JPH02212050A - Equipment for machine tool - Google Patents

Abstract

PURPOSE:To make the accuracy in working uniform by instructing to a transfer means so as to carry the pallet mounting the residual unworked work of the works in the same working object into the machine of the number stored in a work machine number memory means. CONSTITUTION:An input instructing means M6 gives a command to a transfer means M2 and carries the pallet M4 mounting a work M3 in order into an empty work machine M1 among the plural work machines M1 capable of executing the same working stage. Now, in case of there being plural pallets M4 mounting the work M3 of the same working object, the number of the work machine M1 by which the work M3 was initially worked is stored and based on this a carry-in instructing means M6 instructs to the transfer means M2 so as to carry the unworked work M3 to be worked thereafter into the work machine M1 of the number stored. Thus, the working is executed by carrying into th same work machine and so the working accuracy of the work can be uniformized.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to machine tool equipment equipped with a plurality of processing machines capable of performing the same processing process.

[Prior Art] Machine tool equipment for high-mix, low-volume production is known as a so-called flexible manufacturing system (hereinafter also referred to as FMS), which is configured with a plurality of machining centers that are managed by commands from a central control device, for example.

In addition to these devices, such an FMS includes a three-dimensional warehouse with two racks for storing pallets with five jigs attached, a stacker crane that transports the pallets between these three-dimensional warehouses, machining centers, or loading stations, and various equipment depending on the machining process. Equipped with a tool vibe to store tools.

The stacker crane takes out pallets before setup from the shelf-type multilevel warehouse and places them on the loading station. After the operator completes the setup work for attaching the workpiece to the jig at the loading station, the stacker crane transports the pallet to the machining center where processing is not being performed, based on instructions from the central controller.

In this way, conventionally, pallets are sequentially transported to vacant machining centers to increase the operating rate of the machining centers.

[Problems to be Solved by the Invention] However, when there are multiple workpieces to be machined for the same time, and each workpiece is loaded on multiple pallets, even if these workpieces are sequentially machined on an empty machining center, the machining cannot be completed. There was a problem that accuracy could not be maintained.

In other words, even if the first test work is machined with the desired accuracy, it is not possible to ensure the machining accuracy of subsequent workpieces. Therefore, there is a possibility that defective products will be produced, and such problems cannot be ignored.

An object of the present invention is to process workpieces to be processed with uniform accuracy.

[Means for solving the problem] As illustrated in FIG. In machine tool equipment that is equipped with a processing machine M1 and in which a transport means M2 sequentially carries pallets M4 loaded with workpieces M3 to the vacant processing machine M1, there are multiple pallets M4 loaded with workpieces M3 to be processed. a processing machine number storage means M5 for storing the number of the processing machine Ml on which the first workpiece M3 is processed; and a pallet M4 on which the remaining unprocessed workpieces M3 of the workpieces M3 to be processed are mounted. The present invention is summarized as follows: loading instruction means M6 for instructing the conveyance means M2 to carry it into the processing machine M1 having the number stored in the processing machine number storage means M5;

Here, it is not necessary to limit the installation location of the processing machine number storage means M5, and for example, it may be provided inside the central control device that starts the conveyance means M2, or it may be housed on the pallet M4, and may be provided in the conveyance means M2.

[Function] The machine tool equipment of the present invention moves the pallet M4. % - Sequentially carried into an empty processing machine M1 among the plurality of processing machines M1 that can perform the same processing process.

Furthermore, if there are multiple pallets M4 loaded with workpieces M3 to be processed, the processing machine number storage means M5 stores the number of the processing machine M1 that processed the workpiece M3 first, and then unprocessed work M
3 to the processing machine Ml with the stored number.

[Embodiment 1] Next, a preferred embodiment will be described with reference to the drawings in order to further clarify the structure of the present invention.

FIG. 3 shows an outline of the FMS employing the present invention, and FIG. 4 shows its electrical configuration.

As shown in FIG. 3, the FMS of this embodiment includes three white machining centers 5, 10.15, a jig shelf 24 for storing pallets 19 to which each stock jig 18 is attached, and a workpiece to be machined. The installation and removal of the three white loading stations (hereinafter referred to as LDS) 25, 28.
33, each machining center 5, 10.15 and jig shelf 2
4 and each LDS25, 28.33, etc. Pallet 19
a stacker crane 37 that transports the machine A48, a tool vibe 45 that stores various tools to be supplied to each machining center 5, 10.15, and an elevated structure that transports the machining machine A48 between the tool vibe 45 and each machining center 5, 10.15. Rail 55J: , a transfer robot 62, and an FMS control device 70 that performs processing for each column, such as down-coding the program used by each machining center 5, 10. , a crane management control device 80 that performs processes such as management of the tools 48 stored in the tool vibrator 45; and a crane management control device 80 that performs processes such as management of the tools 48 stored in the tool vibrator 45; Tool 48 carried by 62
a tool vibe control device 90 that controls the tool to be stored in a predetermined location within the tool vibe 45; a transfer robot controller 93 that similarly controls the transfer robot 62 by optical communication in response to commands from the tool management control device 80; and each LDS 2.
Jig 1 on pallet 19 placed on /8.25.33
Work picture display device 9 that displays the work to be attached to 8
7, a tool presetter 99, etc.

Note that the cleaning machine 103 is used to wash away chips and the like from the workpiece fixed to the jig 18. Material station 1
A baguette 106 containing a large number of works is placed on 05, and is moved by a roller conveyor.

The FMS control unit "70 is a microprocessor (hereinafter referred to as cp
70a, RAM 70b, and ROM 70c, as well as a hard disk 70d as an external storage device, a CRT 70e, a keyboard 70[, and an amplifier 70g.
, an input/output circuit (I10 baud) 70h, and two interface circuits 70i and 70j are connected to each other by a bus 70k as a logic operation circuit.

Three PM sensors 25a, 28a, and 33a that read and write information for a pallet ID, which will be described later, are connected to the amplifier 70g, and are fixed to each of the three LDSs 25, 28, and 33. PM sensors 25a, 28a, 33a
is a well-known read/write head that uses magnetic induction and is a non-contact type that performs both recording and reading.

On the other hand, the pallet ID 19a is embedded in the side surface of the pallet 19 without being exposed, and is a well-known storage medium having a 2-byte memory capacity and read and written by external magnetic induction. The pallet ID 19a contains the pallet number and jig number.

Process No. 9 multi-piece machining data, etc. are registered.

As shown in FIG.
．． When the pallet is transported to the predetermined position of 33, the pallet ID1
It is positioned so that information can be read and written to 9a.

The input/output circuit 70h includes loading station operation panels 25d, 28d, and 33d, as well as well-known numerical control devices 5a, 10a, and 15a built in each of the three machining centers 5 and 10.15, and a program controller 5.
b, lob, and 15b are connected.

The numerical control devices 5a, 10a, 15a are equipped with PM sensors 5f, 10f, 1, which are composed of read/write heads similar to those described above, via amplifiers 5e, 10e, 15e, respectively.
5f is connected. As shown in FIG. 6, PM sensors 5f, 10f, and 15f
．． The pallet ID of the pallet 19 that is provided at a predetermined location of the pallet 15 and brought in by the stacker crane 37
It is positioned to face 19a.

Further, the numerical control devices 5a, 10a, 15a are provided with 1M sensors 5h, 10h, which are composed of read/write sensors similar to those described above via amplifiers 5g, 10g, and 15g.
15h is connected. 1M sensor 5h, 10h, 1
5h is the tool ID embedded in the pull stud of the tool
This is for reading and writing information regarding tools.

The tool ID is that the object to be attached is pallet ID 19a.
It has the same structure as the palette ID, except that it is different from the palette ID. Information such as the name of tool No. 1, life time, and tool usage time is registered in this tool ID.

Furthermore, the 1 gram controllers 5b, 10b, 15b in the machining center 5.10.15 are connected to the transfer robot controller 93.

In addition, a stacker controller 37a that controls the stacker crane 37 is connected to the interface circuit 70i via an interface 37h.
A tool management control device 80 is connected to each of the tools 0j via an interface 80m provided therein.

The tool management control device 80 has a CPU 80a, a RAM 80b, a ROM 8, and
0c, a CPU 80a, a keyboard 80e, an amplifier 80f, and three interface circuits 8.
It is configured as a logic operation circuit in which 0g, 80h, 80i, etc. are interconnected by a bus 80k.

A TM sensor 99a is connected to the amplifier 80f, and is fixed at a predetermined location on the tool presetter 99. 7M
The sensor 9° 9a reads and writes information such as the tool length measured by the tool presetter 99 to the tool ID.

The interface circuit 80g has a tool presetter 9.
9 built-in tool presetter controller 99b is connected. The tool presetter controller 99b performs control processing such as tool length measurement according to commands from the tool management control device 80.

A tool vibe controller 90 that performs the above-described processing is connected to the interface circuit 80h, and manages the tools stored in the tool vibe 45.

The interface circuit 80i is connected to the transfer robot controller 93.

The stacker controller 37a described above has an amplifier 37b.
As shown in FIG. , is provided at a position opposite to the pallet ID 19a of the pallet 19 placed on the pallet mounting table of the stacker crane 37.

In addition, the above-mentioned transfer robot controller 93° tool vibe controller 90. Although not shown, the tool presetter controller 99b and the stacker controller 37a are configured as logical operation circuits using a microprocessor, like the FMS control device 70 and the like.

Next, the operation of the FMS of this embodiment having the above-mentioned configuration will be explained.

The FMS of this embodiment performs automatic machining operations in order of priority according to a schedule set in advance by an operator.

Below, a description will be given based on a program executed by the FMS control device 70.

FIG. 8 shows a schedule display screen displayed on the CRT 70e of the FMS control device 70. The production schedule is created in advance by the operator and stored in the RAM 70b as a <schedule> table.

As shown in the figure, the part numbers corresponding to the workpieces to be machined are listed on the display screen, and processing is performed sequentially according to the priority order of the part numbers, but the individual setting items for each part number are explained in the flowchart described later. We will explain each step in each step.

After startup, the FMS control device 70 executes a routine for carrying out a setup pallet to the LDS and a routine for carrying in a machining center, together with other control programs such as a production management program and a tool exchange program.

The processed pallet unloading routine is executed repeatedly.

FIGS. 9(A), 9(B), and 9(C) are flowcharts of a routine for carrying out a setup pallet to the LDS, a routine for carrying in a machining center, and a routine for carrying out a processed pallet, respectively.

When the FMS control device 70 executes the routine for carrying out the setup pallet to the DS, first the 3 white LDS 25, 2
8. Three PM sensors 25a, 28a installed in 33
, 33a (step Sl 10), and determines whether the pallet 19 is not placed and the LDS 25.28.33 is empty (step 5L20). .

If an empty LDS exists, the part number for the next process is searched from the <schedule> table previously stored in the RAM 70b (step 5130).

Furthermore, using the pallet number corresponding to the part number as a search keyword, the LDS and FIX values for the corresponding pallet number are read from the pallet table previously stored in the RAM 70b (step 5140).
, 3 white LDS25, 28.33 that can be transported
Check whether S is specified. In this example, L
DS25, 28.33 (Orchestral LDS in Figure 1O,
rfX) value ■.

(equivalent to ■) is specified for workpiece attachment.

These specifications are determined by the positions of the material station 105 and the work picture display device 97, and can be changed for each pallet number.

Exportable LDS25.28.33 and step 512
It is determined whether or not the empty LDS confirmed in step 0 matches (step 5150). If the result of the determination is that they match, a transport command is issued to the stacker controller 37a, and this routine is temporarily terminated (step 5150). S1
60) The stacker crane 37 is activated by the stacker controller 37a that has received the transportation command, and the stacker crane 37
The corresponding pallet 19 is carried out from there and placed on the empty LDS.

If the LDSs do not match in step 5150, this routine is temporarily terminated without issuing a transport command to the stacker controller 37a.

Further, even if the LDS is not vacant in step 5120, this routine is temporarily terminated without executing anything thereafter.

Bale Nodo 19 placed on LDS25.28.33
Meanwhile, the operator attaches the workpiece to the jig 18 fixed to the pallet 19 while looking at the workpiece picture display device 97.

After completing the setup work, the operator presses the loading station operation panels 25d, 28d, and 33d.
The FMS control device 70 is notified of the completion of setup.

When the FMS control device 70 receives the setup completion signal, it executes a machining center carry-in routine program at an appropriate timing, and performs processing for carrying the setup pallet 19 into the machining centers 5, 10, and 15.

FIG. 9(B) is a flowchart showing the machining center loading routine.

As shown in the figure, the FMS fl control device 70 first determines whether the setup pallet 19 is placed on the LDs 828 and 33 (step S210).

When placed, the pallet number is read from the pallet ID 19a of the set-up pallet 19 via the PM sensors 28a and 33a (step S220).

<Palette data> corresponding to the loaded palette number
Read information about machining center designation from HMCIIINF NO item (step 8230).
, FIG. 10 shows a display screen of ``Pallet Data'', in which the machining centers capable of machining the part number are shown in the number range of 1 to 8 in the column of HAC old NE No. Eight machining centers can be installed, but in this example only three are installed, so 1 to 3 machining centers can be installed.
This number is applicable.

Next, from the schedule table in Figure 8, select item S.
HE Read the value of He and check whether the machining center is mechanically fixed (step 5240>).

Machine-fixed means that all workpieces are machined using the same machining center that machined the first workpiece in the same machine loop to ensure uniform machining accuracy. Figure 8 SHE HC
The values Y and S represent mechanical fixation, S specifically indicates a single block function, and N represents non-mechanical fixation.

It is determined whether a machining center is specified from the information read in step 823°0, and further, it is determined whether the machine is fixed from the information read in step 5240 (step 5250.Step 5
260).

First, we will explain the case where it is specified and mechanically fixed.

The FMS control device 70 controls P of the specified machining center.
It is checked from the M sensor whether the machining center is in an empty state (step 5270), and the empty state includes the case where the pallet 19 is not placed at the setup position even if the machining center is in process of processing.

The FMS control device 70 determines whether the specified machining machine is machining a workpiece for the first time (step 528).
0).

When processing a workpiece for the first time, the pallet 19 with the workpiece attached is carried into a designated vacant machining center (step 5290>).

At the time of loading, the FMS control device 70 issues a command to the stacker controller 37a, and the stacker crane 37 is started by the stacker crane controller 37a.

When the loading is finished, the FMSIll# device 70 is set to RA in advance.
The number of the machining center is written in the CUT He NO column of the pallet status shown in Fig. 11 stored in M70b, and the pallet I of pallet 19 is written by the PM sensor attached to the machining center.
Also write the machining center number in D19a.

If the machining center number is already written in the CIIT He NO column, it will be overwritten.

Additionally, if there are multiple workpieces in the same processing group and the workpieces are attached to multiple pallets 19,
When the first pallet 19 of the Canadian loop was brought in, all pallet status >CIIT HCN
Update the value of O.

Further, after being carried in, the FMS control device 70 loads the machine program into the machining center according to other control routines. The machining center automatically performs machining according to the loaded machine program.

In step 8280, when machining is the second or more workpiece in the same machining group, read the number of the machining center used from the CIIT He NO column of the corresponding <Pallet Status>, and check whether the machining center is vacant (Step 8280). 5310).

If the machining center is vacant, the pallet 19 is carried into the designated and machine-fixed machining center (step 53).
20) After the loading, a write process similar to step 5290 is performed. If the space is not empty, nothing is executed thereafter and this routine is temporarily terminated.

Further, even if the machining center specified in step 5270 is not vacant, this routine is temporarily terminated without executing anything thereafter.

Next, if the machining center is specified but the machine is not fixed, that is, "N" is selected in step 5260.
We will explain what happens when it is determined that

The FMS control device 70 determines whether the specified machining center is vacant (step 5340). If the specified machining center is vacant, the pallet 19 is carried into the machining center according to the aforementioned step 5290, and after being carried in,
Write the machining center number in the CIJT HCNO column of <Pallet Status> and the pallet ID 19, and end this routine once. If it is not empty, do nothing further and end this routine once.

Next, a case where no machining center is specified in step 5250 will be described.

The FMS controller W70 determines whether the machine is fixed from the schedule table (step 535).
0).

When the machine is fixed, it is determined whether this is the first workpiece machining in the same cutting loop (step 5360).

When processing a workpiece for the first time, the pallet 19 is carried into an empty machining center, and after the pallet 19 is carried in, step 5 is performed.
A write process similar to step 290 is performed and this routine is temporarily terminated (steps 5370 to 3380).

Step 536: If none of the machining centers is vacant, this routine is temporarily terminated without executing anything thereafter.
If the value is 0 and the processing is the second or more of the same machine loop, the FMS control device 70 reads the number of the machine-fixed machining center from <Pallet Status> (Step 5390).

If the corresponding machining center is vacant, the pallet 19 is carried into the machining center, and after the pallet 19 is carried in, a writing process similar to step 5290 is performed and this routine is temporarily terminated (steps 5400, 5410); After this, do nothing and end this routine once.

On the other hand, when it is determined in step 5210 that there is no set-up pallet 19 on the LDS 28, 33, it is determined whether or not there is a set-up pallet 19 on the shelf 24 (step 542).
0).

When there is a set up pallet 19 on the shelf 24, Stella 7S
The process moves to 230 and the above-described routine is executed in the same manner, but if there is no set-up pallet 19 on the shelf 24, nothing is executed thereafter and this routine is temporarily terminated.

As detailed above, according to this routine, the set-up pallet is carried into the following four machining centers.

(I) A machining center that is only designated (II) A machining center that is designated and fixed to the machine (I) A machining center that is only fixed to the machine (rV) Any vacant machining center After this, the FMS control device 70 follows other control routines. Load 0 grams of machining efficiency into the machining center to process the workpiece carried into the machining center. The machining center automatically performs machining according to the loaded machine program. After the machining center completes machining, the FMS control device 70 carries out the machined pallet to the shipping LDS.
The process will be explained according to the processed pallet unloading routine shown in Figure (C).

The FMS control device 70 is the machining center 5, 10.15
PM sensors 5f, 10f, 1 installed at the setup position of
It is checked whether a processed pallet 19 exists from 5f (step 5500).

If a machined pallet 19 exists in either of the machining centers 5, 10.15, the machined pallet 19 is determined according to a predetermined priority order.

After confirming the presence of the processed pallet 19, the LDS 25.28 is then detected via the PM sensors 25a, 28a, and 33a.
．． 33 is in a vacant state (steps 5510, 5520).

After confirming that it is empty, the processed pallet 19
Palette No. stored from palette ID 19a of
Read the LDS of the corresponding <palette data>,
The value of RHOV is searched and the exportable 1-DS is read (step 5530). In this example, D S 2
5 is determined as the LDS for carrying out that can be carried out (corresponding to the value ■ of LDS and RHOV in Figure 1O), LD for carrying out
S can be specified for each pallet number in the same way as the LDS for setup, and can be changed over and over again depending on the workpiece.

The FMS control device 70 has an empty LDS and an L that can be carried out.
Determine if it matches with DS25 (Stella 7S
540).

If they match, a command is issued to the stacker controller 37a to move the processed pallet 19 to the empty LDS2.
5 and ends this routine with -d (step 55).
50).

If they do not match, the tree routine is temporarily terminated without executing anything thereafter.

In step 5500, which machining centers 5, 1
If the processed pallet 19 does not exist at 0.15, it is determined whether or not the processed pallet 19 exists on the shelf 24 (step 8560). If the processed pallet 19 exists on the shelf 24, the process moves to step 5510. The same process as described above is performed, but if there is no processed pallet 19 on the shelf 24, nothing is executed thereafter and this routine is temporarily terminated. °.

Also, in step 5520, which LDS25.28.
When 33 is not empty, the processed pallet 19 is placed on shelf 2.
4 and placed on the shelf 24, and if it is placed on the shelf 24, it is left as is and this routine is temporarily terminated (step 5570).

When the processed pallet 19 is carried out to the LDS 25, the operator removes the work from the jig 18 on the barrette 19 and ships the work.

By the way, the processed pallet 19 is LDS25.2 for unloading.
8. If the operator determines that it is better to measure the accuracy and reprocess the item while it is placed on the loading station operation panel 25d, 28d, or 33.
A reprocessing command is output by key operation from d. Upon receiving the command, the FMS control device 70 records and displays rework (SAIKAKO) in the CO/PRG column of <Pallet Status>.

Such re-machining is also performed when a tap or drill breaks during machining at a machining center, or when the tool length cannot be corrected and there is a possibility that a good product could be obtained by machining it again.

When the operator outputs a rework start command from the keyboard 70f at an appropriate time under the operating conditions, the EMS control device 70 executes the rework routine by interrupt processing.

FIG. 12 shows a flowchart of the rework processing routine.

As shown, the FMS III controller 70
The reworked part number stored in M70b is retrieved, and it is determined whether the reworked pallet 19 is stored on the shelf 24 (step 5610).

If it is stored, search for <palette status> for reprocessing special pallet 19, and check its C1jT He
The number of the machining center that performed the previous machining is read from the value of NO (step 5620).

When the rework special pallet 19 is not stored on the shelf 24, the number of the machining center that last processed the machine is read from the pallet ID 19a of the rework special pallet 19 placed on the LDS 25 for carrying out (step 5625).
.

It is determined whether the machining center with the read number is vacant, and if it is vacant, it issues a command to the stacker controller 37a, starts the stutter crane 37, and reworks the machining center placed on the shelf 24 or the unloading LDS 25. In particular, the pallet 19 is carried into the machining center, the water interrupt routine is completed, and the process returns to the main routine. (
Steps 3630, 5640).

When the corresponding machining center is not vacant, the reprocessing special pallet 19 placed on the LDS 25 for carrying out
is stored on the shelf 24, and if the rework pallet 19 is placed on the shelf 24, the water interruption routine is left as is and the process returns to the main routine (step 56).
50).

Note that if a plurality of pallets for reprocessing are placed on the shelf 24, the jet number for reprocessing may be determined according to a predetermined priority order.

As described above in detail, according to the FMS of this embodiment, all the workpieces of the same machine loop can be carried into the same machining center and machined, so that the machining accuracy of these workpieces can be made uniform. Therefore, the occurrence of defective products can be suppressed.

In this embodiment, when there are workpieces in the same processing group, the same processing machine number is stored in the pallet status table of all the pallets 19 on which the workpieces are loaded, but the present invention is not limited to this. The number of the processing machine used may be read from the pallet ID 19a of the pallet 19 loaded with the first processed workpiece, which may be done as follows,
A configuration may also be adopted in which a pallet 19 loaded with unprocessed workpieces following the processing machine with that number is carried in.

As detailed above, according to the machine tool equipment of the present invention,
Since all the workpieces to be processed can be carried into the same processing machine and processed, the excellent effect is achieved that the processing accuracy of these workpieces can be made uniform.

Therefore, the occurrence of defective products can be suppressed.

[Brief explanation of the drawing]

Fig. 1 is a claim correspondence diagram illustrating the configuration of the machine tool equipment of the present invention, Fig. 2 is a perspective view showing the overall configuration of the FMS of the embodiment, Fig. 3 is a block diagram showing the configuration of the control system, and Fig. 4 Figure 5 is an explanatory diagram showing a PM sensor attached to a loading station, Figure 5 is an explanatory diagram showing a PM sensor attached to a machining center, Figure 6 is an explanatory diagram showing a PM sensor attached to a stacker crane, and Figure 7 is an explanatory diagram showing a PM sensor attached to a stacker crane. The figure shows the schedule data display screen, and Figure 8 (A
), (B), and (C) are the LDS of the setup pallet, respectively.
A flowchart showing the routine for carrying out the loading to the machining center, the routine for carrying in the machining center, and the routine for carrying out the processed pallet. Figure 9 is a diagram showing the pallet data display screen. Figure 10 is a diagram showing the pallet status display screen. Figure 11 is a diagram showing the pallet status display screen. 3 is a flowchart showing a processing routine. Ml...Processing machine M2...Transportation means M3.
...Work M4...Pallet M5...Processing machine number storage means M6...Carry-in instruction means

Claims (1)

[Scope of Claims] Machine tool equipment that is equipped with a plurality of processing machines that can perform the same processing process, and in which a conveying means sequentially carries pallets loaded with workpieces to the processing machines that are in an empty state, When there are multiple pallets loaded with workpieces, a processing machine number storage means for storing the number of the processing machine on which the first workpiece is processed; A machine tool facility comprising: carrying-in instruction means for instructing the conveying means to carry the pallet into the processing machine having the number stored in the processing machine number storage means.