JP7451068B1 - Machine Tools - Google Patents

Abstract

[Problem] To minimize the time and man-hours required for tool exchange. [Solution] A machine tool includes a tool storage section that stores a plurality of tools, a plurality of arms corresponding to a first phase and a second phase, a tool transport section that can change the phase of the arms, and a tool storage section that stores a plurality of tools. A tool rest that includes a plurality of holders that can hold tools in a first phase or a second phase, a schedule generation section that generates a transportation schedule indicating the order of tool transportation, and a tool transportation section that controls the tool transportation section according to the transportation schedule. The schedule generating section includes a tool transport control section that changes the holding position of the tool on the table, and a processing control section that controls the operation of the tool held on the tool post and processes the workpiece according to the processing program. When a tool is exchanged for a holder in a phase, when the arm that is the target of the tool exchange is in the second phase, the process of changing the phase of the arm from the second phase to the first phase and then executing the tool exchange. Generate a transportation schedule including [Selection diagram] Figure 3

Description

The present invention relates to tool changing technology in machine tools.

Machine tools include devices that cut a workpiece into a desired shape and devices that create a workpiece by laminating metal powder and the like. Machine tools that perform cutting include turning centers that process a rotating workpiece by applying a cutting tool to the workpiece, and machining centers that process a workpiece by applying a rotating tool to the workpiece. There are multi-tasking machines equipped with them.

A machine tool equipped with a tool rest may have a plurality of tools attached to the tool rest. A machine tool processes a workpiece by moving the turret three-dimensionally according to a pre-prepared machining program and selecting the tool to be applied to the workpiece from a plurality of tools mounted on the turret.

Some machine tools have a tool storage section that stores a large number of tools. If the necessary tool is not installed on the tool rest, the machine tool installs the designated tool from the tool storage section onto the tool rest, and then continues machining the workpiece. Hereinafter, the tools mounted on the tool rest will be referred to as "work tools", and the tools stored in the tool storage section will be referred to as "spare tools". When there is no particular distinction, they are simply called "tools" (see Patent Documents 1-3).

JP2008-225738A Japanese Patent Application Publication No. 2000-218459 Japanese Unexamined Patent Publication No. 62-236642

The tool post is provided with a plurality of areas called stations, holders are attached to the stations, and tools are attached to the holders. Machine tools process workpieces while changing work tools as needed. Hereinafter, the combination of work tools held on the tool rest will be referred to as a "tool pattern." "Internal replacement" refers to changing the mounting position of one work tool to another on the tool post, and "external replacement" refers to replacing the work tool on the tool post and the spare tool stored in the tool storage area. ”.

In such machine tools, it is desired to shorten the time required for tool exchange and to shorten the total time related to machining.

A machine tool in an aspect of the present invention includes a tool storage section that stores a plurality of tools, a tool transport section that includes a plurality of arms corresponding to each of a first phase and a second phase, and that can change the phase of the arms. A tool rest including a plurality of holders capable of holding a plurality of tools in a first phase or a second phase, a schedule generation section that generates a transportation schedule indicating a tool transportation order, and a tool transportation section that is controlled in accordance with the transportation schedule. The tool post includes a tool transport control section that changes the holding position of the tool on the tool post, and a processing control section that controls the operation of the tool held on the tool post and processes the workpiece according to a processing program.
When performing tool exchange for a holder in the first phase, the schedule generation unit changes the phase of the arm from the second phase to the first phase when the arm that is the target of the tool exchange is in the second phase. A transport schedule including processing for executing tool exchange is generated.

A machine tool according to another aspect of the present invention includes a tool storage section that stores a plurality of tools, a first holder that holds the tools in a first phase, and a second holder that holds the tools in a second phase. a tool rest having a holder; a tool transport section having an arm for holding a tool and capable of transporting tools in correspondence with a first phase and a second phase; a schedule generation section generating a transport schedule; and a tool transport control section that controls the tool transport section and changes the mounting position of the tool on the tool post.
When mounting the mounting tool on the first holder, the schedule generation unit changes the state in which the mounting tool is held from the second phase to the first phase by moving the arm that is holding the mounting tool in the second phase. After the change, a transport schedule including a process for mounting the mounting tool on the first holder is generated.

According to the present invention, it is possible to shorten the total time related to machining including tool setup and the like.

FIG. 1 is a plan view showing a schematic configuration of a machine tool in this embodiment. It is a perspective view of a machine tool. It is a perspective view of the lower part of the movable stand in a tool conveyance part. FIG. 3 is an external perspective view of a holder and a tool rest. FIG. 3 is an external perspective view of the tool rest with a holder attached thereto. It is a figure which shows the shape of the receiving opening of a shank. FIG. 3 is a schematic diagram for explaining the straight movement of the tool transport section. It is a schematic diagram for demonstrating the tilting operation|movement of a tool conveyance part. FIG. 3 is a schematic diagram for explaining the turning operation of the tool transport section. FIG. 2 is a diagram showing a hardware configuration of a machine tool and a functional block of an information processing device. 3 is a flowchart showing a process of generating a transportation schedule. 12 is a flowchart showing details of the first step in S32 of FIG. 11. FIG. It is a figure which shows the 1st exchange condition group whose first movement source is an A type holder. It is a figure which shows the 2nd exchange condition group whose first movement source is a B type holder. It is a figure which shows the 3rd exchange condition group whose first movement source is a C type holder. It is a figure which shows the 4th exchange condition group whose first movement source is a D type holder. FIG. 3 is a diagram showing a first example of a transport schedule. It is a figure which shows the 2nd example of a conveyance schedule. It is a figure which shows the 3rd example of a conveyance schedule. It is a figure which shows the 4th example of a conveyance schedule. It is a figure which shows the assembly condition group of the tools conveyed simultaneously. It is a figure which shows the 5th example of a conveyance schedule. It is a figure which shows the 6th example of a conveyance schedule. It is a figure which shows the 7th example of a conveyance schedule. It is a figure which shows the 8th example of a conveyance schedule. It is a figure which shows the 9th example of a conveyance schedule.

The machine tool in this embodiment is a turning center or a multi-tasking machine. First, the structure of the machine tool will be mainly explained with reference to FIGS. 1 to 9. Details of the tool exchange control in this embodiment will be explained with reference to FIG. 10 and subsequent figures.
In this embodiment, "exchange" refers not only to exchanging tool Ta and tool Tb between a first location where tool Ta is attached and a second location where another tool Tb is attached, but also when replacing tool Ta and tool Tb. This also includes the case where the tool Ta is moved from the first location to a third location where no tool is attached.

FIG. 1 is a plan view showing a schematic configuration of a machine tool 100 in this embodiment.
The machine tool 100 includes a control device 160, a processing device 112, a tool transport section 114, and a tool storage section 106. The tool storage section 106 is also generally referred to as a "magazine." The control device 160 corresponds to the information processing device 118 and the processing control unit 116, which will be described later with reference to FIG. The tool rest base 102 and the tool rest 164 are movable in the X, Y, and Z axis directions. In some cases, the tool rest base 102 and the tool rest 164 are collectively referred to as the tool rest 230, and in other cases, only the tool rest 164 is referred to as the tool rest 230. FIG. 1 is a plan view when viewed in the XZ direction plane. The tool rest 164 is installed on the tool rest base 102 so as to be rotatable about the Z-axis. The tool storage section 106 (magazine) is provided on the Z-axis positive direction side of the tool post base 102. The tool transport section 114 transports the tool T.

The machine tool 100 in this embodiment has two main spindles 104a and 104b, and processes two workpieces W. There is a left main shaft 104a on the left side of the tool post 164, and a left workpiece W is attached to the left main shaft 104a. On the right side of the tool rest 164, there is a right main shaft 104b, and a right workpiece W is attached to the right main shaft 104b. The tools T include tools for processing the workpiece W on the left, tools for processing the workpiece W on the right, and tools that can process both workpieces W. Details will be described later in connection with FIG. 4.

FIG. 2 is a perspective view of the machine tool 100.
The prismatic tool rest 164 has a plurality of holders 168 on its outer peripheral plane that are configured to be able to hold the tools T. The holder 168 is detachably attached to the tool rest 164. The tool T attached to the holder 168 at the attachment/detachment position PT becomes the object of attachment/detachment. By rotating the tool rest 164 in the direction of arrow BC (the Z axis is the rotation axis), each holder 168 can be indexed to the attachment/detachment position PT.

The tool storage section 106 includes a holding plate 170 rotatably provided in the direction of arrow DE (the X axis is the rotation axis), holding pots 174 arranged at equal intervals around the periphery of the holding plate 170, and holding pots 174 arranged at equal intervals around the periphery of the holding plate 170. A drive motor 176 (see FIG. 1) is provided to rotate the plate 170. The holding pot 174 can hold the tool T. The holding pot 174 protrudes in the negative direction of the X-axis. The tool T in the holding pot 174 at the attachment/detachment position PM becomes the object of attachment/detachment. When the drive motor 176 rotates the holding plate 170, each holding pot 174 can be indexed to the attachment/detachment position PM.

The tool transport section 114 is provided on the negative side of the X-axis relative to the tool post base 102 and the tool storage section 106 (see FIG. 1). The tool transport unit 114 includes a feeding mechanism 178 provided along the Z-axis, a moving table 180 that is moved along the Z-axis by the feeding mechanism 178, and a first arm 182 and a second arm attached to the moving table 180. It includes an arm 194 (see FIG. 3) and the like. In the following, the tool transport section 114 is a mechanism for transporting the tool T, including a moving table 180, a first arm 182 and a second arm 194 attached to the moving table 180.

The feed mechanism 178 includes a rail holding stand 184 arranged parallel to the Z-axis, two guide rails attached to the lower surface of the rail holding stand 184 in parallel to the Z-axis, and a mechanism so as to engage with each guide rail. a ball screw 190 disposed along the rail holding base 184, a ball nut 192 screwed into the ball screw 190, and a slider connected to the end of the ball screw 190. A servo motor 196 is provided to rotate the ball screw 190 around its axis. The slider is fixed on the top surface of the moving table 180.

FIG. 3 is a perspective view of the lower part of the movable table 180 in the tool transport section 114.
This figure shows a partial structure of the tool transport section 114 viewed from the tool rest 164 side. A holding member 198 is disposed on the lower surface of the movable table 180 (see FIG. 2) so as to be rotatable in the arrow FG direction (Y-axis is the rotation axis) and movable in the X-axis direction. The holding member 198 is driven in the X-axis direction by a moving cylinder. The holding member 198 is driven by a drive cylinder through a mechanism such as a rack and pinion mechanism, and is tilted in the direction of arrow FG within an angular range of 180°. That is, the holding member 198 is configured to be movable in a plane in the XZ direction and rotatable in the FG direction. FIG. 3 shows the orientation of the holding member 198 in the middle of the 180° angular range. From this state, it is possible to rotate 90 degrees in the F direction and 90 degrees in the G direction.

A rotating shaft 204 is attached to the holding member 198 so as to pass therethrough. The rotating shaft 204 is driven by a drive cylinder 206 through a mechanism such as a rack and pinion mechanism, and rotates in the direction of arrow JK within an angular range of 180 degrees.

The first arm 182 and the second arm 194 are attached to the end of the rotating shaft 204 so as to be symmetrical about the axis of the rotating shaft 204 and vertically parallel to each other. The first arm 182 and the second arm 194 have the same configuration. The first arm 182 has a pair of gripping claws 208 for gripping the tool T, and the tool T can be gripped by the gripping claws 208. Similarly, the second arm 194 also has a pair of gripping claws 210, and the tool T can be gripped by the gripping claws 210.

The cross section of the shank S of the tool T is shaped like a triangle with bulging sides. There are three points of maximum curvature (protruding points) corresponding to the corners of the triangle at intervals of 120°. The shape of the shank S of the tool T held by the first arm 182 is a valley shape in which one of the maximum points of curvature is located at the bottom. In the following, this direction will be referred to as "phase: left." On the other hand, the shape of the shank S of the tool T held by the second arm 194 is a mountain shape with one of the maximum points of curvature located at the top. In the following, this direction will be referred to as "phase: right." The phase here means the state of rotation of the tool T about its axis.

FIG. 4 is an external perspective view of the holder 168 and the tool rest 164.
The tool rest 164 has a dodecagonal prism shape, and twelve stations 222 (end faces) having insertion holes are formed on the side surfaces thereof. One of seven types of holders 168A to 168G is attached to station 222. The holders 168A-G have a receiving opening 169 into which the shank S of the tool T is inserted. With the shank S inserted into the receiving port 169, the tool T is held in the holders 168A to 168G.

A tool T (for example, a cutting tool) that is not rotated is fixedly held in the holders 168A to 168D. The tool T of the holder 168A cuts the inner diameter side of the workpiece W on the left side. The tool T of the holder 168B cuts the outer diameter side of the workpiece W on the left side. The tool T of the holder 168C cuts the outer diameter side of the workpiece W on the right side. The tool T of the holder 168D cuts the inner diameter side of the workpiece W on the right side. The holder 168B is an example of a first holder that holds the tool T in the first phase (phase: left), and the holder 168C is an example of a second holder that holds the tool T in the second phase (phase: right). be. The phase of holder 168 will be discussed below in connection with FIG.

The holders 168E to 168G hold a tool T (for example, a drill) to be rotated. The holders 168E to 168G have a mechanism for rotating the tool T. The tool T of the holder 168E cuts the workpiece W from the side surface direction of the workpiece W on the left side. The tool T of the holder 168F cuts the work W on the left side from the front direction of the work W. Further, this tool T can also cut the workpiece W on the right side in the same way. The tool T of the holder 168G cuts the workpiece W on the right side from the side surface direction.

FIG. 5 is an external perspective view of the tool rest 164 with the holder 168 attached.
Holders 168 are attached to twelve stations 222. The direction of the center line of the receiving openings 169 of the holders 168A and 168E is referred to as the "left direction." The left direction coincides with the negative direction of the Z axis. The direction of the center line of the receiving openings 169 of the holders 168B, C, and F is referred to as the "outward direction." The outward direction is perpendicular to the axis of the tool rest 164. In particular, the direction of the center line of the receiving openings 169 of the holders 168B, C, and F when indexed to the attachment/detachment position PT is referred to as the "front direction." The forward direction coincides with the negative direction of the X axis. The direction of the center line of the receiving openings 169 of the holders 168D and 168G is referred to as the "rightward direction." The right direction coincides with the positive direction of the Z axis.

In this way, the direction in which each of the plurality of holders 168 holds the tool T is one of three predetermined directions (leftward, outward, and rightward).

FIG. 6 is a diagram showing the shape of the receiving opening of the shank S.
The upper part of FIG. 6 shows the shape of the holders 168A to 168D at the attachment/detachment position PT when viewed from the positive direction of the Y axis. The lower part of FIG. 6 shows the shape of the receiving opening 169 of the holders 168A to 168D.

The receiving port 169 of the holder 168A has a valley shape that matches the shape of the shank S in the phase: left. A holder 168 in which the center line of the receiving port 169 faces leftward and its shape is oriented to the left in this manner is referred to as an "A type holder." A tool T having a blade portion 171 inside is attached to the holder 168A facing left. Although not shown, the holder 168E is also an A type holder. The direction to the left of the center line of the receiving port 169 is also referred to as the "left inner diameter direction." That is, the A type holder has the left inner diameter direction and the phase: left.

The receiving opening 169 of the holder 168B is similarly valley-shaped. In this way, the holder 168 in which the center line of the receiving port 169 faces forward and its shape is oriented to the left is referred to as a "B type holder." A tool T having a blade portion 171 on the left side is attached to the holder 168B so as to face forward. Holder 168F is also a B type holder. The front direction of the center line of the receiving port 169 is also referred to as the "outer radial direction." That is, the B type holder has the outer diameter direction and the phase: left.

The receiving port 169 of the holder 168C has a chevron shape that matches the shape of the shank S in the right phase. A holder 168 in which the center line of the receiving port 169 faces forward and its shape is oriented to the right is referred to as a "C type holder". A tool T having a blade portion 171 on the right side is attached to the holder 168C so as to face forward. B type holder has outer diameter direction and phase: right.

The receiving opening 169 of the holder 168D is similarly chevron-shaped. A holder 168 in which the center line of the receiving port 169 faces to the right and its shape is oriented to the right is referred to as a "D type holder". A tool T having a blade portion 171 inside is attached to the holder 168D facing right. The holder 168G is also a D type holder. The direction to the right of the center line of the receiving port 169 is also referred to as the "right inner diameter direction." That is, the D type holder has the right inner diameter direction and the phase: right.

The tool transport unit 114 is capable of three types of operation: "straight movement", "tilting", and "swinging". These operations will be explained in turn.

FIG. 7 is a schematic diagram for explaining the straight movement of the tool transport section 114.
“Move straight” is an operation in which the tool transport unit 114 moves linearly along the rail holding table 184 (Z-axis). By linearly moving the tool transport section 114, tools can be transported between the tool rest 164 and the tool storage section 106.

"Transport" in this embodiment refers not only to the case where the tool transport section 114 actually carries the tool T, but also to the case where the tool transport section 114 moves between the tool storage section 106 and the tool post 164 without holding the tool T. Including cases where

As shown in the figure, the receiving port 175 of the holding pot 174 at the attachment/detachment position PM has a chevron shape that matches the shape of the shank S at the right phase.

FIG. 8 is a schematic diagram for explaining the tilting operation of the tool transport section 114.
"Tilt" is an operation of rotating the tool conveying section 114 in the direction shown by the arrow GF. That is, in this embodiment, the movable table 180, which is a part of the tool transport unit 114, has a rotation axis, and rotation about this rotation axis is called "tilting." Tilting is a type of rotation, and this may be referred to as a first rotation. The tool conveyance unit 114 can change its direction in accordance with each of three predetermined directions (leftward, forward, and rightward) by a tilting operation. "Corresponding" here means that the direction of the central axis of the gripping space in the arm matches the predetermined direction.

FIG. 9 is a schematic diagram for explaining the turning operation of the tool transport section 114.
"Turning" is an operation in which the holding member 198 has a rotating shaft 204, and the first arm 182 and the second arm 194 are turned upside down by rotation in the direction shown by the arrow JK about the rotating shaft 204. . Since this turning motion is also a type of rotation, it may also be referred to as a second rotation.

In FIG. 9, second arm 194 is above first arm 182. In this way, the arm located on the upper side of the two arms is called the "upper arm." The upper arm grips the tool in the phase: right (chevron shape) state. On the other hand, the first arm 182 is located below the second arm 194. In this way, the arm located on the lower side is called a "lower arm." The lower arm grips the tool in the phase: left (trough-shaped) state. When the tool transport section 114 turns 180 degrees, the first arm 182 becomes the upper arm and the second arm 194 becomes the lower arm.

In this embodiment, the rotation axis of the first rotation and the rotation axis of the second rotation are in a positional relationship that intersects with each other. The rotation axis of the first rotation and the rotation axis of the second rotation may be configured to intersect three-dimensionally.

Straight motion, tilting motion, and turning motion each take a certain amount of time, but straight motion requires the longest time. In this embodiment, the time required for the tilting operation is longer than the time required for the turning operation.

A "time point" may be set in advance as a numerical value that represents the length of time required for each operation. In this example, the time points for each of the straight movement, tilting movement, and turning movement are "5", "2", and "1". For example, when the actual time required for the straight-ahead movement is about 5 seconds, the time points for the straight-ahead movement may be set as 5 points. The time point may be a numerical value that indicates the ratio of the times required for each of the straight movement, tilting movement, and turning movement. The total time points can be calculated by multiplying each number of operations by the time points and summing them. When comparing transport schedules, which will be described later, the smaller the total time point, the faster the operation can be completed.

Furthermore, the tool transport unit 114 performs a removal operation of the tool T. The basic operation is the same when removing the tool T held in the holding pot 174 or any of the A-type holder and D-type holder. First, the arm is inserted into the grip portion of the tool T from the side, and the tool T is gripped by the arm. Next, the arm is separated from the receiving ports 169, 175 and the tool T is taken out.

In the case of holding pot 174, the upper arm along the Z axis is used. The upper arm is positioned toward the negative direction of the Z-axis by a first predetermined length (approximately 2 times the diameter of the grip portion) with respect to the position where the tool T is gripped. Next, the upper arm moves in the positive direction of the Z axis and grips the tool T at the gripping position. Finally, the upper arm moves in the negative direction of the X axis and takes out the tool T.

In the case of an A type holder, the lower arm corresponding to the left direction is used. The lower arm is positioned toward the negative direction of the X-axis with respect to the gripping position. Next, the lower arm moves in the positive direction of the X-axis and grips the tool T at the gripping position. Finally, the lower arm moves in the negative direction of the Z axis and takes out the tool T.

In the case of a B type holder, a lower arm corresponding to the front direction is used. The lower arm is positioned in the positive direction of the Z-axis with respect to the gripping position. Next, the lower arm moves in the negative direction of the Z-axis and pinches the tool T at the gripping position. Finally, the lower arm moves in the negative direction of the X-axis and takes out the tool T.

In the case of a C type holder, an upper arm corresponding to the front direction is used. The upper arm is positioned toward the negative direction of the Z axis with respect to the gripping position. Next, the upper arm moves in the positive direction of the Z axis and grips the tool T at the gripping position. Finally, the upper arm moves in the negative direction of the X axis and takes out the tool T.

In the case of a D type holder, the upper arm corresponding to the right direction is used. The upper arm is positioned toward the negative direction of the X-axis with respect to the gripping position. Next, the upper arm moves in the positive direction of the X-axis and grips the tool T at the gripping position. Finally, the upper arm moves in the positive direction of the Z axis and takes out the tool T.

Further, the tool transport section 114 performs a mounting operation for the tool T. The basic operation is the same no matter when the tool T is attached to the holding pot 174 or any of the A-type holder to D-type holder. First, the shank S of the tool T held by the arm is inserted into the receiving openings 169, 175, and the tool T is released from the arm. Then, remove the arm laterally.

In the case of holding pot 174, the upper arm along the Z axis is used. The upper arm is set toward the negative direction of the X-axis by a second predetermined length (approximately 1.5 times the length of the shank S) with respect to the position where the tool is released. Next, the upper arm moves in the positive direction of the X-axis and releases the tool T at the position where the shank S is inserted into the receiving port 175. Finally, the upper arm moves in the negative direction of the Z axis.

In the case of an A type holder, the lower arm corresponding to the left direction is used. The lower arm gripping the tool is positioned toward the negative direction of the Z axis with respect to the release position. Next, the lower arm moves in the positive direction of the Z-axis and releases the tool T at the position where the shank S is inserted into the receiving port 169. Finally, the lower arm moves in the negative direction of the X axis.

In the case of a B type holder, a lower arm corresponding to the front direction is used. The lower arm gripping the tool is positioned in the negative direction of the X-axis with respect to the release position. Next, the lower arm moves in the positive direction of the X-axis and releases the tool T at the position where the shank S is inserted into the receiving port 169. Finally, the lower arm moves in the positive direction of the Z axis.

In the case of a C type holder, an upper arm corresponding to the front direction is used. The upper arm gripping the tool is positioned in the negative direction of the X-axis with respect to the release position. Next, the upper arm moves in the positive direction of the X-axis and releases the tool T at the position where the shank S is inserted into the receiving port 169. Finally, the upper arm moves in the negative direction of the Z axis.

In the case of a D type holder, the upper arm corresponding to the right direction is used. The upper arm gripping the tool is positioned toward the positive direction of the Z axis with respect to the release position. Next, the upper arm moves in the negative direction of the X-axis and releases the tool T at the position where the shank S is inserted into the receiving port 169. Finally, the upper arm moves in the negative direction of the X axis.

The operation of changing the position and direction of the arm is performed by a straight movement, a tilting movement, and a turning movement of the tool transport section 114. However, by moving the tool rest 164, the relative position of the arm with respect to the tool rest 164 may be changed. For example, when using the upper arm, by moving the tool rest 164 in the positive direction of the Y-axis, the heights (Y-axis positions) of the receiving port 169 and the shank S can be aligned.

FIG. 10 is a diagram showing the hardware configuration of the machine tool 100 and the functional blocks of the information processing device 118.
Machine tool 100 includes an information processing device 118, a processing control section 116, a processing device 112, a tool transport section 114, and a tool storage section 106. The machining control unit 116, which functions as a numerical control device, transmits a control signal to the machining device 112 according to the machining program. The processing device 112 moves the tool rest base 102 according to instructions from the processing control unit 116 to process the workpiece. Further, the processing control unit 116 acquires a “tool pattern” indicating a combination of tools T to be held in the tool rest 164 from the tool management unit 130 (described later). The machining control unit 116 causes the tool transport unit 114 to perform tool exchange according to the tool pattern instructed by the information processing device 118.

Information processing device 118 controls processing control section 116. In this embodiment, the information processing device 118 provides a user interface function to the operator and manages tool patterns. The tool storage section 106 stores spare tools. The tool transport section 114 is a mechanism including a moving table 180, and corresponds to a so-called ATC (Automatic Tool Changer). The tool transport section 114 takes out the spare tool from the tool storage section 106 in accordance with an exchange instruction from the processing control section 116 and exchanges the work tool at the exchange position of the tool post 164 with the spare tool.

Functional blocks of the information processing device 118 will be explained.
Each component of the information processing device 118 includes hardware including arithmetic 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. This is realized by software that is stored in a storage device and supplies processing instructions to arithmetic units. A computer program may be composed of a device driver, an operating system, various application programs located in an upper layer thereof, and a library that provides common functions to these programs. Each block described below indicates a functional unit block rather than a hardware unit configuration.

Note that each component of the processing control unit 116 also includes hardware including a computing unit such as a processor, a storage device such as a memory or storage, and a wired or wireless communication line that connects them, and hardware that is stored in the storage device and processed by the computing unit. It may also be implemented by software that provides instructions. The processing control unit 116 may be configured as a separate device from the information processing device 118.

The information processing device 118 includes a user interface processing section 120, a data processing section 122, and a data storage section 124.
The user interface processing unit 120 accepts operations from the user and is also responsible for processing related to the user interface, such as image display and audio output. The data processing unit 122 executes various processes based on the data acquired by the user interface processing unit 120 and the data stored in the data storage unit 124. The data processing section 122 also functions as an interface for the user interface processing section 120 and the data storage section 124. The data storage unit 124 stores various programs and setting data.

User interface processing section 120 includes an input section 126 and an output section 128.
The input unit 126 receives input from the user via a hard device such as a touch panel or a handle. The output unit 128 provides various information to the user through image display or audio output.

The data processing section 122 includes a tool management section 130, a schedule generation section 132, and a tool transport control section 134. The tool management unit 130 manages tool patterns indicating combinations of work tools that the tool rest 164 should hold. When changing the tool pattern, the schedule generating unit 132 generates a “transport schedule” that shows the process of tool exchange by combining the five operations of the tool transport unit 114: “straight movement,” “tilting,” “swivel,” “removal,” and “installation.” (described later). The tool transport control unit 134 instructs the machining control unit 116 to control the tool transport unit 114 in accordance with the transport schedule, and causes the tool transport unit 114 (mobile table 180) to execute tool exchange.

The data storage unit 124 stores tool patterns for each machining program. The machining control unit 116 appropriately executes tool exchange according to instructions from the tool transport control unit 134 when executing the machining program. In addition, the data storage unit 124 also stores spare tool information regarding the type and status (usability) of the spare tools stored in the tool storage unit 106. The data storage unit 124 also stores information on the number of times each tool T is used.

FIG. 11 is a flowchart showing the process of generating a transport schedule.
In the tool rest 164, when changing from one tool pattern P1 to another tool pattern P2, a tool change occurs. Tool exchange is realized by combining five operations: "straight ahead,""tilt,""swivel,""removal," and "installation." In this embodiment, tools are used when changing the tool arrangement on the tool post 164 from a pre-change tool pattern (hereinafter referred to as "current pattern") to a changed tool pattern (hereinafter referred to as "target pattern"). In order to minimize tool exchange time, the schedule generation unit 132 generates a transport schedule before exchanging tools. The current pattern is "prior placement information" that indicates the placement of the tools T before the tool exchange is executed, and the target pattern is the "target placement information" that indicates the placement of the tools T after the tool exchange is executed.

The current pattern as advance placement information is the tool at each station 222 in the tool rest 230, the first arm 182 and second arm 194 of the tool transport section 114, and the holding pot 174 which is the mounting position of the tool T in the tool storage section 106. The state of arrangement of T is shown. Whether or not the tool T is attached at these plurality of attachment positions and which tool T is attached are also handled as a type of pre-positioning information. Whether or not a cap member is placed in place of the tool T is also treated as part of the pre-placement information. The same applies to the target pattern as the target arrangement information, but the details will be described later in connection with FIG. 17 and subsequent figures.

More specifically, the tool management unit 130 sets data in advance as tool management information to set tool pattern P1 in machining process 1 among machining processes of the workpiece, and to set tool pattern P2 in the next machining process 2. It is registered in the storage unit 124. That is, before actually machining a workpiece, the tool management section 130 defines tool patterns P1, P2, P3, . . . for each machining process.

The schedule generation unit 132 describes later the tool transport order for minimizing tool exchange time (work man-hours and work time) when changing from one tool pattern P1 (current pattern) to another tool pattern P2 (target pattern). This is determined by the method described in (1), and is registered in the data storage unit 124 as a transportation schedule. For example, the schedule generation unit generates a transport schedule Q (P1, P2) when changing from tool pattern P1 to tool pattern P2, a transport schedule Q (P2, P3) when changing from tool pattern P2 to tool pattern P3, etc. 132 is created in advance.

When changing from the tool pattern P1 to the tool pattern P2, the tool transport control unit 134 instructs the machining control unit 116 to control the tool transport unit 114 according to the transport schedule Q (P1, P2), thereby executing the tool exchange. Ru.

The schedule generation unit 132 performs a simulation of the first to fifth steps described below, and then determines a transportation schedule that requires the shortest possible tool exchange time. The schedule generation unit 132 first performs a first step of moving a tool T attached to a certain station 222 (holder 168) to another station 222 (hereinafter referred to as "empty ST") where no tool T is attached. The tool conveyance order is determined for the following (S10). Details of the first step will be described later with reference to FIGS. 12 to 20. Note that the empty ST here is synonymous with empty holder.

Next, the schedule generation unit 132 determines the tool transport order for the second process of moving the spare tools stored in the tool storage unit 106 to the empty ST of the tool rest 164, that is, to the empty holder in which no tool T is held. Determine (S12). Details of the second step will be described later.

The order of the first step and the second step may be reversed. That is, the schedule generation unit 132 may perform the second step first, and then perform the first step.

Subsequently, the schedule generation unit 132 determines the tool transport order for the third step of internally exchanging the tools T attached to the tool post 164 (S14). Details of the third step will be described later.

Furthermore, the schedule generation unit 132 determines the tool transport order for the fourth step of externally exchanging the work tools on the tool post 164 and the spare tools in the tool storage unit 106 (S16). Details of the fourth step will be described later.

Finally, the schedule generation unit 132 executes a fifth step for optimizing the transport schedule created through the first to fourth steps (S18). Details of the fifth step will be described later. Note that depending on the current pattern as the preliminary placement information and the target pattern as the target placement information, some of the first to fourth steps may be skipped (described later).

After the fifth step is completed, the transport schedule is finalized. The schedule generation unit 132 temporarily stores the confirmed transport schedule on the memory or saves it in the data storage unit 124 (S20). Here, the following process related to tool transportation will be summarized. Schedule generation is executed "every time a tool transport command is issued" as shown below.
(1) Detection of tool transfer commands from the machining program (2) Current status recognition (installation direction and phase of each station, arm, pot, installed tool data, etc. explained in relation to Fig. 17, etc.) for automatic tool exchange Collection of necessary machine information)
(3) Target setting (determine which tools to place at each station. As a result, the result may be "same as the current situation (no tools transported)")
(4) Schedule generation (generates processing to rearrange tools)
(5) Tool transport (tool transport based on the generated schedule)

The processing process of the first step (S10) will be explained.
Here, the description will be made on the assumption that a current pattern, which is a tool pattern indicating preliminary placement information, is changed to a target pattern, which is another tool pattern indicating target placement information. First, when an empty ST exists in the current pattern (Y in S30), the first step is executed (S32). If there is no empty ST (N in S30), the first step is skipped.

FIG. 12 is a flowchart showing details of the first step in S32 of FIG. 11.
When the current pattern and the target pattern meet a predetermined exchange condition, an exchange process suitable for the exchange condition is adopted. The exchange conditions used in the first step consist of four exchange condition groups. The exchange condition groups are classified by the type of holder 168 of the tool T that is removed first.

The first exchange condition group (see FIG. 13) is a collection of first exchange conditions. The first exchange condition is a condition for tool exchange in which the first movement source is the A type holder. Similarly, the second exchange condition group (see FIG. 14) is a collection of second exchange conditions in which the first movement source is the B type holder. The third exchange condition group (see FIG. 15) is a collection of third exchange conditions in which the first movement source is the C type holder. The fourth exchange condition group (see FIG. 16) is a collection of fourth exchange conditions in which the first movement source is the D type holder. The exchange condition groups define priorities regarding their respective exchange conditions. Each exchange condition group will be described later in connection with FIGS. 13 to 16.

First, the schedule generation unit 132 determines the reference order of the exchange condition groups based on the current orientation of the tool transport unit 114 (S34). The reference order is determined by the angle of tilt for removal first. The angle of tilt is determined by the current orientation of tool carrier 114 and the type of holder 168 from which it is being moved.

When the current tool transport section 114 is in a state facing the left direction (a posture in which the left-facing tool T can be attached and detached), it is possible to first remove the A type holder (left inner diameter direction, phase: left). , no need for tilting. On the other hand, when removing from the D type holder (right inner diameter direction, phase: right) for the first time, a 180° tilt rotation is required. Therefore, in descending order of tilt angle, the first exchange condition group (source holder: A type holder), the second exchange condition group (source holder: B type holder), and the third exchange condition group (source holder: C type holder) and the fourth exchange condition group (move source holder: D type holder) are referenced.

When the tool transport unit 114 is in a state facing the right direction (a posture in which the right-facing tool T can be attached and detached), the fourth exchange condition group, the third exchange condition group, the second exchange condition group, and the first exchange condition group are Referenced in order. When the tool transport unit 114 is in a state facing forward (a posture in which the forward-facing tool T can be attached and detached), the second exchange condition group, the third exchange condition group, the first exchange condition group, and the fourth exchange condition group Referenced in this order. Regarding the forward direction, the order of the second exchange condition group and the third exchange condition group may be reversed, and the order of the first exchange condition group and the fourth exchange condition group may be reversed. In this way, the trade-off condition group is selected such that the time required for the first tilting is shorter.

The schedule generation unit 132 determines exchange condition groups to be sequentially referred to as described above (S36). When the exchange condition group to be referred to is determined, the schedule generation unit 132 specifies the exchange conditions one by one according to the priority order in the exchange condition group (S38), and the current pattern and the target pattern correspond to the exchange conditions. It is determined whether to do so (S40).

If the exchange condition is met (Y in S40), the schedule generation unit 132 adopts an exchange process suitable for the exchange condition (S42). At this time, the current pattern is updated. Thereafter, the process returns to S34. In S34, the reference order is determined again based on the orientation of the tool transport section 114 at that time.

On the other hand, if the exchange condition does not apply (N at S40), the process moves to the next exchange condition (the condition on the next row below in FIGS. 13 to 16) according to the priority order. Therefore, if there is the next exchange condition (Y in S44), the schedule generation unit 132 returns to the process in S38. If the last exchange condition has been determined (N at S44), the schedule generation unit 132 moves to the next exchange condition group reference process (S36).
For example, when the exchange condition of the first priority order is satisfied, the current pattern is updated according to the exchange condition of the first priority order. When the exchange condition of the first priority order does not hold, the current pattern is updated according to the exchange condition of the second priority order. If the exchange condition for the second priority is also not satisfied, it is determined whether the exchange condition for the third priority is satisfied. If none of the exchange conditions included in the exchange condition group selected in S36 is satisfied, another exchange condition group becomes the inspection target.

After referring to the last exchange condition group (N in S46), the schedule generation unit 132 determines whether there are any empty STs remaining as destinations (S48). If there are still empty STs to be moved to (N at S48), the schedule generation unit 132 returns to the process at S34. If it is no longer necessary to move any of the work tools to the empty ST in the updated current pattern (Y in S48), the process of the first step ends.

As explained above, priority is given to removing the tool T from the A-type holder when the tool transport section 114 faces leftward, so the schedule generation section 132 removes the tool held in the tool post 164 from the empty position. When moving the tool to the holder, priority is given to the tool whose holding direction of the source holder corresponds to the current orientation of the tool transport section. This reduces the number of tilting rotations.
As described above, the schedule generation unit 132 selects an exchange condition group based on the current orientation of the tool transport unit 114, and selects an exchange condition that corresponds to any one of the plurality of exchange conditions included in the selected exchange condition group. Inspect whether there is one in priority order. When any exchange condition is satisfied, the current pattern is updated according to the exchange condition. At this time, the orientation of the tool transport section 114 may also change. The schedule generation unit 132 selects the tool exchange group again based on the current orientation of the tool transport unit 114 and continues the same process. When none of the exchange conditions in any exchange condition group is satisfied, the first step ends.

FIG. 13 is a diagram showing the first exchange condition group in which the first movement source is the A type holder.
As described in relation to FIG. 6, the A type holder is a holder that faces left and holds the tool T that cuts the inner diameter side of the workpiece W on the left side, and corresponds to the phase: left. Therefore, the A type holder is expressed as "inner diameter←". Here, "←" means left direction. The B type holder is a holder that faces forward and holds a tool T for cutting the outer diameter side of the workpiece W on the left side, and corresponds to the phase: left. Therefore, the B type holder is expressed as "outer diameter ↓ (left)". The C type holder is a holder that faces forward and holds a tool T for cutting the outer diameter side of the workpiece W on the right side, and corresponds to the phase: right. Therefore, the C type holder is expressed as "outer diameter ↓ (right)". The D type holder is a holder that faces right and holds a tool T for cutting the inner diameter side of the workpiece W on the right side, and corresponds to the phase: right. Therefore, the D type holder is expressed as "inner diameter →". "→" means right direction.

As described above, the first exchange condition group is a collection of first exchange conditions in which the first movement source is the A type holder "inner diameter←". Therefore, as illustrated, the first exchange condition group includes 12 first exchange conditions for removing the first tool T from the A type holder (left inner diameter direction, phase: left). Priorities are determined for these first exchange conditions. The first exchange conditions are sequentially determined from the highest rank, and if there is a corresponding first exchange condition, an exchange process suitable for the first exchange condition is adopted.

The first exchange condition with priority: 1 defines a tool exchange method when there is a work tool to be moved from any A type holder to another vacant A type holder. That is, when it is necessary to move the tool T located at the "inner diameter ←" of the A type holder to another vacant A type holder, the tool transport schedule is set according to the first exchange condition with priority: 1. If the first exchange condition of priority: 1 is satisfied when the tool transport section 144 is facing the left direction (left inner diameter direction), the tool transport section 144 is facing the tool T to be removed. No need to tilt. Furthermore, the receiving ports 169 of the destination holder and the source holder are in the same phase (phase: left). If there is even one working tool that meets this first exchange condition, the operation of moving that one working tool is given top priority. The illustrated "0°" indicates that no tilting is required. Furthermore, "same" indicates that the phase of the destination is the same.

The first exchange condition with priority: 2 is that there is a work tool to be moved from any A type holder (left inner diameter direction, phase: left) to an empty C type holder "outer diameter ↓ (right)", Furthermore, it is shown that there is a working tool to be moved from another A type holder to an empty B type holder "outer diameter ↓ (left)". The first one is the one that is moved to the C type holder (outer diameter direction, phase: right) when the first exchange condition of priority: 1 is not satisfied and the first exchange condition of priority: 2 is satisfied. The second tool T is the one to be moved to the B type holder (outer diameter direction, phase: left). The first tool T needs to be tilted from the left inner radial direction to the outer radial direction. Further, the destination holder and the source holder are in opposite phases. The second tool T also needs to be tilted from the left inner radial direction to the outer radial direction. The destination holder and the source holder are in the same phase (phase: left). The illustrated "90°" indicates that a tilting angle of 90° is required.

Priority order: The first exchange condition of 3 to 7 is to move the work tool to the empty holder of the first predetermined type (such as "outer diameter ↓ (left)") in two A type holders, and the second one. This indicates that there is a work tool to be moved to an empty holder of a predetermined type (such as "outer diameter ↓ (left)"). If the first exchange conditions of priority: 1 and priority: 2 do not hold, and the first exchange condition of priority: 3 is met, the first tool T and the second tool T are Establish. Regarding the first exchange conditions of priority: 3 and priority: 4, the exchange operation may be performed for one tool T at a time. In that case, after the first tool is moved, the second tool is moved. The illustrated “180°” indicates that a tilting angle of 180° is required.

The first exchange condition with priority level 8 involves the operation of removing the second tool T during the 180° tilting. This condition requires that there is a work tool that moves from the A type holder to the empty D type holder "inner diameter →" and a work tool that moves the C type holder "outer diameter ↓ (right)" to the empty D type holder. It shows. When this first exchange condition is met, the first tool T and the second tool T are determined as shown in the figure. The second tool T "outer diameter ↓ (right)" is removed when it is tilted 90 degrees (forward). The exchange condition with priority level 9 also involves the operation of removing the second tool T midway through.

The first exchange conditions of priorities: 10 to 12 are determined only by the conditions regarding one work tool, and only that work tool is moved.

Priority order: As shown in the first exchange conditions 2 to 5, the schedule generation unit 132 selects the tool transport unit in a situation where three or more tools T held in the tool rest 164 are to be moved to empty holders. When 114 moves two tools T at the same time, priority is given to a set of tools T whose respective movement destination holders are held in the same direction (priority order: 2 to 4, "forward direction and forward direction", etc.) . This reduces the number of tilting rotations. Furthermore, among these conditions, the schedule generation unit 132 creates a priority order that is a set of tools (“outer diameter ↓ (right)” and “outer diameter ↓ (left)”) in which the holding phases of their respective destination holders are different. : Give top priority to the first exchange condition of 2. Under this condition, there is no need to turn between the first attachment and the second attachment.
In the case of the exchange condition of priority: 1, since neither tilting nor turning is necessary, the travel time can be shortened the most. In the case of exchange conditions of priority: 2 to 4, one 90° tilting is required, so the operation is longer for one tilting time than in the case of priority: 1. In this way, the priority order is set so that conditions with shorter operation time specified based on the number of times for each type of operation ("straight ahead", "tilting", "turning") are prioritized. The operating cost can be represented by the sum of the time points mentioned above, with trade-offs with lower operating costs being prioritized. Therefore, if an exchange condition with a higher priority is executed, the operation can be completed more quickly.

FIG. 14 is a diagram showing a second exchange condition group in which the first movement source is a B type holder.
As described above, the second exchange condition group is a collection of second exchange conditions in which the first movement source is the B type holder "outer diameter ↓ (left)". When the free arms of the tool transport unit 114 face the outer diameter direction and the phase is on the left, the schedule generation unit 132 prioritizes the plurality of second exchange conditions included in the second exchange condition group. Decide on a transportation schedule. The second exchange condition of priority: 1 indicates that a work tool to be moved to an empty B-type holder exists in any B-type holder. Since it is installed in the same direction, there is no need to tilt it. The receiving ports 169 of the destination holder and the source holder are in the same phase (phase: left). If there is even one working tool that meets this second exchange condition, an operation is performed to move that one working tool.

Priority: In the second exchange condition of 2, the work tool of the B type holder is transferred to the empty C type holder "outer diameter ↓ (right)", and the work tool of another C type holder is transferred to another empty B type holder. Move to. Since the B type holder and the C type holder are oriented in the same direction (forward), there is no need for tilting in this exchange operation.

The second exchange conditions of priorities: 3, 9, and 10 are determined only by conditions regarding one work tool, and only that work tool moves.

Priority order: In the second exchange condition of 4, 7, 8, after removing the first tool T, remove the second tool T from another type holder (C type holder "outer diameter ↓ (right) etc."). Remove. After that, it is tilted and each tool T is attached to a destination holder of the same type (A type holder "inner diameter ←", etc.).

The second exchange condition for priorities: 5 and 6 is to move the two work tools in the B type holder "outer diameter ↓ (left)" to the same type of destination holder (A type holder "inner diameter ←", etc.) Indicates that it is to be moved.

FIG. 15 is a diagram showing the third exchange condition group in which the first movement source is the C type holder "outer diameter ↓ (right)". This third exchange condition is symmetrical to the case of FIG. 14.

FIG. 16 is a diagram showing a fourth exchange condition group in which the first movement source is the D type holder "inner diameter→". This fourth exchange condition is symmetrical to the case of FIG. 13.

FIG. 17 is a diagram showing a first example of the transport schedule.
This is an example of moving two tools T of the A type holder "inner diameter ←" to the B type holder "outer diameter ↓ (left)" and the D type holder "inner diameter →". As shown in the current pattern and the target pattern, tool: T5 is moved from station: ST1 to station: ST5, and tool: T11 is moved from station: ST2 to station: ST11. All of these tools T are objects of the first process. Note that the state of the station 222 (not shown) does not change. For other transport schedules, only stations 222 whose states change are illustrated.

It is assumed that the current tool transport section 114 is on standby on the tool storage section 106 side (magazine side) and faces forward. In the figure, regarding the state of the tool transport section 114, the state facing the front direction (a posture in which the forward-facing tool T can be attached and detached) is expressed as "outer diameter ↓", and the state facing the left direction (the tool T facing left) is expressed as "outer diameter ↓". The position in which the tool T can be attached and detached) is expressed as "inner diameter ←", and the state facing the right direction (the attitude in which the tool T facing right can be attached and detached) is expressed as "inner diameter →".

The schedule generation unit 132 generates a second exchange condition group (source holder) in which the first tool T can be removed in the current state (forward direction) in accordance with the above-mentioned reference order (giving priority to those with a small tilt angle). : B type holder "outer diameter ↓ (left)", Fig. 14) and the third exchange condition group (move source holder: C type holder "outer diameter ↓ (right)", Fig. 15) are judged, but which exchange It doesn't meet the conditions either. Next, the schedule generation unit 132 makes a determination regarding the first exchange condition group (move source holder: A type holder “inner diameter←”, FIG. 13). The schedule generation unit 132 determines that the first exchange condition of priority: 6 is met. Tool: T11 corresponds to the first tool T, and tool: T5 corresponds to the second tool T.

The basic exchange process under the first exchange condition with priority level 6 is defined as follows.
- In STEP 1, the tool transport section 114 moves (goes straight) toward the tool rest 164 side.
- In STEP 2, the tool transport section 114 is tilted so as to face the direction of the holder from which the first tool T is moved.
・In STEP 3, the arm with the same phase as the first tool T removes the first tool T.
- In STEP 4, the tool transport section 114 turns 180 degrees.
・In STEP 5, the arm with the same phase as the second tool T removes the second tool T.
- In STEP 6, the tool transport section 114 is tilted so as to face the direction of the holder to which the second tool is to be moved.
- In STEP 7, attach the second tool T to the arm that holds the second tool T.
- In STEP 8, the tool transport section 114 is tilted so as to face the direction of the holder to which the first tool T is to be moved.
・In STEP 9, attach the first tool T to the arm that holds the first tool T.
- In STEP 10, the tool transport section 114 is tilted so as to face the front direction.
- In STEP11, the tool transport section 114 moves to the tool storage section 106 side.

According to this basic exchange process, the following transport schedule is generated. Note that for other exchange conditions as well, transport schedules are generated according to the respective basic exchange processes.
- In STEP 1, the tool transport section 114 moves (goes straight) toward the tool rest 164 side.
- In STEP 2, the tool transport section 114 is tilted so as to face the left direction.
- In STEP3, the lower second arm 194 removes the tool: T11 of station: ST2 from the holder 168.
- In STEP 4, the tool transport section 114 turns 180 degrees.
- In STEP 5, the lower first arm 182 removes the tool: T5 of the station: ST1 from the holder 168.
- In STEP 6, the tool conveyance unit 114 is tilted so as to face the front direction.
- In STEP7, the lower first arm 182 attaches the tool: T5 to the holder 168 of the station: ST5.
- In STEP 8, the tool transport section 114 is tilted so as to face the right direction.
- In STEP9, the upper second arm 194 attaches the tool: T11 to the holder 168 of the station: ST11.
- In STEP 10, the tool transport section 114 is tilted so as to face the front direction.
- In STEP11, the tool transport section 114 moves (goes straight) toward the tool storage section 106.

In the case of the first exchange condition of priority: 6, the tool transport unit 114 moves the first tool T (tool: T11) and the second tool T (tool: T5) simultaneously using two arms. By operating in this way, the operating time of the tool transport section 114 becomes shorter. Specifically, turning is performed once, tilting is performed four times, and going straight is performed twice.

In addition, STEP 4 is ``When performing a tool exchange targeting a holder in the first phase, if the arm that is the target of the tool exchange is in the second phase, the phase of the arm is changed from the second phase to the first phase.'' This is an example of ``processing to execute tool exchange on the top.'' In this example, the phase: left corresponds to the "first phase", and the phase: right corresponds to the "second phase". The holder 168 of the station ST1 from which the tool T5 is taken out in STEP 5 corresponds to the "first phase holder", and the first arm 182 corresponds to the "arm to be subjected to tool exchange". In STEP 4, the phase of the first arm 182 is changed from right to phase left. Then, the removal operation of the tool T5 in STEP 5 is performed.

FIG. 18 is a diagram showing a second example of the transport schedule.
A reference example is shown in which different processing is adopted for the same current pattern and target pattern as in FIG. 17. In this example, the tool transport unit 114 moves tool T11 after moving tool T5. By operating in this manner, the operating time of the tool transport section 114 becomes longer. Specifically, turning is performed once, tilting is performed six times, and going straight is performed twice. In the second example, tilting is performed two more times than in the first example, so the operation time is correspondingly longer.

As shown in FIG. 17, two tools T of the same type holder 168 (A type holder "inner diameter ←") are transferred to another type holder 168 (B type holder "outer diameter ↓ (left)") and D type holder. When moving to the inner diameter →), it is faster to carry two pieces together instead of one piece at a time.

FIG. 19 is a diagram showing a third example of the transport schedule.
This is an example of moving the tool T of the A type holder "inner diameter ←" and the tool T of the B type holder "outer diameter ↓ (left)" to the D type holder "inner diameter →". As shown in the current pattern and the target pattern, tool: T11 is moved from station: ST2 to station: ST11, and tool: T12 is moved from station: ST5 to station: ST12. All of these tools T are objects of the first process. In addition, the tool: T1 is moved from the holding pot: MG1 of the tool storage section 106 to the station: ST1. This tool T is the object of the second process.

The following transport schedule is generated. In this example, it is assumed that the second step is performed first. First, an exchange process is generated by the process of the second step.
- In STEP 1, the upper first arm 182 removes the tool: T1 from the holding pot: MG1 of the tool storage section 106.
- In STEP 2, the tool transport section 114 moves (goes straight) toward the tool rest 164 side.
- In STEP 3, the tool transport section 114 is tilted so as to face the left direction.
- In STEP 4, the tool transport section 114 turns 180 degrees.
- In STEP 5, the lower first arm 182 attaches the tool: T1 to the holder 168 of the station: ST1.

Subsequently, the first step is performed. According to the reference order described above, the schedule generation unit 132 generates a first exchange condition group (movement source holder: A type holder "inner diameter ←”, FIG. 13). The schedule generation unit 132 determines that the first exchange condition with priorities: 1 to 8 does not apply, but matches the first exchange condition with priority: 9. Tool: T11 corresponds to the first tool T, and tool: T12 corresponds to the second tool T. Then, an exchange process according to the first process described below is added.
- In STEP6, the lower first arm 182 removes the tool: T11 of station: ST2 from the holder 168.
- In STEP 7, the tool transport section 114 is tilted so as to face the front direction.
- In STEP 8, the tool transport section 114 turns 180 degrees.
- In STEP9, the lower second arm 194 removes the tool: T12 of station: ST5 from the holder 168.
- In STEP 10, the tool transport section 114 is tilted so as to face the right direction.
- In STEP11, the upper first arm 182 attaches the tool: T11 to the holder 168 of the station: ST11.
- In STEP 12, the tool transport section 114 rotates 180 degrees.
- In STEP13, the upper second arm 194 attaches the tool: T12 to the holder 168 of the station: ST12.
- In STEP 14, the tool transport section 114 is tilted so as to face the front direction.
- In STEP 15, the tool transport section 114 moves (goes straight) toward the tool storage section 106.

In the case of the first exchange condition of priority: 9, the tool transport unit 114 moves the first tool T (tool: T11) and the second tool T (tool: T12) simultaneously using two arms. By operating in this manner, the operating time of the tool transport section 114 becomes shorter. Specifically, turning is performed three times, tilting is performed four times, and going straight is performed twice.

FIG. 20 is a diagram showing a fourth example of the transport schedule.
A reference example is shown in which different processing is adopted for the same current pattern and target pattern as in FIG. 19. The processing in STEP1 to STEP5 is the same as in the case of FIG. In this example, the tool transport unit 114 moves tool T12 after moving tool T11. By operating in this manner, the operating time of the tool transport section 114 becomes longer. Specifically, turning is performed three times, tilting is performed six times, and going straight is performed twice. In the fourth example, tilting is performed two more times than in the third example, so the operation time is correspondingly longer.

As shown in FIG. 19, two tools T (T11 and T12) in different types of holders 168 (A type holder "inner diameter ←" and B type holder "outer diameter ↓ (left)") are transferred to the same type holder. 168 to two locations (D type holder "inner diameter →"), it will be faster to carry two pieces together instead of carrying them one by one.

The process of the second step shown in S12 of FIG. 11 will be explained.
Here, after the first step is executed or when an empty ST exists in the current pattern after the first step is skipped (Y in S60), the second step is executed (S62). If there is no empty ST (N at S60), the second step is skipped.

When two or more empty STs exist in the tool post 164 (Y in S70), the schedule generation unit 132 takes out two tools T from the tool storage unit 106, transports them, and attaches the tools T to the tool post 164. (S72). In this process, the set condition group (see FIG. 21) is referred to. The set condition group will be described later. After the tool is installed, the schedule generation unit 132 updates the current pattern, and the process returns to S70.

When there is only one empty ST in the tool post 164 (N in S70, Y in S74), the schedule generation unit 132 takes out one tool T from the tool storage unit 106, transports it, and then executes external exchange. (S76). After the tool T is attached, the schedule generation unit 132 updates the current pattern, and the process returns to S34. When no empty ST remains in the tool post 164 (N in S74), the second step ends.

FIG. 21 is a diagram showing a group of assembly conditions for tools T to be transported simultaneously.
It is assumed that two or more spare tools stored in the tool storage section 106 are to be moved to their respective destination holders. In particular, when three or more spare tools are to be moved, a plurality of sets of spare tools are assumed to be transported simultaneously, so the determination is made based on the priority order.

The set condition group includes 10 conditions for a set of spare tools to be transported simultaneously. Conditions related to assembling spare tools are referred to as "assembly conditions." The first tool T is a spare tool to be removed first, and the second tool T is a spare tool to be removed next. Judgments are made in order from the higher-ranking conditions, and if a corresponding condition is found, simultaneous transport processing for two spare tools that meet the condition is adopted.

Priority: 1 assembly condition indicates that there is a spare tool to be moved to the B type holder "outside diameter ↓ (left)" and a spare tool to be moved to the C type holder "outside diameter ↓ (right)". There is. The condition of priority: 2 indicates that there are two spare tools to be moved to the B type holder. As shown below, assembly conditions regarding the two types of destination holders are defined.

Priority order: As in the set conditions 1 to 3, the schedule generation unit 132 determines that when three or more tools stored in the tool storage unit 106 are to be moved to the tool rest 164, the tool transport unit 114 moves two or more tools. When tools are transported simultaneously, priority is given to a set of tools whose destination holders are held in the same direction (eg, forward). This reduces the number of tilting rotations. Furthermore, among these conditions, the schedule generation unit 132 selects a priority order that is a set of tools (“Outer diameter ↓ (left)” and “Outer diameter ↓ (right)”) in which the holding phase of each destination holder is different. :Give top priority to the set condition of 1. Under this condition, there is no need to turn between the first attachment and the second attachment.

FIG. 22 is a diagram showing a fifth example of the transport schedule.
This is an example in which four spare tools in the tool storage section 106 are moved to two locations: "outer diameter ↓ (left)" of the B type holder and two locations "outer diameter ↓ (right)" of the C type holder. As shown in the current pattern and the target pattern, the tools T5, T7, T9, and T10 in the holding pots MG1 to MG4 of the tool storage section 106 are moved to the stations ST5, ST7, ST9, and ST10. All of these tools T are objects of the second process.

In the process of the second step, the schedule generation unit 132 determines that the set condition of priority level 1 of the set condition group (FIG. 21) matches. Tool: T5 corresponds to the first tool T, and tool: T9 corresponds to the second tool T. The following exchange process is generated.
- In STEP 1, the upper first arm 182 removes the tool: T5 from the holding pot: MG1 of the tool storage section 106.
- In STEP 2, the tool transport section 114 rotates 180 degrees.
- In STEP 3, the upper second arm 194 removes the tool: T9 from the holding pot: MG3 of the tool storage section 106.
- In STEP 4, the tool transport section 114 moves (goes straight) toward the tool rest 164 side.
- In STEP5, the lower first arm 182 attaches the tool: T5 to the holder 168 of the station: ST5.
- In STEP6, the upper second arm 194 attaches the tool: T9 to the holder 168 of the station: ST9.

In the process of the second step, the schedule generation unit 132 again refers to the set condition group (FIG. 21) and determines that the set condition with priority: 1 matches. Tool: T7 corresponds to the first tool T, and tool: T10 corresponds to the second tool T. The following exchange process is generated.
- In STEP 7, the tool transport section 114 moves (goes straight) toward the tool storage section 106.
- In STEP 8, the upper second arm 194 removes the tool: T7 from the holding pot: MG2 of the tool storage section 106.
- In STEP 9, the tool transport section 114 turns 180 degrees.
- In STEP10, the upper first arm 182 removes the tool: T10 from the holding pot: MG4 of the tool storage section 106.
- In STEP 11, the tool transport section 114 moves (goes straight) toward the tool rest 164 side.
- In STEP12, the lower second arm 194 attaches the tool: T7 to the holder 168 of the station: ST7.
- In STEP13, the upper first arm 182 attaches the tool: T10 to the holder 168 of the station: ST10.
- In STEP 14, the tool transport section 114 moves (goes straight) toward the tool storage section 106.

In this way, when the replacement process based on the set condition of priority 1 is repeated twice, there is no need for turning on the turret 164 side, and the operation time becomes shorter. Specifically, the vehicle turns twice and goes straight four times.

FIG. 23 is a diagram showing a sixth example of the transport schedule.
A reference example is shown in which different processing is adopted for the same current pattern and target pattern as in FIG. 22. In this example, the tool T is transported to two locations on the B type holder "outer diameter ↓ (left)" and then the tool T is transported to two locations on the C type holder "outer diameter ↓ (right)". This operation corresponds to the process of exchanging the set condition with priority: 2 (upper side) and the set condition with priority: 2 (lower side) in the set condition group (FIG. 21). Since turning on the tool post 164 side is required, the operating time of the tool transport section 114 becomes longer. Specifically, the vehicle turns four times and goes straight four times. In the sixth example, two more turns are performed than in the fifth example, so the operation time is correspondingly longer.

As shown in FIG. 22, when both the set condition with priority: 1 and the set condition with priority: 2 apply, the exchange operation based on the set condition with priority: 1 is completed more quickly.

FIG. 24 is a diagram showing a seventh example of the transport schedule.
This is an example in which three spare tools in the tool storage section 106 are moved to the A type holder "inner diameter ←", the C type holder "outer diameter ↓ (right)", and the D type holder "inner diameter →". As shown in the current pattern and the target pattern, the tools T1, T9, and T11 in the holding pots MG1 to MG3 of the tool storage section 106 are moved to the stations ST1, ST9, and ST11. All of these tools T are objects of the second process. In addition, tool T12 in the holder 168 of station ST2 and tool T2 in the holder 168 of station ST12 are internally exchanged. These tools T are the targets of the third process.

In the process of the second step, the schedule generation unit 132 matches the set condition (upper side) of the priority order of the set condition group (FIG. 21): 4. Tool: T1 corresponds to the first tool T, and tool: T9 corresponds to the second tool T. The following exchange process is generated.
- In STEP 1, the upper first arm 182 removes the tool: T1 from the holding pot: MG1 of the tool storage section 106.
- In STEP 2, the tool transport section 114 rotates 180 degrees.
- In STEP 3, the upper second arm 194 removes the tool: T9 from the holding pot: MG2 of the tool storage section 106.
- In STEP 4, the tool transport section 114 moves (goes straight) toward the tool rest 164 side.
- In STEP 5, the upper second arm 194 attaches the tool: T9 to the holder 168 of the station: ST9.
- In STEP 6, the tool transport section 114 is tilted so as to face the left direction.
- In STEP7, the lower first arm 182 attaches the tool: T1 to the holder 168 of the station: ST1.

Furthermore, in the process of the second step, the schedule generation unit 132 adds a replacement process for the remaining tool: T11.
- In STEP 8, the tool transport section 114 is tilted so as to face the front direction.
- In STEP9, the tool transport section 114 moves (goes straight) toward the tool storage section 106.
- In STEP10, the upper second arm 194 removes the tool: T11 from the holding pot: MG3 of the tool storage section 106.
- In STEP 11, the tool transport section 114 moves (goes straight) toward the tool rest 164 side.
- In STEP 12, the tool transport section 114 is tilted so as to face the right direction.
- In STEP13, the upper second arm 194 attaches the tool: T11 to the holder 168 of the station: ST11.

After completing the second step, the process moves on to the third step. The schedule generation unit 132 adds internal exchange processing regarding tool: T2 and tool: T12.
- In STEP14, the upper second arm 194 removes the tool: T2 of the station: ST12 from the holder 168.
- In STEP 15, the tool transport section 114 is tilted so as to face the front direction.
- In STEP 16, the tool transport section 114 is tilted so as to face the left direction.
- In STEP17, the lower first arm 182 removes the tool: T12 of the station: ST2 from the holder 168.
- In STEP 18, the tool transport section 114 rotates 180 degrees.
- In STEP19, the lower second arm 194 attaches the tool: T2 to the holder 168 of the station: ST2.
- In STEP 20, the tool transport section 114 is tilted so as to face the front direction.
- In STEP21, the tool conveyance section 114 is tilted so as to face the right direction.
- In STEP22, the upper first arm 182 attaches the tool: T12 to the holder 168 of the station: ST12.
- In STEP 23, the tool transport section 114 is tilted so as to face the front direction.
- In STEP24, the tool transport section 114 moves (goes straight) toward the tool storage section 106 side.

In this way, when tool T11 is carried after carrying tool T1 and tool T9 at the same time, turning is carried out twice, tilting is carried out eight times, and straight movement is carried out four times.

FIG. 25 is a diagram showing an eighth example of the transport schedule.
A reference example is shown in which different processing is adopted for the same current pattern and target pattern as in FIG. 24. After carrying tool: T11 and tool: T9 at the same time, carry tool: T1. The third step is the same as in the seventh example. In this case, turning is performed four times, tilting is performed eight times, and going straight is performed four times. In the eighth example, the turning is performed two more times than in the seventh example, so the operation time is correspondingly longer.

FIG. 26 is a diagram showing a ninth example of the transport schedule.
A reference example is shown in which still another process is adopted for the same current pattern and target pattern as in FIG. 24. After carrying tool: T1 and tool: T11 at the same time, carry tool: T9. In this case, turning is performed twice, tilting is performed 10 times, and going straight is performed four times. In the ninth example, tilting is performed two more times than in the seventh example, so the operation time is correspondingly longer.

In this way, when three or more spare tools are transferred to the tool post 164, the replacement process is completed more quickly if the replacement process is performed using the assembly condition with a higher priority in the assembly condition group (FIG. 21).

The process of the third step shown in S14 of FIG. 11 will be explained.
Here, when internal exchange is required in the tool pattern after execution of the second process or after skipping the second process (Y in S80), that is, tool A attached to one station A and another station B When it is necessary to replace the position of the tool B attached to the tool B, the third step is executed (S82). If there is no need for internal exchange (N at S80), the third step is skipped.

In the internal exchange process, one arm A removes tool A from station A's holder 168 and the other arm B removes tool B from station B's holder 168. Arm A then attaches tool A to the holder 168 of station B, and arm B attaches tool B to the holder 168 of station A. During this time, the necessary tilting and turning movements are performed.

The process of the fourth step shown in S16 of FIG. 11 will be explained.
Here, when external replacement is required in the tool pattern after executing the third process or skipping the third process (Y in S90), that is, the tool A attached to a certain station A and the tool storage section 106 When the stored tool B needs to be replaced, a fourth step is executed (S92). If there is no need for external exchange (N at S90), the fourth step is skipped.

In the external exchange process, one arm A removes tool A from the holder 168 of station A and carries it to the tool storage section 106 side. The other arm B removes tool B from the holding pot 174 of tool storage 106 and arm A attaches tool A to its holding pot 174. Arm B carries tool B to the tool rest 164 side and attaches it to the holder 168 of station A. During this time, the necessary tilting and turning movements are performed. Alternatively, the tool B in the tool storage section 106 may be carried first, and then the tool A in the tool storage section 106 of the tool post 164 may be carried.

After generating the transport schedule using the above algorithm for the first to fourth steps, the schedule generation unit 132 further executes a fifth step to determine whether the transport schedule can be optimized. Optimization conditions can be set arbitrarily. For example, when moving in a straight line (transporting the tools T), it is possible to carry two tools T together as much as possible, or to prioritize taking out unnecessary tools from the tool post 164.

[Summary]
The tool exchange of the machine tool 100 has been described above based on the embodiment.
When generating a transport schedule, the schedule generation unit 132 executes a first step and a second step, and creates a tool transport order so that no empty ST remains on the tool post 164 after the second step is executed. Since the third step is internal replacement, it is necessary to position the tool transport section 114 on the tool rest 164 side. Since the tool transport section 114 is on the tool rest 164 side at the end of the second step, there is no need to move the tool transport section 114 toward the tool rest 164 at the start of the third step. On the other hand, since the fourth step is external replacement, it is necessary to position the tool transport section 114 on the tool storage section 106 side. For the above reasons, it is desirable to perform the third step instead of the fourth step after the first step and the second step.

If there is no empty ST on the tool post 164 in the current pattern, the schedule generation unit 132 may skip the first step and the second step and generate a transport schedule based on the algorithm for the third and subsequent steps. In this case, the schedule generation unit 132 may execute the fourth step before the third step.

The schedule generation unit 132 calculates the tool transport order in a round-robin manner based on the current pattern and the target pattern for various combinations such as which tool T to move from and which station 222 to move the tool T first. It's okay. For example, even in the first step, it is possible to create various tool transport orders based on the combination of the current pattern and the target pattern. The schedule generation unit 132 may select the tool transport order with the highest work efficiency from the large number of tool transport orders generated in this way.

In particular, the schedule generation unit 132 can reduce the number of man-hours required for tool exchange by creating a transport schedule that prevents temporary evacuation to the tool storage unit 106 and temporary installation to the tool post 164.

In addition, when the number of steps for a plurality of tool exchanges is the same, the schedule generation unit 132 determines which conveyance order is the best based on the time point indexed by the time required for each of the conveying operation, tilting operation, and turning operation. You can judge whether work efficiency is good.

It should be noted that the present invention is not limited to the above-described embodiments and modified examples, and can be embodied by modifying the constituent elements without departing from the scope of the invention. Various inventions may be formed by appropriately combining a plurality of components disclosed in the above embodiments and modified examples. Furthermore, some components may be deleted from all the components shown in the above embodiments and modified examples.

As described above, according to the present invention, the total time related to machining, including the setup of the tool T, etc. can be shortened. Therefore, it becomes possible to provide machine tools and the like with improved energy efficiency.

[Modified example]
The holder 168 is not limited to the examples of type holders AD. Moreover, the direction of the center line of the receiving port 169 is arbitrary, and it is conceivable that the direction of the center line of the receiving port 169 is not perpendicular to each other.

Although a tool T that does not rotate (for example, a cutting tool) and a tool T that rotates (for example, a drill) are illustrated, there are tools T that can be used without rotating, and there are also tools that can be used while rotating. In the case of such a tool T, it is also possible to use it in common among all of the holders 168A to 168G.

Depending on the current pattern as the preliminary placement information and the target pattern as the target placement information, there may be a situation in which a predetermined number of tools T, for example, only one tool T, is attached from a state in which all stations 222 are empty ST. For example, a case may be considered in which a predetermined number of tools T are transported from the tool storage section 106 and the tools T are attached to all or some of the 12 empty STs.

Alternatively, a predetermined number of tools T, for example, one tool T, may be removed from a state in which tools T are attached to all stations 222. For example, a case may be considered in which a predetermined number of tools T, less than 12, are transported from the tool post 230 and stored in the tool storage section 106.

It will be understood by those skilled in the art that it is possible to assume that tool exchange is started from a state where part or all of the station 222 is empty ST in this way.

[Internal replacement of unused tools]
The tool T has limitations such as the number of times it can be used. If this limit is exceeded, the tool T will no longer be usable even though its life has expired. A tool T that can no longer be used in this way is called an "unused tool."

For example, one location on the A type holder "inner diameter ←", two locations on the B type holder "outer diameter ↓ (left)", one location on the C type holder "outer diameter ↓ (right)", and one location on the D type holder "inner diameter → It is assumed that seven tools T with the same specifications are held at two locations. When the tool T of the A type holder becomes an unused tool, machining using the tool T becomes impossible. Therefore, it is necessary to replace the unused tool of the A type holder with a usable tool T (limited to the same specifications).

If there is a spare tool with the same specifications in the tool storage section 106, it is replaced externally. If there is no spare tool in the tool storage section 106, it is conceivable to internally replace the tool with another tool T in the tool rest. In the above example, one of the two tools T held in the B type holder is redundant and can be replaced. The same applies to the D type holder. However, since there is only one C type holder, it cannot be replaced.

In this way, when there are a plurality of tools T that are replacement candidates in internal replacement of unused tools, the problem is which tool T should be replaced. In principle, the one with the longest lifespan (the one that can be used more times) should be replaced. If the life conditions are the same, the one with the shorter tool exchange operation time may be selected.

In the above example, when replacing the tool T in the D-type holder, a 180° tilting is required to remove the tool T and then direct it to the A-type holder. On the other hand, if the tool T is to be replaced with the tool T in the B-type holder, it is sufficient to remove the tool T and then rotate it by 90° to face the A-type holder. Therefore, it is more efficient to replace the tool T of the B type holder.

In this way, the tool T to be replaced may be selected based on the tilting angle after the tool is removed. When replacing an unused tool in an A-type holder internally, priority is given to tool T in a B-type holder or tool T in a C-type holder. Even when replacing an unused tool in a D type holder internally, priority is given to tool T in a B type holder or tool T in a C type holder.

When replacing an unused tool in the B type holder internally, give priority to the tool T in the C type holder. When replacing an unused tool in a C type holder internally, give priority to tool T in a B type holder. In this way, there is no need to tilt the tool after removing it, so the operating time is shortened.

Reference Signs List 100 machine tool, 102 tool post base, 106 tool storage section, 112 processing device, 114 tool transport section, 116 processing control section, 118 information processing device, 120 user interface processing section, 122 data processing section, 124 data storage section, 126 Input unit, 128 Output unit, 130 Tool management unit, 132 Schedule generation unit, 134 Tool transport control unit, 160 Control device, 164 Tool post, 168 Holder, 169 Receiving port, 170 Holding plate, 171 Blade unit, 174 Holding pot, 175 reception port, 176 drive motor, 178 feed mechanism, 180 moving table, 182 first arm, 184 rail holding stand, 190 ball screw, 192 ball nut, 194 second arm, 196 servo motor, 198 holding member, 204 rotating shaft , 206 drive cylinder, 208 gripping claw, 210 gripping claw, 220 cartridge, 222 station, 230 tool post

Claims (8)

When the tool is attached, a first posture in which the blade of the tool intersects the axis of one holder and protrudes to the right , and a first posture in which the blade of the tool intersects the axis of one holder and protrudes to the left. a second attitude, and a tool post to which the tool can be attached and which includes a holder to which the tool is attached;
A plurality of arms are provided that are movable to a first position in which the tool is held in the first attitude and a second position in which the tool is held in the second attitude, and the arms grasp the tool and transport the tool. a tool transport section,
a schedule generation unit that generates a transportation schedule indicating a tool transportation order;
a tool transport control unit that changes the holding position of the tool in the tool post by controlling the tool transport unit according to the transport schedule;
a processing control unit that controls the operation of the tool held in the tool post and processes the workpiece according to a processing program,
The schedule generation unit is configured to perform a tool exchange of a tool attached to the tool rest in the first posture, when an arm to be executed for the tool exchange of the tool is in the second position. The machine tool generates the transport schedule including a process of changing the position of the arm from the second position to the first position and then executing the tool exchange of the tool. The tool rest includes a plurality of holders,
The direction in which each of the plurality of holders holds the tool is one of three predetermined directions,
The machine tool according to claim 1, wherein the tool transport section can change direction in accordance with each of the three types of predetermined directions. Equipped with a tool storage section that stores multiple tools,
The schedule generating section is configured to select a destination holder for each of the tools when the tool transport section simultaneously transports two tools in a situation where three or more tools stored in the tool storage section are to be moved to the tool rest. The machine tool according to claim 2, wherein priority is given to a set of tools having the same holding direction. The machine tool according to claim 3, wherein, when there are a plurality of sets of tools, the schedule generation unit gives priority to sets of tools whose respective destination holders have different holding phases. 2. The schedule generating section, when moving a tool held in the tool rest to an empty holder, gives priority to a tool whose holding direction of the moving source holder corresponds to the current orientation of the tool transport section. The machine tool described in 2. The schedule generation unit is configured to select a destination holder for each of the three or more tools held in the tool rest when the tool transport unit simultaneously moves two tools in a situation where three or more tools are moved to empty holders. The machine tool according to claim 2, wherein priority is given to a set of tools having the same holding direction. The machine tool according to claim 6, wherein, when there are a plurality of sets of tools, the schedule generation unit gives priority to sets of tools whose respective destination holders have different holding phases. Equipped with a tool storage section that stores multiple tools,
The tool rest includes a plurality of holders,
The schedule generation unit includes:
a first step of moving the tool placed on the tool post to an empty holder;
The machine tool according to claim 1, wherein the transport schedule is generated including a second step of causing a vacant holder of the tool post to hold a tool stored in the tool storage section.

Images