JP2024065332A - Tool management device and automatic transfer machine - Google Patents

Abstract

[Problem] To properly transport a tool removed from a machine tool in an unmanned manner. [Solution] A tool management device includes a tool management unit that changes data of tool information including tool identification information for identifying a tool and shank information relating to a shank to which the tool is attached, and a transmission unit that transmits a tool transport command to an automatic transport machine. When transmitting the transport command, the transmission unit transmits the tool identification information and shank information of the tool to be transported to the automatic transport machine. [Selected Figure] Figure 11

Description

The present invention relates to technology for managing 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. When appropriate, the worker removes the tool from the machine tool 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.

Patent No. 6851525

Typically, after removing a tool from a machine tool, a worker 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 reduce work efficiency.

The inventors have investigated a method for unmanned transport of tools that can be removed from a machine tool.

A tool management device in one aspect of the present invention includes a tool management unit that changes tool information data including tool identification information that identifies a tool and shank information regarding a shank to which the tool is attached, and a transmission unit that transmits a tool transport command to an automatic transport machine.
When transmitting the transport command, the transmitting unit transmits the tool identification information and shank information of the tool to be transported to the automatic transport device.

In one embodiment of the present invention, the automatic conveying device includes a robot arm having a hand at the tip capable of holding a tool, an arm control unit that controls the robot arm, a movement control unit that controls the movement of the automatic conveying device, and a receiving unit that receives a tool transport command.
The transport command includes, for the tool to be transported, tool identification information for identifying the tool and shank information regarding the shank on which the tool is attached.
The arm control unit controls both or one of the position of the hand and the amount of gripping motion of the hand based on the shank information.

The present invention makes it easier to properly transport tools used in machine tools using an automatic transport machine.

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. 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. FIG. 13 is a screen diagram of a transport instruction screen. FIG. FIG. 2 is a side cross-sectional view of a shank gripped by a hand. FIG. 13 is a top cross-sectional view of a shank gripped by a hand. FIG. 13 is a side cross-sectional view of another shank being gripped by a hand. FIG. 11 is a top cross-sectional view of another shank being gripped by a hand. 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 tool on a tool table; FIG. FIG. 4 is a data structure diagram of transport instruction information. 11 is a sequence diagram showing a process when the automatic transport machine carries a tool onto a tool table in an exchange area. FIG. 11 is a sequence diagram showing a process when the automatic transport machine transports a tool to a machining area. FIG. 11 is a sequence diagram showing a process of attaching a tool to a machine tool after the tool is carried in to a tool stand in a machining area. FIG.

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.

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. In addition, the pots in which the tools are stored in the tool storage section are identified by "pot numbers."

As described 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)."

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)."

In this embodiment, the tool table 106 is configured as a cart, but is not limited to this form. The tool table may be a fixed table located in a position where a tool can be removed from the machine tool 100 by the arm robot and the tool can be placed there. Even when the tool table 106 is configured as a cart, one of the two tables may be fixed and set to be immovable, and the other may be set to be movable by the worker. The 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." More specifically, tools weighing more than a certain weight, for example, more than 10 kilograms, may be placed on the movable tool table 106 and transported manually by the worker.

The tool table 106 of this embodiment is fixedly installed in the factory 104, and its position is specified by a "position number". When an operator installs a new tool table 106 in the factory 104, the operator registers the table ID, the position number, and the position coordinates of the tool table 106 in the factory 104 in the tool management device 200 described below. 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) is "Q01", and the position number of the tool table 106 (B02) 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, instead of in the tool management device 200. That is, the table ID, the position number, and the position coordinates may be associated with each other 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 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.

Factory 104 also has multiple automated transporters 116 (automated transporters 116a to 116c). Automatic transporters 116 are self-propelled robots that have robotic arms and can transport tools.

The automated conveyor 116 sets a movement path 114 connecting the tool stand 106 on the processing area 102 side and the tool stand 106 on the exchange area 108 side. More specifically, a locator (not shown) attached to the factory 104 detects the arrangement of objects in the factory 104. The automated conveyor 116 moves within the factory 104 based on the object arrangement, and map information is formed in advance. The automated conveyor 116 determines the movement direction while referring to the map information based on the current position, thereby determining the actual movement path 114. In addition, the automated conveyor 116 avoids collision with an obstacle by automatically stopping when an obstacle such as a worker is detected by a sensor.

In this embodiment, the automatic transport machine 116 transports tools between the tool table 106 on the processing area 102 side and the tool table 106 on the exchange area 108 side.

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).

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".

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.

A machine-side electronic device 120 is installed near the tool stand 106 on the machining area 102 side. In the machining area 102, the tool stand 106 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 access the tool management device 200 via the machine-side electronic device 120 to check the storage status of the tools.
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.

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."

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.

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 functional blocks of the automatic conveyor 116, which will be described later in conjunction with 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 transmitting unit 208 that transmits data and a receiving 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 the 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 (the position of the pot on the tool table 106) via the machine side electronic device 120, the exchange side electronic device 122, etc.

The tools used by the machine tool 100 come in a variety of shapes. The tools are fixed to a member called a "shank." The shapes of the shanks also vary. The tool and shank are integrated and inserted into a pot on the tool table 106 or the automatic transporter 116. The shape of the pot is standardized. The "holder name" shown below is shank information that indicates the type of shank. Details will be described later, but the automatic transporter 116 transports the tool by using the robot arm 142 to grasp the part of the shank that is integrated with the tool.

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.

The arm control unit 138 adjusts the gripping operation of the robot arm 142 according to the shank attached to the tool to be gripped (described below).

FIG. 4 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.

According to FIG. 4, the tool table 106 (B01) 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 tables 106 (B01) and 106 (B02) are associated with the machine tool 100 (MC1). The tool tables 106 (B03) and 106 (B04) are associated with the machine tool 100 (MC2) (see FIG. 1). On the other hand, the tool tables 106 (B22) and the like 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. 5 is a diagram showing the data structure of the tool information 160. As shown in FIG.
Tool information 160 is stored in data storage unit 206 of tool management device 200. Tool information 160 is data for managing the location of a tool. According to Fig. 5, a tool with tool ID = T01 (hereinafter, written as "tool (T01)") is stored in a pot with pot number = P01 in the tool storage unit of machine tool 100 (MC1). It is also shown that tool (T09) is currently being replaced. 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. When the number of times the tool has been used reaches the set life (number of times), the tool management unit 212 notifies the machine tool 100 to inspect the tool. The machine tool 100 instructs the operator to inspect the tool on its own device's operation screen (not shown). The "Number of uses" column indicates the number of times the 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 the 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, the current number of uses of tool (T01) is "0 times," and when the number of uses of tool (T01) reaches the warning number of "80 times," the 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, the tool is set to increase in rank every time the tool weight increases by 0.1 kilograms.

As mentioned above, the tool is fixed to a shank. The "Holder Name" column indicates the type of shank to which the tool is fixed.

FIG. 6 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 6 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 5). 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.

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.

FIG. 7 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 tool stand 106 is provided with casters 194 and configured to be movable. In this embodiment, the casters 194 are fixed, so that the tool stand 106 cannot be moved after installation. A plurality of pots 192 are formed on the ceiling surface of the tool stand 106. An operator stores tools with shanks in the pots 192. The tool stand 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 tool stand 106.

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 in the tool table 106. Figure 7 shows the table storage information 190 for the tool table 106 (B01). The tool table name of the tool table 106 (B01) is "CMC9M" (see Figure 4).

A tool (T05) is stored in pot 192 (P01) of tool table 106 (B01) (see FIG. 5). On the other hand, pot 192 (P03) of tool table 106 (B01) is an empty pot.

When a worker attaches a tool to the tool table 106 (B01), the tool management unit 212 refers to the table 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 table storage information 190 (described later). In addition, when the automatic carrier 116 or the like removes a tool from the tool table 106 (B01), the tool management device 200 also updates the table storage information 190.

FIG. 8 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.

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 gripping a tool is formed at the tip of the robot arm 142 formed in the working unit 230. The robot arm 142 removes a tool from the tool table 106 by gripping the shank with the hand 236, and stores the removed tool in an empty pot in the tool storage unit 234 at the rear. The robot arm 142 can also remove a tool from the tool storage unit 234 by gripping the shank of the tool, and store the tool 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 8 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).

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.

FIG. 9 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 replacement-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) in the processing area 102.

The electronic device 300 configures the transport instruction screen 240 based on various data such as table installation information 150 (see FIG. 4), tool information 160 (see FIG. 5), machine storage information 180 (see FIG. 6), table storage information 190 (see FIG. 7), and transport machine storage information 220 (see FIG. 8). The tool management device 200 may generate screen data and display it on the electronic device 300.

When the worker touches the update button 242, the machine-side electronic device 120 sends an update request to the tool management device 200, obtains the latest data from the tool management device 200, and updates the transport instruction screen 240. According to the transport instruction screen 240 in FIG. 9, a tool (T05) is stored in pot 192 (P01) of the tool table 106 (B01: CMC9M), and the holder name (shank type) of the tool (T05) is "HSK50". In addition, a tool (T06) is stored in pot 192 (P02) (see FIGS. 5 and 7).

When the worker attaches a tool to the tool stand 106 (B01), he touches the attachment button 244. When the touch of the attachment button 244 is detected, the machine-side electronic device 120 displays the attachment screen 250 (see FIG. 10). 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."

When the worker wants to remove a tool from the tool stand 106 (B01), he touches the removal button 246. When the removal button 246 is touched, the machine-side electronic device 120 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 stand 106. Hereinafter, removing a tool from the tool stand 106 etc. is referred to as "transporting out."

When a worker wants to transport a tool stored in a tool table 106 to another tool table 106, the worker touches the transport button 248. For example, when a worker wants to transport a tool (T05) stored in a pot 192 (P01) on a tool table 106 (B01) to a pot 192 (P05) on a 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 (T05), 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 a destination pot from among the empty pots on the tool table 106 (B22).

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 of the source, the pot number, the tool ID of the tool to be transported, the table ID of the destination, the holder name (shank information), and the pot number. The tool management device 200 instructs the automatic transport machine 116 to transport the tool (T05) via the transport control device 124. Here, it is assumed that the automatic transport machine 116 (A01) has been selected.

For example, when a tool (T05) is selected as the tool to be transported, the machine-side electronic device 120 deletes the row for the tool (T05) on the transport instruction screen 240 before or after sending a transport request. This prevents the worker from selecting the tool (T05) again as the tool to be transported before the tool (T05) for which a transport instruction has already been issued is actually transported. In other words, consideration is given to prevent the inconvenience of a duplicate transport instruction being issued for a tool after a transport instruction has been issued for that tool. When the worker touches the end button 222, the machine-side electronic device 120 closes the transport instruction screen 240.

Upon receiving the transport instruction, the automatic transport machine 116 (A01) removes the tool (T05) from the tool table 106 (B01), stores the tool (T05) 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 (T05) into the pot 192 (P05) on 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. 10 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. 10 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, the holder name (shank information), 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.

FIG. 11 is a cross-sectional side view of shank 400A grasped by hand 236. As shown in FIG.
The tool is inserted into a pot 192 formed on the tool table 106. In Fig. 11, a tool fixed to a shank 400A is stored in the tool table 106. When the tool is inserted into the pot 192, a part of the shank 400A is exposed from the surface of the tool table 106. In Fig. 11, the front direction of the page is the X-axis, the right direction is the Y-axis, and the upward direction is the Z-axis.

A groove 402 is formed in the shank 400A at a position that is a height H1 from the surface of the tool table 106. The tip of the hand 236 is inserted into the groove 402, allowing the robot arm 142 to grasp the shank 400A. Hereinafter, the height from the surface of the tool table 106 to the groove 402 is referred to as the "gripping height." The gripping height differs depending on the type of shank 400.

The gripping height for each shank is preregistered in the transfer control device 124. When the tool shank information (holder name) is specified by a transfer request, the transfer control device 124 identifies the gripping height corresponding to the shank and notifies the automatic transfer device 116. The arm control unit 138 of the automatic transfer device 116 adjusts the height of the hand 236 in the robot arm 142 to the gripping height H1 and then grips the shank 400A.

FIG. 12 is a cross-sectional top view of the shank 400A gripped by the hand 236. As shown in FIG.
The diameter of groove 402 of shank 400A is D1 (hereinafter referred to as the "gripping diameter"). The gripping diameter also differs depending on the type of shank 400. The gripping diameter for each shank is registered in advance in transfer control device 124. When the shank information (holder name) of the tool is specified by a carry-out request, transfer control device 124 identifies the gripping diameter corresponding to the shank and notifies automatic transfer device 116. Arm control unit 138 of automatic transfer device 116 adjusts the opening degree of hand 236 of robot arm 142 to be equal to or greater than the gripping diameter, and then grips shank 400A.
As described above, the automatic conveyor 116 can reliably remove various tools from the tool table 106 by adjusting the amount of gripping movement of the hand 236, specifically the height and opening angle, to match the gripping height and gripping diameter corresponding to the shank.
This applies not only when a tool is removed from the tool table 106 but also when a tool is removed from the tool storage section 234 .

FIG. 13 is a cross-sectional side view of an alternative shank 400B being grasped by hand 236. As shown in FIG.
The gripping height of the shank 400B is H2. When the transfer control device 124 transmits a request to carry out the tool attached to the shank 400B, it notifies the automatic transfer device 116 of the gripping height H2. The arm control unit 138 of the automatic transfer device 116 adjusts the height of the hand 236 of the robot arm 142 to the gripping height H2, and then grips the shank 400B.

FIG. 14 is a cross-sectional top view of another shank 400B grasped by hand 236. As shown in FIG.
The gripping diameter of the shank 400B is D2. The arm control unit 138 of the automatic conveyor 116 adjusts the opening degree of the hand 236 so that the gripping diameter is equal to or larger than D2, and then narrows the opening degree of the hand 236 to the gripping diameter D2 to cause the robot arm 142 to grip the shank 400B.
As described above, the automatic conveyor 116 can reliably remove various tools from the tool table 106 or tool storage section 234 by adjusting the height and opening angle of the hand 236 according to the gripping height and gripping diameter corresponding to the shank.

FIG. 15 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) is removed from a pot 172 (P01) of a machine tool 100 (MC1) (see FIG. 6).

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 table installation information 150, identifies the tool table 106 (B01) and the tool table 106 (B02) associated with the machine tool 100 (MC1), and searches for empty pots for these two tool tables 106 based on the table storage information 190. Here, it is assumed that the tool management unit 212 selects the pot 192 (P03) of 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) of the tool table 106 (B01).

After removing the tool (T01), the worker touches the update button 242 on the transport instruction screen 240 of the machine-side electronic device 120. At this time, 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 transmission unit 208 sends an instruction including the stand ID (B01) and the pot number (P03) (S18). The machine-side electronic device 120 receives the instruction and 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 machine-side electronic device 120 may update the transport instruction screen 240 after the tool (T01) has been attached.

As described above, when the processor removes the tool (T01) 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) 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).

FIG. 16 is a sequence diagram showing the process of transporting a tool on the tool table 106 to the automatic transporter 116.
Next, a case will be described assuming that a tool (T01) 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 processor 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 to the tool management device 200, including the stand ID (B01) and pot number (P03) of the tool stand 106 to be transported, the tool (T01) to be transported, shank information indicating the shank "HSK100" to which the tool (T01) is attached, and the stand ID (B22) of the tool stand 106 to be transported (S30).
As described above, at this time, 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. 17. At this time, the tool management unit 212 selects a pot 192 to which the tool (T01) is to be carried 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.

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, the gripping height and gripping diameter corresponding to the shank "HSK100", the table ID and pot number of the tool table 106 (B22) to which the tool is to be transported, etc.

The automatic conveyor 116 (A01) receives a conveyance instruction from the conveyance control device 124. The automatic conveyor 116 (A01) moves toward the tool stand 106 (B01), and the robot arm 142 conveys the tool (T01) out of the pot 192 (P03) on the tool stand 106 (B01) (S38). At this time, the arm control unit 138 grasps the shank portion of the tool (T01) while adjusting the height and opening of the hand 236 according to the instructed gripping height and gripping diameter.

The automatic conveyor 116 (A01) carries out the tool (T01) and stores it in the tool storage unit 234 of its own device, and transmits a carry-out notification to the conveyor control device 124 (S40). The carry-out notification includes the conveyor ID (A01) and the pot number of the pot in the tool storage unit 234 into which the tool (T01) was carried. 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 carry-out instruction to the tool management device 200 (S42). When the tool management unit 212 receives the carry-out 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).

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).

FIG. 17 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. 16 ). 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. 17 was transmitted at 15:37 on September 27th.

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 (T05) to be transferred, and the holder column 262 indicates the holder name, i.e., shank information. Here, it is shown that the tool (T01) attached to the shank "HSK100" is transferred from the tool stand 106 (B01:P03) to the tool stand 106 (B22:P10).
The transfer control device 124 notifies the automatic transfer device 116 of the gripping height and gripping diameter corresponding to the shank "HSK100".

After the transport instruction information 260 is sent, the tool management unit 212 changes the pot 192 (P10) on the tool table 106 (B22) from an "empty pot" to a "reserved pot" and sets it so that no tools other than the tool (T01) are stored.

FIG. 18 is a sequence diagram showing the process when the automatic carrier 116 carries a tool onto the tool stand 106 in the exchange area 108. As shown in FIG.
Next, a description will be given assuming a scene in which the tool (T01) 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 tool stand 106 (B22) to which the tool (T01) is to be carried, and carries the tool (T01) into the tool stand 106 (B22: P10) (S50). At this time, the automatic carrier 116 (A01) also adjusts the height and opening of the hand 236 in accordance with the grip height and grip diameter corresponding to the shank "HSK100" of the tool (T01), and takes out the tool (T01) from the tool storage section 234.

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).

Next, we will explain the scene 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).

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 replacement side electronic device 122 sends 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), the tool ID of the removed tool (T01), and shank information. 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.

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.

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 replacement electronic device 122 sends 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).

FIG. 19 is a sequence diagram showing the process when the automatic carrier 116 transports a tool to the machining area 102.
The following description is based on the assumption that a tool (T01) stored in the tool stand 106 (B23:P04) is to be transported to a pot 192 (P03) on the tool stand 106 (B03). First, the exchanger instructs 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 exchange side electronic device 122 transmits a transport request including the tool ID, the stand ID of the tool stand 106 at the transport destination, shank information, the stand ID of the tool stand 106 at 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 is to 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.

The automatic conveyor 116 (A03) moves close to the tool stand 106 (B23) from which the tool was to be conveyed, and conveys the specified tool (T01) out of the tool stand 106 (B23: P04) (S78). The automatic conveyor 116 (A03) takes out the tool (T01) from the tool stand 106 (B23), stores it in an empty pot in the tool storage section 234, and sends a conveyance notification to the conveyor 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. 20 is a sequence diagram showing the process of attaching a tool to the machine tool 100 after the tool is carried into the tool stand 106 in the machining area 102.
The automatic carrier 116 (A03) carries the tool (T01) 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).

Next, the processor removes the tool (T01) stored on the tool table 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 table 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 table 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).

<Summary>
The tool management system 118 has been described above based on the embodiment.
According to the tool management system 118, the position of the tool can be appropriately tracked and managed even when the tool is transported between the machining area 102 and the exchange area 108. A processor moves the tool between the machine tool 100 and the tool table 106. A tool exchanger moves the tool within the exchange area 108. The tool is transported between the machining area 102 and the exchange area 108 by an automatic carrier 116. Since the work involved in transporting the tool between the machining area 102 and the exchange area 108 can be automated, the work efficiency can be improved.

In conjunction with the transport instruction, the transport control device 124 is notified of shank information of the tool to be transported. Based on the shank information, the transport control device 124 determines the gripping height and gripping diameter of the shank and notifies the automatic transport device 116 of these. The automatic transport device 116 can appropriately grip the tool according to the gripping height and gripping diameter notified by the transport control device 124.

The present invention is not limited to the above-described embodiment 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 embodiment and modifications. In addition, some components may be deleted from all the components shown in the above-described embodiment and modifications.

<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.

When attaching a tool to the tool stand 106, 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 which the tool is 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.

100 Machine tool, 102 Machining area, 104 Factory, 106 Tool table, 108 Exchange area, 110 Tool measuring device, 112 Exchange work table, 114 Movement path, 116 Automatic carrier, 116a Automatic carrier, 116b Automatic carrier, 118 Tool management system, 120 Machine side electronic device, 122 Exchange side electronic device, 124 Transport control device, 126 Control unit, 128 Mechanical unit, 130 Communication unit, 132 Data processing unit, 134 Transmission unit, 136 Reception unit, 138 Arm control unit, 140 Movement control unit, 142 Robot arm, 144 Drive wheel, 150 Machine installation information, 160 Tool information, 170 Tool storage unit, 172 Pot, 180 Machine storage information, 190 Machine storage information, 192 Pot, 194 Caster, 200 Tool management device, 202 communication unit, 204 data processing unit, 206 data storage unit, 208 transmission unit, 210 reception unit, 212 tool management unit, 214 instruction unit, 220 transport machine storage information, 222 end button, 230 work unit, 232 self-propelled unit, 234 tool storage unit, 236 hand, 240 transport instruction screen, 242 update button, 244 installation button, 246 removal button, 248 transport button, 250 installation screen, 252 OK button, 253 command ID field, 254 cancel button, 255 date and time field, 256 transport source field, 258 transport destination field, 260 transport instruction information, 261 tool field, 262 holder field, 300 electronic device, 400 shank, 402 groove

Claims (6)

a tool management unit that changes data of tool information including tool identification information for identifying a tool and shank information relating to a shank to which the tool is attached;
A transmission unit that transmits a tool transport command to the automatic transporter,
The transmission unit transmits tool identification information and shank information of the tool to be transported to the automatic transport machine when transmitting the transport command. A receiving unit that receives a tool transport instruction from the electronic device,
The tool management device according to claim 1 , wherein the transport instruction includes tool identification information of the tool and shank information regarding a shank on which the tool is attached. The tool management device according to claim 1, wherein when a tool is removed from the tool table by an automatic transporter, the tool management unit changes the location of the tool in the tool information from the tool table to the automatic transporter. An automatic conveying machine capable of automatically conveying a tool,
a robot arm having a hand at a tip end capable of holding a tool;
an arm control unit for controlling the robot arm;
A movement control unit that controls the movement of the automatic conveyor;
A receiving unit that receives a tool transport command,
The transport command includes, for a tool to be transported, tool identification information for identifying the tool and shank information regarding a shank to which the tool is attached,
The arm control unit controls both or one of the position of the hand and the amount of gripping movement of the hand based on the shank information. The automatic conveyor according to claim 4, wherein the arm control unit adjusts the height of the hand of the robot arm from the tool table according to shank information corresponding to the tool when the robot arm grasps a tool placed on a tool table. The automatic conveying machine according to claim 4, wherein the arm control unit adjusts the opening degree of the hand of the robot arm according to shank information corresponding to the tool when the robot arm grasps a tool placed on a tool table.

Images