JPS63105852A - Method and device for controlling rearrangement of tool - Google Patents

Abstract

PURPOSE:To improve the rate of operation of a machine tool, by performing rearrangement of tools so as to decrease a number of processes and the work time as small as possible while checking the interference of the fellow tools with each other when necessary. CONSTITUTION:A component decision means checks the existence of values out of the predetermined range in an evaluation matrix component corresponding to one set of unit combination cartridges selected by a cartridge selecting means. A rearrangement instruction means, when a decision result by the component decision means obtains the value to exist, generates a rearrangement instruction for a tool corresponding to a component having the value out of the predetermined range of the evaluation matrix component values. A tool movement control means, when the decision result by the component decision means obtains no existence of the value, generates an instruction, which moves a tool required for rearrangement to a predetermined tool holding hole of a central cartridge in one set of unit combination cartridges composed of selected three cartridges, to a tool moving means.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is a cartridge-type tool magazine for machine tools, and is used when discharging stored tools from the tool magazine or supplying new tools to the tool magazine. Regarding the tool relocation control method and device for changing the storage location of tools, in particular, in order to avoid interference between adjacent tools due to large tools, restrictions on the storage location can be quickly considered, and the number of processes and waste can be reduced as much as possible. The present invention relates to a control method and apparatus for relocating tools by reducing the number of cartridges.

[Conventional technology and problems]

There are various types of tools used in machine tools depending on their processing purpose, and therefore their sizes also vary widely. In order to insert and hold these tools and index and replace the tools when necessary, such as tool replacement, a cartridge with a plurality of tool holding holes is inserted, for example, parallel to the outer peripheral surface of the cylinder or radially on the disk. A tool magazine arranged in a machine is known. One method of arranging tools of various sizes on such a tool magazine is to design and manufacture the tool magazine with dimensions that will not cause interference even if large tools are accommodated in all tool holding holes. However, because of the small number of large tools in this tool magazine, the entire tool magazine becomes unnecessarily large, resulting in wasted space. Therefore, a method is adopted in which storage locations for tools of each size are determined, but in this case, when discharging end-of-life tools or damaged tools, the tools are rearranged and consolidated into one cartridge or a small number of cartridges. I can't. Therefore, it is necessary to eject tools that do not need to be ejected, and it is also necessary to eject more cartridges than necessary and replace them with new cartridges, which deteriorates cartridge replacement efficiency. Furthermore, when inserting a new tool, there are many restrictions and it may be difficult to find an appropriate cartridge storage location.

Therefore, the present invention efficiently relocates tools to reduce the number of processes and work time as much as possible while checking for interference between tools when necessary, and also reduces the number of replacement cartridges as much as possible. An object of the present invention is to provide a relocation control method and apparatus that allow for the relocation control.

[Means and effects for solving the problems] In view of the above-mentioned objects of the invention, the first invention provides a cartridge having a plurality of tool holding holes for receiving and holding a plurality of types of tools. For a plurality of cartridge-type tool magazines arranged, a tool held in a tool holding hole of a given cartridge can be moved to another tool holding hole, and a predetermined cartridge among the plurality of cartridges is moved to the tool holding hole of a given cartridge. In a tool storage device that can be taken out of the tool magazine and inserted into another cartridge storing and holding tools from outside the tool magazine, a predetermined tool in the tool magazine can be rearranged without interfering with adjacent tools when necessary. A tool relocation control method, comprising: storing a table in which the tools held in the tool magazine correspond to numerical values for each size classification; A basic tool arrangement pattern in which tools of other sizes are arranged in the tool holding holes in the unit, with a total of three cartridges as one unit, a cartridge held in the cartridge, and two cartridges adjacent to both sides of the cartridge. is set, the numerical values for each size classification are made to correspond to the basic tool arrangement pattern, and all current tool arrangement patterns in the tool magazine in which a combination of three mutually adjacent cartridges is set as a unit are stored. All the current tool arrangement pattern matrices are generated by associating the numerical values for each of the size classifications, and the sizes of the tools for which the relocation command has been issued are stored according to the stored size classifications. A specific tool array basic pattern matrix is selected from among the tool array basic pattern matrices, and the selected specific basic pattern matrix is sequentially compared with all the current tool array pattern matrices to reduce the number of steps as much as possible. Determine a current tool arrangement pattern that can be repositioned based on the number, and issue the relocation command to a predetermined tool holding hole of a central cartridge of a unit combination cartridge consisting of three cartridges corresponding to the determined current tool arrangement pattern. Provided is a tool relocation control method characterized by relocating a tool that has been ejected.

Further, as shown in FIG. 1, according to the second invention, there is provided a cartridge type tool magazine in which a plurality of cartridges each having a plurality of tool holding holes for receiving and holding a plurality of types of tools are arranged; a tool moving means capable of moving a tool held in any of the tool holding holes to another tool holding hole; and a tool moving means capable of moving a tool held in any of the tool holding holes to another tool holding hole; A tool storage device equipped with a cartridge replacement means for inserting another cartridge storing and holding tools, and a tool relocation control device for rearranging a predetermined tool in the tool magazine when necessary without interfering with an adjacent tool. a tool size storage means for storing a table in which the tools held in the tool magazine correspond to numerical values classified by size classification; and a tool size storage means for storing the tools in a predetermined tool holding hole for each of the tools classified by size. A basic tool arrangement pattern is set in which tools of other sizes are arranged in the tool holding holes in the unit, with a total of three cartridges as one unit, the cartridge with the same size and two adjacent cartridges on both sides of the cartridge. a storage means for a basic tool arrangement pattern matrix in which the basic tool arrangement pattern corresponds to the numerical values for each size classification; means for generating all current tool arrangement pattern matrices by associating the numerical values for each size classification stored in the tool size storage means with the tool arrangement pattern; and the size of the tool for which the relocation command has been issued. a basic pattern matrix for searching in the tool size storage means, and selecting a specific tool arrangement basic pattern matrix from among the tool arrangement basic pattern matrices stored in the tool arrangement basic pattern matrix storage means according to the searched size; Using a selection means and a specific basic pattern matrix selected by the basic pattern matrix selection means, all current tool arrangement pattern matrices generated by the current tool arrangement pattern matrix generation means are calculated according to predetermined evaluation conditions. an evaluation matrix generation means for processing and generating an evaluation matrix corresponding to each current tool arrangement pattern matrix; and an evaluation matrix generation means for processing the component values of each evaluation matrix generated by the evaluation matrix generation means to generate each current tool arrangement pattern. an evaluation value calculation means for calculating an evaluation value to be used as a basis for determining whether or not a location on the tool magazine corresponding to the matrix is appropriate as a relocation location for the tool to which the relocation command has been issued; and the evaluation value calculation means. an evaluation value selection means for selecting a predetermined evaluation value by comparing the magnitudes of all evaluation values calculated by the means; and determining whether there is one or more predetermined evaluation values selected by the evaluation value selection means. a determination means, and when there are multiple determination results by the determination means, the presence or absence of another tool to be ejected into the cartridge located at the center of each unit combination cartridge corresponding to the predetermined evaluation value, and whether or not the tool can be inserted; cartridge selection means for selecting one set of unit combination cartridges from the plurality of unit combination cartridges according to the presence or absence of an empty tool holding hole; a component determining means for determining the presence or absence of a numerical value outside a predetermined range in the components of the evaluation matrix corresponding to a set of unit combination cartridges selected by the means; relocation command means for issuing a relocation command for a tool corresponding to a component having a numerical value outside a predetermined range among the component values of the evaluation matrix; A tool movement control means for issuing a command to the tool movement means to move a set of unit combination cartridges consisting of three selected cartridges to a predetermined tool holding hole of a central cartridge, and the number of processes can be controlled. To provide a tool relocation control device, which is characterized in that the tool relocation is performed while reducing the amount of damage as much as possible.

〔Example〕

The present invention will be described in more detail below based on embodiments shown in the accompanying drawings.

Referring to FIG. 2, a tool magazine 12 is disposed on the side surface of a base 10 of a machine tool, which rotates in the direction of arrow C and has a vertical surface of rotation. In this tool magazine 12, 20 cartridges 16 each having three tool holding holes 14 are arranged radially in parallel. The tool magazine 12 is configured so that after each cartridge 16 has been indexed to the tool exchange position 18 or the cartridge exchange position 21, it can be pulled out in the direction of arrow A or B and then retracted. In particular, in the tool change position 18, the cartridge 16 can be stopped at three positions in the direction of arrow A such that its three tool holding holes 14 can be positioned directly next to the grippers 20a or 20b of the tool change arm 20, respectively.

A tool exchange arm 20 is used to exchange a new tool at the tool exchange position 18 with a tool on a spindle (not shown). The order of tool exchange is such that the tool magazine 12 is indexed such that a cartridge containing a new tool to be next mounted on the spindle during machining is located at the tool exchange position 18. The indexed cartridge rises and the new tool moves to the tool exchange arm 20.
When the cartridge is directly next to the gripper 20a or 20b, the cartridge is stopped and positioned. The tool exchange arm 20 is
Gripper 2 moves to the left and picks up the new tool stored in the cartridge.
0a, move forward perpendicular to the plane of the paper, pull out the new tool from the tool holding hole, move to the right, stop once at the tool exchange arm standby position, which is the position shown in the figure, and move back perpendicular to the plane of the paper. The tool magazine is indexed and the cartridge is lowered and raised so that the tool holding hole for collecting the current tool is positioned right next to the gripper 20a. When the current machining is completed and a tool change command is issued from the NC device (not shown), the tool change arm moves toward the spindle (in this example, it is assumed to move to the right), and is attached to the spindle using the gripper 20b. grip the current tool. Then, the current tool is removed from the spindle, rotated 180 degrees, and the new tool is attached to the spindle. Thereafter, the tool exchange arm moves to the left, inserts the current tool of the gripper 20b into the previously positioned tool holding hole in which the current tool is to be collected, and returns to the standby position to complete the series of tool exchange operations.

During this time, machining with the new tool has already started, and the tool changing arm 20 moves on to the gripping operation of the next tool to be used.

A tool moving device for moving the tool in each cartridge 16 to another tool holding hole 14 is provided by the present tool changing arm 20.
Also serves as In other words, the tool to be relocated is placed in the gripper 20a.
Alternatively, the tool changing arm 20 moves to the left and grips the tool, and while the tool changing arm 20 returns to the standby position, the tool holding hole to be repositioned is inserted into the gripper 20a or 20b.
The tool exchange arm moves to the left and inserts the tool into the tool holding hole. In addition to this embodiment, this tool moving device can also be configured such that, for example, an industrial robot directly grasps the tools in the tool magazine and moves the tools to a tool holding hole at a relocation position for storage.

To replace the cartridge, use the cartridge replacement position 21.
index the desired cartridge, manually pull it out to the left, and pull a new cartridge into the empty space. Alternatively, a method may be adopted in which a conveyance vehicle for tool replacement is positioned at a point corresponding to the cartridge replacement position 21, and the cartridge held by the conveyance vehicle and the cartridge in the tool magazine are automatically replaced.

In a machine tool equipped with the tool changer described above,
In the following cases, it becomes necessary to change the holding position of tools on the tool magazine 12. For example, when collecting damaged tools or tools with limited lifespan gripped by the tool spindle into the tool magazine 12, it is desirable to collect them together with other unnecessary tools in the same cartridge as much as possible. This is first moved to another tool holding hole 14. Alternatively, tools that are not scheduled to be used in the near future must be appropriately ejected from the tool magazine in order to accept new tools, but in this case as well, it is necessary to organize the cartridges so that the number of cartridges is as small as possible. This is because replacing and replacing cartridges between the tool magazine and the new cartridge supply location requires a long working time, which in turn reduces the operating rate of the entire machining system using the machine tool.

When relocating tools at necessary times as described above, first consider a basic pattern. In this embodiment, tool sizes are classified into 4' types. Drills, end mills, taps, etc. are set to size S, small diameter face milling cutters, etc. are set to size M1, large diameter face milling cutters, etc. are set to size, and eccentric boring bars, etc. are set to size X. Sizes are S, M, L,
It becomes larger as it becomes X. Figure 3 (a) and (b)
, (c) represent the basic masks for tools of size X, L, and M, respectively. Each square represents a tool holding hole 14, and the symbol represents the size of the tool. Each cartridge 16 is arranged in a column, with the upper side being the outer circumferential side and the lower inner side being the circumferential side. Sizes X, L, and M tools can only be stored in the outermost tool holding hole, and size X is stored in this position.

When the L and M tools are housed and held in the tool holding hole, there are restrictions on the size of the adjacent tools.
) and (C) are the largest possible tools. Here symbol A is a tool of size X in figure (a), a tool of size L in figure (b), a tool of size M in figure (C)
This indicates that the tool holding hole of each symbol A needs to be left empty due to the constraints imposed by the tool. Furthermore, the symbol E, which will be described later, represents an empty tool holding hole into which a tool can be inserted. In addition to the above, tools of size S are shown in each figure (a).

As can be seen from the fact that the tool of size S is stored in the innermost tool holding hole in (b) and (C), it is possible to store the tool in all the tool holding holes. Size A, E, S,
The basic pattern matrix is a matrix representing the arrangement of tools by associating numerical values -1°0.1.2.3.4 with M, L, and X, and each basic pattern for tools X, L, and M is The pattern matrix is shown in each figure (a), (b)
, is also written in (C).

Next, as with the basic mask, all the current tool arrangement patterns with three adjacent cartridges as one unit are extracted from the tool arrangement shown in Figure 2, and the correspondence between the pre-stored tool numbers and tool sizes is extracted. From the relationship, each pattern of each tool arrangement set at the present time is digitized. In other words, three adjacent cartridges including the cartridge 24 in FIG. 2 and the cartridges 22 and 26 on both sides thereof are defined as a first group unit 30, and the cartridge 26 is the center and the cartridges 24 and 28 on both sides thereof are defined as a first group unit 30. The three cartridges included are defined as the second set unit 32, and the other 20 sets of current tool arrangement patterns are similarly listed.

The numerical values for the tool sizes described above are associated with each array pattern to generate 20 current pattern matrices similar to the basic pattern matrix. Table 1 below
An example is shown below.

Table 1 Current Tool Arrangement Evaluation Matrix P2° is the current tool arrangement pattern matrix generated from the evaluation value pattern matrix Pl. 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, as shown in FIG. This basic pattern matrix B and the above table 1
Current tool arrangement pattern matrix Pj (j=1
...20) according to the following Table 2, the evaluation matrix EJ (j=1...20) in Table 1 is obtained.

Table 2 where i=1.2. . . , 9 and represents the component number of each current tool arrangement pattern matrix P or basic pattern matrix B. That is, each component value of the matrix below is the component number i of the corresponding component of matrix P or B.

The value obtained by adding the component values of each evaluation matrix Ej obtained in this way is the evaluation value.

The minimum value among the evaluation values is -1, which is the evaluation value corresponding to the evaluation matrix E (matrix E7 to E
19 will be ignored here). The minimum evaluation value -1 is 1
Furthermore, all component values are 0 or -1, and there are no components with positive values. Therefore, a tool of size X has a cartridge 22 corresponding to this evaluation matrix E.
A command is issued to the tool moving device to move and hold the tool in the outermost tool holding hole of the central cartridge 24 of the first group unit 30 consisting of , 24 and 26.

Among the evaluation values in Table 1, the value corresponding to the evaluation matrix Ezo is 306, which is 100 or more. In this embodiment, when the evaluation value is 100 or more, it is removed from the targets of relocation control.

This is because the tool of size X is immediately stored in the outermost tool holding hole of the central cartridge corresponding to the evaluation matrix E2°,
This can be seen from the fact that the component value of i=4 in ° is 4, which represents the size X.

Furthermore, if there is no tool arrangement for the matrix P with an evaluation value of -1, then the evaluation value 5 for the matrix P is the minimum. In this case, the evaluation value is a positive value, indicating that there are tools in this set of arranged tools that must be further rearranged in order to accommodate tools of size X. A positive value IO exists among the components of the evaluation matrix E6, and this component (i
The tool of size X cannot be moved and stored in the outermost tool holding hole of the central cartridge corresponding to matrix P6 until after the tool of =8) is further relocated to another tool holding hole.

Furthermore, if there are two minimum evaluation values, the central cartridge with the tool holding hole into which the tool of size
The priority is determined by first considering whether or not there exists.

If this is not the case, check if all other tool holding holes (in this case, two) in the cartridge are empty and allow insertion of another tool (matrix component is O). Second consideration. If you still cannot decide, number the cartridges and give priority to the cartridge with the lowest number.

With reference to FIG. 4, relocation control for a tool of size S will be explained. When a tool relocation command is issued in step 50, it is determined in step 52 whether the tool size is S or not. If not size S, other sizes M
, L, and X basic masks. Size S
If so, in step 54, the presence or absence of an ejecting tool is checked for all N (20) cartridges. Here, the ejected tool refers to a tool that should be extracted from the tool magazine, such as a broken tool, a tool with a limited lifespan, or a tool that is not scheduled to be used in the near future. If an ejection tool exists in M cartridges among the N cartridges, it is determined in step 56 whether or not they have an E type tool holding hole, that is, an empty tool holding hole into which a tool can be inserted. Bell. If there are no E-type tool holding holes, the presence or absence of necessary tools for these holes is checked in step 58. Here, the necessary tools are tools that must be kept in the tool magazine.

If there are necessary tools, in step 60 select the lowest numbered tool holding hole that holds those necessary tools, and after further rearranging it, select the tool of size S that should be relocated. move it.

If in step 56 there are L cartridges with E-type tool holding holes, then in step 62 a search is made for a cartridge with only one E-type tool holding hole, and if there is no cartridge, the lowest number A tool holding hole is selected in step 64 and repositioning is performed in step 66. Further, if there is a tool having only one E type tool holding hole in step 62, the tool holding hole with the smallest number among them is selected in step 68 and relocation is executed.

If there is no cartridge with an ejection tool in step 54, or if there is no necessary tool among the M cartridges in step 58, step 70 will proceed to step 70, where there is a cartridge with the smallest number among all E type tool holding holes. Select something and relocate and move it there.

In the above embodiment, tool holding holes A, E and tool sizes S, M
,L,)l) When digitizing -1, 0, 1°2.3.4
However, the larger the tool, that is, the tool that is more likely to interfere, the larger the value, for example 1, 2.3, 4, 5.
6, -10, 0, 10°15, 20, 30. In addition, the method for setting the evaluation conditions in Table 2 is that when relocating a tool for which a relocation command has been issued, if another tool is stored at or near the relocation location, it is necessary to further relocate this other tool. However, the larger the size of this other tool, the larger the evaluation value.

If one cartridge has four tool holding holes, a current tool arrangement pattern 40, 42, 44 of three rows and three columns as shown in FIG. 5 may be created. That is, by moving the pattern up and down, in the case of a tool magazine with 20 cartridges, a total of 40 current tool arrangement patterns are generated. The following processing is similar.

Furthermore, if the outer diameter of the tool magazine remains the same but the number of cartridges decreases, for example, if there are only 10 cartridges, tools will be less likely to interfere with each other.
, M can be considered, and the tools can be rearranged using similar processing.

Although this embodiment deals with tool relocation within a tool magazine attached to a machine tool, the present invention can also be applied to tool relocation in a cartridge-type tool storage or tool storage, which is an element of a machining system such as an FMS.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, tools can be efficiently relocated to reduce the number of processes and work time as much as possible while checking for interference between tools at necessary times. Therefore, there is no need to increase the size of the entire tool magazine for a small number of large tools, resulting in space savings and low cost.

Furthermore, the number of replacement cartridges is reduced as much as possible,
The operating rate of machine tools can be improved.

[Brief explanation of the drawing]

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 section according to the present invention, and FIGS. 3(a), (b), and (c) are a first embodiment. A basic mask diagram and a basic pattern matrix diagram digitizing it, Figure 4 is a relocation control flowchart for size S tools, Figure 5 is a selection diagram of the current tool arrangement pattern in other embodiments, and Figure 6 The figure is a basic mask diagram for yet another embodiment. 10... Base, 12... Tool magazine,
14... tool holding hole, 16... cartridge, di,
18... Tool exchange position, 20... Tool exchange arm,
21... Cartridge replacement position, 30, 32... Current tool arrangement pattern.

Claims (1)

[Claims] 1. For a cartridge-type tool magazine in which a plurality of cartridges each having a plurality of tool holding holes for receiving and holding a plurality of types of tools are arranged, any one of the tool holding holes of any one of the cartridges The held tool can be moved to another tool holding hole, a predetermined cartridge among the plurality of cartridges can be taken out of the tool magazine, and another cartridge storing and holding a tool can be inserted from outside the tool magazine. A tool relocation control method for rearranging a predetermined tool in the tool magazine without interfering with an adjacent tool at a necessary time in a tool storage device, the method comprising: sorting the tools held in the tool magazine by size classification; For each tool classified by size, a total of three cartridges, a cartridge holding the tool in a predetermined tool holding hole and two cartridges adjacent to both sides of the cartridge, are stored. A basic tool arrangement pattern is set in which tools of different sizes are arranged in the tool holding holes in the unit, with the cartridge as one unit, and the numerical values for each size classification are made to correspond to the basic tool arrangement pattern, so that they are mutually aligned. All the current tool arrangement pattern matrices are generated by associating the stored values for each size classification with all the current tool arrangement patterns in the tool magazine in which a combination of three adjacent cartridges is a unit. , Select a specific tool arrangement basic pattern matrix from the stored tool arrangement basic pattern matrices according to the size classification in which the size of the tool for which the relocation command has been issued is stored, and select the selected specific tool arrangement basic pattern matrix. The 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 as few steps as possible, and the determined current tool arrangement pattern is A tool relocation control method, comprising relocating the tool to which the relocation command has been issued to a predetermined tool holding hole of a central cartridge of a set of unit combination cartridges consisting of three corresponding cartridges. 2. A cartridge type tool magazine in which a plurality of cartridges each 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 of the tool holding holes of any of the cartridges is a tool moving means movable into the tool holding hole; and extracting a predetermined cartridge from the plurality of cartridges out of the tool magazine;
Further, in a tool storage device equipped with a cartridge replacement means for inserting another cartridge storing and holding a tool from outside the tool magazine, the tool can rearrange a predetermined tool in the tool magazine without interfering with an adjacent tool when necessary. A relocation control device comprising: a tool size storage means for storing a table in which the tools held in the tool magazine correspond to numerical values according to size classification; A total of three cartridges, a cartridge held in a tool holding hole and two cartridges adjacent to both sides of the cartridge, were considered as one unit, and tools of other sizes were arranged in the tool holding holes within the unit. storage means for storing a tool array basic pattern matrix in which a tool array basic pattern is set and the numerical values for each size classification are made to correspond to the tool array basic pattern; means for generating all current tool arrangement pattern matrices by associating all the current tool arrangement patterns in the tool magazine with the numerical values for each size classification stored in the tool size storage means; The size of the fired tool is searched in the tool size storage means, and a specific tool arrangement basic pattern matrix is selected from among the tool arrangement basic pattern matrices stored in the tool arrangement basic pattern matrix storage means according to the retrieved size. basic pattern matrix selection means for selecting a basic pattern matrix; and all current tool arrangement pattern matrices generated by the current tool arrangement pattern matrix generation means using the specific basic pattern matrix selected by the basic pattern matrix selection means. Evaluation matrix generation means for performing calculation processing according to predetermined evaluation conditions to generate evaluation matrices corresponding to the respective current tool arrangement pattern matrices; and calculation processing for the component values of each evaluation matrix generated by the evaluation matrix generation means. , an evaluation value calculation means for calculating an evaluation value that is the basis for determining whether or not a location on the tool magazine corresponding to each current tool arrangement pattern matrix is appropriate as a relocation location for the tool to which the relocation command has been issued; and evaluation value selection means for selecting a predetermined evaluation value by comparing the magnitudes of all the evaluation values calculated by the evaluation value calculation means, and whether there is one or more predetermined evaluation values selected by the evaluation value selection means. a determining means for determining whether there are a plurality of tools, and, if the determination result by the determining means is a plurality of tools, a method for determining whether other tools are to be ejected into a cartridge located at the center of each unit combination cartridge corresponding to the predetermined evaluation value. cartridge selection means for selecting one set of unit combination cartridges from the plurality of unit combination cartridges according to the presence or absence of an empty tool holding hole into which a tool can be inserted; or a component determining means for determining the presence or absence of a numerical value outside a predetermined range in the components of the evaluation matrix corresponding to a set of unit combination cartridges selected by the evaluation value selecting means; and a determination result by the component determining means. relocation command means for issuing a relocation command for a tool corresponding to a component having a numerical value outside a predetermined range among the component values of the evaluation matrix; tool movement control means for issuing a command to the tool movement means to move a tool that requires placement to a predetermined tool holding hole in a central cartridge of a set of unit combination cartridges made up of the selected three cartridges; A tool relocation control device characterized in that the tool relocation is performed by reducing the number of steps as much as possible.