作機械１００から重対象物が取り外されたときには、重対象物の所在地をあらかじめその行き先（たとえば、交換エリア１０８）に設定しておく。 The following also applies to the case where the object is a "pallet with workpieces attached." In this case, when the object is heavier than the reference weight (e.g., 20 kilograms), it is handled like a heavy tool (hereinafter referred to as a "heavy object"), and when the object is less than the reference weight, it is handled like a light tool (hereinafter referred to as a "light object"). That is, when the worker removes the heavy object from the machine tool 100, the worker places the heavy object on a manually movable transport vehicle. The worker manually moves the transport vehicle carrying the heavy object. When the heavy object is removed from the machine tool 100, the tool management unit 212 sets the location of the heavy object in advance to its destination (e.g., exchange area 108).
　一方、作業者は、軽対象物を工作機械１００から取り外したときには、作業者は軽対象物を固定台に設置する。このときには、自動搬送機１１６は固定台から軽対象物を移動させる。 On the other hand, when the worker removes the light object from the machine tool 100, the worker places the light object on the fixed table. At this time, the automatic carrier 116 moves the light object from the fixed table.
　この特許出願は、日本の特願２０２２－１７４１４７号（２０２２年１０月３１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 to Japanese Patent Application No. 2022-174147 (filed October 31, 2022), the entire contents of which are incorporated herein by reference.

Claims (2)

  1. 　工作機械と対象物を置く台との対応を示す台設置情報に基づいて、対象物の所在地および重量を含む対象物情報に含まれるデータを変更する対象物管理部と、
    　前記工作機械から対象物が取り外された際に、取り外し通知を受信する受信部と、を備え、
    　前記対象物管理部は、前記取り外し通知が受信された場合において、前記対象物の重量が所定の閾値以下のときには前記対象物情報における前記対象物の所在地を前記工作機械から前記対象物を置く台に設定し、前記対象物の重量が前記閾値よりも大きいときには前記対象物情報において前記対象物の所在地を前記対象物を置く台と異なる位置に設定し、
    　前記対象物を置く台は自動搬送機により搬送対象となる対象物が設置される台であり、
    　前記対象物を置く台とは異なる位置とは、自動搬送機により搬送対象とはならない対象物が設置される位置である、対象物管理装置。     an object management unit that changes data included in object information, including a location and a weight of the object, based on table installation information that indicates the correspondence between the machine tool and a table on which the object is placed;
    a receiving unit that receives a removal notification when an object is removed from the machine tool,
    the object management unit, when receiving the removal notification, sets the location of the object in the object information from the machine tool to a platform on which the object is placed when the weight of the object is equal to or less than a predetermined threshold, and sets the location of the object in the object information to a position different from the platform on which the object is placed when the weight of the object is greater than the threshold;
    The platform on which the object is placed is a platform on which an object to be transported by an automatic transporter is placed,
    In the object management device, the position different from the platform on which the object is placed is a position where objects that are not to be transported by an automatic transport device are placed.
  2. 　工作機械と工具台の対応を示す台設置情報に基づいて、工具の所在地および重量を含む工具情報に含まれるデータを変更する工具管理部と、
    　前記工作機械から工具が取り外された際に、取り外し通知を受信する受信部と、を備え、
    　前記工具管理部は、前記取り外し信号が受信された場合において、前記工具の重量が所定の閾値以下のときには前記工具情報における前記工具の所在地を前記工作機械から所定の工具台に設定し、前記工具の重量が前記閾値よりも大きいときには前記工具情報において前記工具の所在地を前記所定の工具台とは異なる位置に設定し、
    　前記所定の工具台は自動搬送機により搬送対象となる工具が設置される台であり、
    　前記所定の工具台とは異なる位置とは、自動搬送機により搬送対象とはならない工具が設置される位置である、工具管理装置。     a tool management unit that changes data included in the tool information, including the location and weight of the tool, based on table installation information indicating the correspondence between the machine tool and the tool table;
    a receiving unit that receives a removal notification when a tool is removed from the machine tool,
    when the removal signal is received, the tool management unit sets the location of the tool in the tool information to a predetermined tool stand from the machine tool when the weight of the tool is equal to or smaller than a predetermined threshold, and sets the location of the tool in the tool information to a position different from the predetermined tool stand when the weight of the tool is greater than the threshold;
    the predetermined tool table is a table on which tools to be transported by an automatic transporter are placed,
    In the tool management device, the position different from the specified tool table is a position where tools that are not to be transported by an automatic transport machine are placed.
PCT/JP2023/032330 2022-10-31 2023-09-05 Tool management device and object management device WO2024095602A1 (en)

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JPS6167108A (en) * 1984-09-07 1986-04-07 Fanuc Ltd Tool managing method in fa system
JPS63232917A (en) * 1987-03-20 1988-09-28 Toshiba Corp Tool control device
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