JPH07110460B2 - Tool rearrangement control method and apparatus - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a cartridge type tool magazine for a machine tool, in which a stored tool is discharged to the outside of the tool magazine or a new tool is supplied to the tool magazine. The present invention relates to a tool rearrangement control method and apparatus for changing a tool storage location, and in particular, in order to avoid interference between adjacent tools due to a large-sized tool, the storage position limitation should be considered promptly, and the number of processes and discharge should be minimized. The present invention relates to a control method and apparatus for reducing the number of cartridges and repositioning tools.

[Conventional technology and problems]

There are various types of tools used in machine tools depending on their machining applications, and therefore their sizes greatly differ. A cartridge having a plurality of tool holding holes for inserting and holding these tools and performing indexing and replacement of the tools when needed, such as a tool, is provided with a cartridge having a plurality of tool holding holes in parallel with the outer peripheral surface of the cylinder or radially on the disk. Is known as a tool magazine. As a method of arranging tools of various sizes on such a tool magazine, there is a case where a tool magazine is designed and manufactured in such a size that it does not interfere even if large tools are stored in all tool holding holes. However, because of the small number of large tools, this tool magazine unnecessarily enlarges the entire tool magazine, resulting in waste of space. Therefore, a method of deciding the storage place for each size tool is adopted, but in this case, when discharging a tool with a long life or a damaged tool, the tools are rearranged to
Cannot be combined into one cartridge or a few cartridges. Therefore, there is no choice but to eject even a tool that does not need to be ejected, and it is necessary to eject more than the required number of cartridges and replace them with a new cartridge, which deteriorates the cartridge replacement efficiency. Furthermore, when inserting a new tool, there are many restrictions and an appropriate cartridge storage location may not be found.

Therefore, the present invention efficiently rearranges tools so that the number of processes and the working time can be reduced as much as possible while checking the interference between tools when necessary, and the number of replacement cartridges can be reduced as much as possible. It is an object of the present invention to provide a rearrangement control method and device for the above.

[Means and Actions for Solving Problems]

According to the first aspect of the present invention, in view of the above-mentioned object of the present invention, an arbitrary cartridge type tool magazine in which a plurality of cartridges having a plurality of tool holding holes for receiving and holding a plurality of types of tools are arranged is provided. A tool held in any one of the tool holding holes of the cartridge can be moved to another tool holding hole, and a predetermined cartridge of the plurality of cartridges is extracted to the outside of the tool magazine, and from the outside of the tool magazine. In a tool storage device capable of inserting another cartridge storing and holding a tool, there is provided a tool rearrangement control method for rearranging a predetermined tool of the tool magazine without interfering with an adjacent tool when needed, A table in which the tools held in the magazine are associated with the numerical values for each size classification is stored, and the tool is stored for each size classification tool. The cartridge held in the tool holding hole and the two cartridges adjacent to each other on both sides of the cartridge are used as one unit, and tools of other sizes are arranged in the tool holding hole in the unit. A tool arrangement basic pattern is set, the numerical values for each size classification are made to correspond to the tool arrangement basic pattern, and all current tool arrangement patterns in the tool magazine in units of combinations of three cartridges adjacent to each other are set. On the other hand, all the current tool arrangement pattern matrices are generated in correspondence with the stored numerical values for each size classification, and the size of the tool for which the relocation command is issued is stored according to the size classification stored. Select and select a specific tool arrangement basic pattern matrix from the stored tool arrangement basic pattern matrix The specified basic pattern matrix and all of the present tool arrangement pattern matrices are sequentially compared to determine the present tool arrangement pattern that can be rearranged with the smallest possible number of steps, and the decided present tool. A tool rearrangement control method characterized in that the tool to which the rearrangement command is issued is rearranged in a predetermined tool holding hole of a central cartridge of a unit combination cartridge consisting of three cartridges corresponding to the arrangement pattern. I will provide a.

Further, as shown in FIG. 1, according to the second invention, a cartridge type tool magazine in which a plurality of cartridges having a plurality of tool holding holes for receiving and holding a plurality of types of tools are arranged, and an arbitrary cartridge Tool moving means capable of moving a tool held in any of the tool holding holes to another tool holding hole, and extracting a predetermined cartridge from the plurality of cartridges to the outside of the tool magazine, and from the outside of the tool magazine In a tool storage device comprising a cartridge replacement means for inserting another cartridge storing and holding a tool, a tool rearrangement control device for rearranging a predetermined tool of the tool magazine without interfering with an adjacent tool when necessary. There is a tool size memory that stores a table in which the tools held in the tool magazine are associated with numerical values for each size classification. And a cartridge that holds the tool in a predetermined tool holding hole and two cartridges that are adjacent to both sides of the cartridge for a total of three cartridges as one unit. A tool arrangement basic pattern in which tools of other sizes are arranged in the tool holding hole in the unit, and a storage means of a tool arrangement basic pattern matrix in which the numerical values for each size classification are made to correspond to the tool arrangement basic pattern , All of the current tool arrangement patterns in the tool magazine in units of combinations of three cartridges adjacent to each other are associated with the numerical values for each size classification stored in the tool size storage means. A means for generating a tool arrangement pattern matrix at the present time, and a tool size storing instruction for the size of the tool for which a relocation command is issued And a basic pattern matrix setting means for selecting a specific tool arrangement basic pattern matrix from the tool arrangement basic pattern matrix stored in the tool arrangement basic pattern matrix storage means in accordance with the retrieved size. Using the specific basic pattern matrix selected by the pattern matrix selecting means, all current tool arrangement pattern matrices generated by the current tool arrangement pattern matrix generating means are arithmetically processed according to a predetermined evaluation condition, and respective current times are calculated. An evaluation matrix generating means for generating an evaluation matrix corresponding to the tool arrangement pattern matrix, and a component value of each evaluation matrix generated by the evaluation matrix generating means are arithmetically processed to obtain each current tool arrangement pattern matrix. Value calculation means for calculating an evaluation value serving as a basis for determining whether or not the location on the tool magazine corresponding to the position is appropriate as the relocation location of the tool to which the relocation command is issued, and the evaluation value computation Evaluation value selection means for comparing the magnitudes of all the evaluation values calculated by the means to select a predetermined evaluation value, and determining whether the predetermined evaluation value selected by the evaluation value selection means is one or more If there are a plurality of judgment means and the judgment results by the judgment means, the presence or absence of another tool to be discharged to the cartridge located at the center of each unit combination cartridge corresponding to the predetermined evaluation value and the tool can be inserted. Depending on the presence or absence of empty tool holding holes,
Cartridge selecting means for selecting one set of unit combination cartridges from the plurality of sets of unit combination cartridges, and one set of unit combination cartridges selected by the cartridge selecting means or by the evaluation value selecting means If there is a component determination means for checking whether or not there is a numerical value outside the predetermined range in the corresponding components of the evaluation matrix, and if there is a determination result by the component determination means, it has a numerical value outside the predetermined range among the component values of the evaluation matrix. A rearrangement command means for issuing a rearrangement command to a tool corresponding to a component, and if the determination result by the component determination means is no, a set of unit combinations consisting of the selected three cartridges for the tool requiring the rearrangement A command to move to a predetermined tool holding hole of the central cartridge of the cartridge is issued to the tool moving means. That it comprises a tool movement control means, reduces the number of steps as much as possible to provide a relocation control device of the tool, characterized in that rearranging of the tool.

〔Example〕

Hereinafter, the present invention will be described in more detail with reference to the embodiments shown in the accompanying drawings.

Referring to FIG. 2, a tool magazine that rotates in the direction of arrow C on the side surface of the base 10 of the machine tool and has a rotation surface that is a vertical plane.
Twelve are arranged. In this tool magazine 12, 20 cartridges 16 each having three tool holding holes 14 are radially arranged side by side. The tool magazine 12 is constructed so that each cartridge 16 can be extracted in the direction of arrow A or B and further retracted after indexing each cartridge 16 to the tool replacement position 18 or the cartridge replacement position 21. Especially tool change position 18
The cartridge 16 has three tool holding holes 14
Can be stopped at three positions in the direction of arrow A so that each can be positioned directly beside the gripper 20a or 20b of the tool changing arm 20.

A tool change arm 20 is used to change a new tool at the tool change position 18 and a tool for a spindle (not shown). As for the order of tool exchange, the tool magazine 12 is indexed so that the cartridge containing the new tool to be mounted on the main spindle next during machining comes to the tool exchange position 18. The indexed cartridge rises and the new tool is the gripper of the tool change arm 20.
When it is right next to 20a or 20b, the cartridge is stopped and positioned. The tool changing arm 20 grips the new tool stored in the cartridge in the leftward direction with the gripper 20a, advances to the front side in the direction perpendicular to the paper surface, extracts the new tool from the tool holding hole, and rightwards to the position shown in the figure. The tool change arm is temporarily stopped at the standby position, retracts perpendicularly to the paper surface, and waits until the end of the current machining.While the tool holding hole for collecting the current tool is positioned right next to the gripper 20a, The magazine is indexed and the cartridge is lowered and raised. When the current machining is completed and a tool change command is issued from an NC device (not shown), the tool change arm moves to the spindle side (in this embodiment, it is assumed that the tool moves to the right), and the gripper 20b attaches it to the spindle. Hold the current tool. Then, the current tool is removed from the spindle, rotated 180 degrees, and the new tool is attached to the spindle.
After that, the tool changing arm moves to the left, and the gripper 20 is inserted into the tool holding hole where the previously positioned current tool is to be collected.
Insert the current tool of b, return to the standby position once, and complete a series of tool exchange operations. During this time, the machining with the new tool has already started, and the tool exchanging arm 20 shifts to the gripping operation of the tool to be used next.

The tool moving device for moving the tool in each cartridge 16 to another tool holding hole 14 also serves as the tool changing arm 20. That is, the tool to be relocated is positioned right beside the gripper 20a or 20b, the tool changing arm 20 moves to the left and grips the tool, and the tool holding hole to be repositioned is temporarily gripped while returning to the standby position. Positioned just beside 20a or 20b,
The tool change arm moves leftward to insert the tool into the tool holding hole. This tool moving device, in addition to this embodiment,
For example, the industrial robot may directly hold the tool in the tool magazine, move it to the tool holding hole at the rearrangement position, and store the tool.

When replacing a cartridge, a desired cartridge is indexed at the cartridge replacement position 21, the cartridge is manually pulled out to the left, and a new cartridge is drawn into the empty place. Alternatively, a method may be used in which a carriage for tool replacement is positioned at a corresponding point of the cartridge replacement position 21 and the cartridge of the carriage and the cartridge in the tool magazine are automatically replaced.

In a machine tool equipped with the tool changing device described above,
In the following cases, it becomes necessary to change the holding position of the tool on the tool magazine 12. For example, in the case of recovering a broken tool or a life tool held by the tool spindle in the tool magazine 12, it is desirable to collect them in the same cartridge together with other unnecessary unnecessary tools as much as possible. This is the other tool holding hole 14
Move to. Alternatively, in order to accept new tools, tools that are not planned to be used in the near future have to be ejected out of the tool magazine as appropriate, but in this case as well, it is necessary to combine them so that the number of cartridges is as small as possible. This is because it takes a long working time to exchange and replace the cartridge between the tool magazine and the supply location of the new cartridge, which in turn lowers the operation rate of the entire machining system using the machine tool.

When relocating the tools as described above, first consider a basic pattern. In this embodiment, the tool size is classified into four types. A drill, an end mill, a tap and the like are set to size S, a small diameter face mill and the like are set to size M, a large diameter face mill and the like are set to size L, and an eccentric boring bar and the like are set to size X. The size increases as S, M, L, and X. (A), (b), (c) of FIG.
Represent the basic masks for tools of sizes X, L, and M, respectively. Each grid represents a tool holding hole 14 and the symbol represents the size of the tool. The cartridges 16 are arranged in a column, and the upper side is the outer peripheral side and the lower inner side is the peripheral side. Tools of size X, L, M can be stored only in the outermost tool holding hole, and if each tool holding hole of size X, L, M is stored and held in this position, the size of the adjacent tool will be A constraint occurs, and each figure (a),
The maximum size of tools is the size shown in each of (b) and (c). Here, the symbol A is a tool of size X in FIG. (A), a tool of size L in FIG. (B), and a tool of size M in FIG. Indicates that you need to leave. Further, the symbol E described below represents an empty tool holding hole into which a tool can be inserted. In addition to the above, the tool of size S is shown in each figure (a),
As can be seen from the fact that the tools of size S are stored in the tool holding holes on the innermost peripheral side in (b) and (c), they can be stored in all the tool holding holes. Size A, E, S, M, L, X
The basic pattern matrix is a matrix representing the array of tools by associating the numerical values −1, 0, 1, 2, 3, 4 with the basic pattern matrix. It is also shown in (a), (b) and (c).

Next, like the basic mask, all the tool arrangement patterns at the present time with three adjacent cartridges as one unit are extracted from the tool arrangement shown in FIG. 2, and the correspondence between the tool numbers and the tool sizes stored in advance is extracted. From the relationship, each pattern of each tool arrangement set at the present time is digitized. That is, the three adjacent cartridges including the cartridges 22 and 26 on both sides of the cartridge 24 of FIG. 2 as the center are set as the first group unit 30, and the cartridges 24 and 28 on both sides of the cartridge 26 are arranged. 3 cartridges including the second set unit
32, and 20 other current tool arrangement patterns can be cited as well. Twenty current pattern matrices similar to the basic pattern matrix are generated by associating the numerical values corresponding to the above-described tool size with each array pattern.
An example is shown in Table 1 below.

P ₁ to P ₂₀ are the current tool arrangement pattern matrices generated. When the tool to be rearranged is a tool of size X, (a) of the three basic pattern matrices is the current basic pattern matrix B according to FIG. By evaluating the basic pattern matrix B and the current tool arrangement pattern matrix P _j (j = 1 ... 20) of Table 1 by the following Table 2, the evaluation matrix E _j (j = 1 ... 20) of Table 1 is obtained. can get.

Here, i = 1, 2, ..., 9 and represents the component number of each current tool arrangement pattern matrix P _j or basic pattern matrix B. That is, the matrix below Each component value of is the component number i of the corresponding component of the matrix P _j or B.

The value obtained by adding the component values of each evaluation matrix E _j thus obtained is the evaluation value.

The minimum value of the evaluation values is -1, and the evaluation matrix
It is an evaluation value corresponding to E ₁ (matrixes E ₇ to E ₁₉ are ignored here). The minimum evaluation value -1 is only one, and the component values are all 0 or -1, and there is no component having a positive value. Therefore, the tool of size X instructs the tool moving device to move and hold the tool in the outermost peripheral tool holding hole of the central cartridge 24 of the first set unit 30 including the cartridges 22, 24 and 26 corresponding to the evaluation matrix E _1. Emit.

Of the evaluation values in Table 1, the value corresponding to the evaluation matrix R ₂₀ is 306, which is 100 or more. In this example, the evaluation value is 10
When it is 0 or more, it is excluded from the targets of relocation control. This is because a tool of size X is immediately stored in the outermost tool holding hole of the central cartridge corresponding to the evaluation matrix E ₂₀ , which means that the component value of i = 4 of the matrix P ₂₀ is size X. It can be seen from the fact that it is 4.

Further, if there is no tool array for the matrix P _{1 having} an evaluation value of -1, the evaluation value 5 for the matrix P ₆ becomes the minimum. In this case, the evaluation value is a positive value, which means that there is a tool which needs to be rearranged further in order to accommodate the tool of size X in this set of array tools. Positive value 10 becomes in the components of the evaluation matrix E ₆ is present, if not after performing the further rearrangement to other tool holding hole a tool of this component (i = 8), tools of the size X is the matrix It cannot be moved and stored in the outermost tool holding hole of the central cartridge corresponding to P ₆ .

Further, if there are two minimum evaluation values, another ejection tool (a tool of size S in this case) is immediately inserted in the central cartridge having a tool holding hole into which the tool of size X should be inserted.
Is first considered to determine the priority.
If this is not the case, check whether all the other tool holding holes of the cartridge (in this case, two holes) are empty and whether other tools can be inserted (matrix component is 0). Consider second. If you still cannot decide, give the cartridge a number and give priority to the cartridge with the lower number.

The rearrangement control of the tool of size S will be described with reference to FIG. When the tool rearrangement command for the tool is issued in step 50, it is determined in step 52 whether the tool size is S or not. If it is not size S, other sizes M, L, X
The process shifts to the process using the basic mask of. If the size is S, in step 54, the presence or absence of the discharge tool is checked over all N (20) cartridges. Here, the ejecting tool is a tool that should be extracted from the tool magazine, such as a broken tool, a life tool, or a tool that is not planned to be used in the near future.
If discharge tools are present in M cartridges out of N cartridges, it is checked in step 56 whether or not they have E type tool holding holes, that is, empty tool holding holes into which tools can be inserted. . If there is no E type tool holding hole,
For these, in step 58, the presence or absence of the necessary tools is checked. Here, the necessary tool is a tool that must be held in the tool magazine. If there are required tools, in step 60, select the smallest number among the tool holding holes holding those required tools, relocate them, and then select the tool of size S to be relocated. To move.

If it is determined in step 56 that there are L cartridges having E type tool holding holes, step 62 is searched for a cartridge having only one E type tool holding hole. The tool holding hole is selected in step 64, and the rearrangement is executed in step 66. If there is only one type E tool holding hole in step 62, the tool holding hole with the smallest number is selected in step 68 and the rearrangement is executed.

If there is no cartridge with a discharging tool in step 54, or if there are no required tools in M cartridges in step 58, in step 70, the number is the smallest among all E type tool holding holes. Select one and relocate it there.

In the above embodiment, the tool holding holes A, E and the tool sizes S, M, L, X are associated with -1,0,1,2,3,4 when the numerical values are used. A tool that is easy to perform may have a large numerical value, for example, 1,2,3,4,5,6 or −10,0,10,15,20,30. In addition, the method of setting the evaluation conditions in Table 2 is such that when relocating a tool for which a relocation command has been issued, if another tool is stored at the relocation location and its vicinity, it is necessary to relocate this other tool. However, the larger the size of this other tool, the larger the evaluation value.

If there are four tool holding holes in one cartridge, the current tool arrangement patterns 40, 42, 44 in 3 rows and 3 columns may be formed as shown in FIG. That is, by moving the pattern up and down, in the case of a 20-cartridge tool magazine, the total
Generate 40 current tool alignment patterns. The subsequent processing is the same.

Furthermore, the number of cartridges will decrease as the outer diameter of the tool magazine remains the same. For example, if the number of cartridges is half, it will be less likely that the tools will interfere with each other. Therefore, for example, for each tool of size X, L, M as shown in FIG. A mask may be considered, and the tool may be rearranged by the same process.

In the present embodiment, the tool relocation in the tool magazine attached to the machine tool is taken up, but it is also applicable to the tool relocation in the cartridge type tool warehouse or the tool stocker which is one element of the machining system such as FMS.

〔The invention's effect〕

As is apparent from the above description, according to the present invention, it is possible to efficiently relocate tools so that the number of steps and the working time can be reduced as much as possible while checking the interference between tools when necessary. Therefore, it is not necessary to upsize the entire tool magazine for a small number of large tools, which saves space and cost. Further, the number of replacement cartridges can be reduced as much as possible, and the operating rate of the machine tool can be improved.

[Brief description of drawings]

FIG. 1 is a functional block diagram showing the configuration of the present invention, FIG. 2 is a schematic front view of a tool magazine portion according to the present invention, and FIGS. 3 (a), (b) and (c) are first embodiments. Basic mask diagram and numerical basic pattern matrix diagram, FIG. 4 is a flow chart of relocation control of a tool of size S, FIG. 5 is a selection diagram of the current tool arrangement pattern in the case of another embodiment, and FIG. The figure is a basic mask diagram in the case of still another embodiment. 10 …… Base, 12 …… Tool magazine, 14 …… Tool holding hole,
16 …… Cartridge, 18 …… Tool exchange position, 20 …… Tool exchange arm, 21 …… Cartridge replacement position, 30, 32…
… Current tool arrangement pattern.

Claims (2)

[Claims] 1. A cartridge type tool magazine in which a plurality of cartridges having a plurality of tool holding holes for receiving and holding a plurality of types of tools are arranged, and held in any of the tool holding holes of any of the cartridges. A tool can be moved to another tool holding hole, and a predetermined cartridge of the plurality of cartridges is pulled out of the tool magazine,
Further, in a tool storage device capable of inserting another cartridge storing and holding a tool from the outside of the tool magazine, a tool rearrangement control method for rearranging a predetermined tool of the tool magazine without interfering with an adjacent tool when necessary. A table that stores the tools held in the tool magazine in correspondence with the numerical values for each size classification, for each size classification tool, a cartridge that holds the tool in a predetermined tool holding hole, With a total of three cartridges including two cartridges adjacent to both sides of the cartridge as one unit, a tool arrangement basic pattern in which tools of other sizes are arranged in tool holding holes in the unit is set, The tool magazine in which the numerical values for each size classification are made to correspond to the basic array pattern, and the combination of three cartridges adjacent to each other is used as a unit. All the current tool arrangement patterns in the table are associated with the stored numerical values for each size classification to generate all the current tool arrangement pattern matrices, and the size of the tool for which the relocation command is issued is stored. In accordance with the size classification, the specific tool arrangement basic pattern matrix is selected from the stored tool arrangement basic pattern matrix, and the selected specific basic pattern matrix and all the current tool arrangement pattern matrices Are sequentially compared to determine a current tool arrangement pattern that can be rearranged with the smallest possible number of steps, and a set of unit combination cartridges consisting of three cartridges corresponding to the determined current tool arrangement pattern Relocate the tool for which the relocation command is issued to the predetermined tool holding hole of the central cartridge. Relocation control method of a tool, characterized in that. 2. A cartridge type tool magazine in which a plurality of cartridges having a plurality of tool holding holes for receiving and holding a plurality of types of tools are arranged, and a tool held in any one of the tool holding holes of any one of the cartridges. And a tool moving means capable of moving the tool to another tool holding hole, and a cartridge for extracting a predetermined cartridge from the plurality of cartridges to the outside of the tool magazine and inserting another cartridge containing and holding a tool from the outside of the tool magazine. A tool storage device having a replacement means, which is a tool rearrangement control device for rearranging a predetermined tool of the tool magazine without interfering with an adjacent tool when necessary, and is held in the tool magazine. Tool size storage means for storing a table in which tools are associated with numerical values for each size classification, and the size classification tool In addition, a cartridge holding the tool in a predetermined tool holding hole and two cartridges adjacent to both sides of the cartridge as a total of three cartridges are set as one unit, and the other cartridge is held in the tool holding hole in the unit. A tool array basic pattern in which tools of different sizes are arrayed is set, and a storage means of a tool array basic pattern matrix in which the numerical values for each size classification are associated with the tool array basic pattern, and three cartridges adjacent to each other. Means for generating all the current tool arrangement pattern matrices by associating all the current tool arrangement patterns in the tool magazine in units of combinations with the numerical values for each size classification stored in the tool size storage means Then, the tool size storage means searches the size of the tool for which the relocation command is issued, and the size corresponding to the searched size is searched. Basic pattern matrix setting means for selecting a specific tool array basic pattern matrix from the tool array basic pattern matrix stored in the tool array basic pattern matrix storage means, and the specific pattern selected by the basic pattern matrix selecting means. Using the basic pattern matrix of, all the current tool arrangement pattern matrices generated by the present tool arrangement pattern matrix generating means are arithmetically processed according to a predetermined evaluation condition, and an evaluation matrix corresponding to each current tool arrangement pattern matrix. And an evaluation matrix generation means for generating the evaluation matrix generation means, and the component values of each evaluation matrix generated by the evaluation matrix generation means are arithmetically processed to produce the tool magazine corresponding to each current tool arrangement pattern matrix. Value calculation means for calculating an evaluation value that serves as a basis for determining whether or not the location on the screen is appropriate as the relocation location of the tool to which the relocation command is issued, and all the values calculated by the evaluation value computation means. Evaluation value selecting means for comparing the magnitudes of the evaluation values to select a predetermined evaluation value, judging means for judging whether the predetermined evaluation value selected by the evaluation value selecting means is one or plural, and the judging means. If there are a plurality of judgment results by the means, the presence or absence of another tool to be discharged to the cartridge located at the center of each unit combination cartridge corresponding to the predetermined evaluation value and an empty tool holding hole into which the tool can be inserted. With or without
Cartridge selecting means for selecting one set of unit combination cartridges from the plurality of sets of unit combination cartridges, and one set of unit combination cartridges selected by the cartridge selecting means or by the evaluation value selecting means If there is a component determination means for checking whether or not there is a numerical value outside the predetermined range in the corresponding components of the evaluation matrix, and if there is a determination result by the component determination means, it has a numerical value outside the predetermined range among the component values of the evaluation matrix. A rearrangement command means for issuing a rearrangement command to a tool corresponding to a component, and if the determination result by the component determination means is no, a set of unit combinations consisting of the selected three cartridges for the tool requiring the rearrangement A command to move to a predetermined tool holding hole of the central cartridge of the cartridge is issued to the tool moving means. That it comprises a tool movement control means, relocation control device reduces the number of steps as much as possible the tool, characterized in that rearranging of the tool.