JPS6357156A - Transport control method for work pallet in machine tool - Google Patents

Abstract

PURPOSE:To enable a work pallet to be control only by a machining program in a machine tool side, by storing a load instruction of the work pallet to a machine tool and a prepared instruction of the work pallet to a pallet changer in the machining program. CONSTITUTION:If a load instruction of M1**, etc. in a machining program PRO is read, the optimum action pattern is determined, and on the basis of this pattern, the load action of a work pallet 9 to a machine tool 2 is performed. And when a prepared instruction of M2**, etc. is read, on the basis of ar ranged conditions of the work pallets 9 in a work pallet storage means 10 and a pallet changer 3, the optimum action pattern is determined from plural prepared action patterns. On the basis of this determined pattern, the conveying action of the pallet 9 between the pallet storage means 10 and the pallet changer 3 is performed.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial Field of Application The present invention is applicable to machine tools such as machining centers, work pallet storage racks for storing work pallets, and work pallet storage racks for storing work pallets between machine tools and work pallet storage racks. The present invention relates to a work pallet transport control method suitable for application to machine tool equipment including a work pallet transport robot or the like that transports a work pallet.

(b), Conventional technology Conventionally, in this type of machine tool equipment, the transport management of work pallets between the work pallet storage rack and the machine tool has been performed by a control program created separately from the machining program of the machine tool. Ta.

(C) 1 Problems to be Solved by the Invention However, in such a configuration, in order to properly operate the machine tool equipment, in addition to the machining program on the machine tool side, a control program for managing the work pallet is required. Therefore, the overall configuration was complicated and the system operation required a lot of time and effort.

SUMMARY OF THE INVENTION In order to eliminate the above-mentioned drawbacks, it is an object of the present invention to provide a work pallet management and control method in machine tool equipment that allows work pallet management to be performed only by a machining program on the machine tool side. .

(d) Means for solving the 9 problems, that is, the present invention provides a load command for the work pallet (9) to the machine tool (2) and a pallet changer for the work pallet (9) during the machining program (PRO). (3)
When the load command is read, the arrangement status of the work pallet (9) in the work pallet storage means (10), pallet changer (3), and machine tool (2) is stored. Based on this, an optimal operation pattern is determined from a plurality of operation patterns of loading operations prepared in advance, and the loading operation of the work pallet (9) to the machine tool (2) is performed based on the determined operation pattern. and when the preparation command is read,
Based on the arrangement of the work pallets (9) in the work pallet storage means (10) and the pallet changer (3), an optimal movement pattern is determined from a plurality of movement patterns of preparatory movements prepared in advance, and the optimum movement pattern is determined. Based on the determined movement pattern, the work pallet is collected [= stage (1
0) and the pallet changer (3) to transport the work pallet (9).

Note that the numbers in parentheses are for convenience and indicate corresponding elements in the drawings, and therefore, this description should not be limited to the descriptions in the drawings. Under breath r (el
The same applies to the column ``, action''.

(e) 0 effect With the above-described configuration, the present invention allows the loading operation of the work pallet (9) to the machine tool (2) and the preparation operation of the work pallet (9) to the pallet changer (3) to be performed by the machining program (PRO). ) acts to be executed based on the instructions stored in it.

(r), Example Embodiments of the present invention will be described below based on the drawings.

Fig. 1 is a perspective view showing an example of machine tool equipment to which the present invention is applied, Fig. 2 is a control block diagram showing an example of a numerical control device in machine tool equipment to which the present invention is applied, and Fig. 3 is a pallet. FIG. 4 is a flowchart showing an example of the loading operation pattern determination subroutine; FIG. 5 is a flowchart showing an example of the pallet preparation pattern determination subroutine; FIG. 6 is the content of the pallet layout file memory. Schematic diagram, Figure 7 is a diagram showing the contents of the program file memory, Figure 8 is a diagram showing an example of a machining program, Figure 9 is a diagram showing the work pallet storage rack and pallet changer when a pallet load command is output. Figure 10 shows the presence status of work pallets in the machine tool and the corresponding work pallet transport pattern. Figure 11 shows the existence status of the work pallet in the pallet changer and machine@machine when the pallet return command is output, and the corresponding work pallet transport pattern. It is a figure showing a conveyance pattern.

As shown in FIG. 1, the machine tool equipment 1 includes a machine tool 2 such as a machining center, and the machine tool 2 includes:
Two loaders 3a1 supply work pallets loaded with workpieces to the inside of the machine tool, and further discharge the work pallets loaded with processed workpieces from inside the machine tool.
A double pallet changer 3 consisting of 3a is provided. A rail 5 is laid in front of the machine tool 2 in the figure, and a work pallet transport robot 6 is mounted on the rail S.
is provided so as to be movable and driveable along the rail 5 in the directions of arrows C and D. A carriage 7 is supported by the work pallet transfer robot 6 so as to be movable and driven in the vertical direction, that is, in the directions of arrows A and B.
Furthermore, the work pallet 9 can be transferred between the pallet changer 3 and a work pallet storage rack to be described later.

On the other hand, a work pallet storage rack 10 is provided at a position along the rail 5, and the work pallet storage rack 10 has work pallet storage shelves 10a that can store work pallets 9 loaded with workpieces on the upper and lower sides. They are arranged in five rows in the direction and six rows in the left and right direction.

By the way, the numerical control unit W8 of the machine tool [2 has a main control section 11, as shown in FIG. Pallet transport control section 15, mechanism control section 16,
A program file memory 17, a keyboard 19, etc. are connected to it, and it is further connected to a transport robot control section 21 of the work pallet transport robot 6 via a line 20.

Since the machine tool equipment 1 has the above configuration, when the machine tool 2 processes the work on the work pallet 9 stored in the work pallet storage rack 10,
The main control unit 11 reads out the machining program PRO to be executed from the program file memory 17. In this program file memory 17, as shown in FIG. reads the machining program PRO with the corresponding machining program number PNO from the program file memory 17 based on the machining program number PNO instructed from the keyboard 19 or the like, and executes the machining program PRO based on the pallet management program PMP shown in FIG. and executes the machining program PRO.

That is, the pallet management program PMP executes step S1.
Then, the command of the first block of the machining program PRO read from the program file memory 17 shown in FIG. 8 is read. The first command is rMlolJ, and this M1+2-digit command is regarded as a command to load the work pallet 9 to the machine tool 2 in the machining program PRO. That is, in Mlol, the number 1 following the M code means a load command for the work pallet 9 to the machine tool 2, and the following two-digit number 1 means the current number PTN of the work pallet 9 to be loaded. . Therefore, Ml
ol is a command to load the work pallet 9 whose pallet number PTN is 01 into the machine tool 2.

In this way, the pallet management program PMP
**J command (** is a specific number.

Same below. If J is in the machining program PRO, the loading operation pattern determination subroutine SUB
1 is executed to determine the operation pattern of the loading operation when conveying the work pallet 9 to the machine tool 2.

That is, in step S3 of subroutine SUB 1,
As shown in FIG. 4, it is determined whether or not the work pallet 9 that has been instructed to be loaded is being set up by an operator. If the work pallet 9 is being set up, it is impossible to supply the work pallet 9, so wait for the set up to be completed in step S4, and when the set up is completed, or step S
If it is determined in step S3 that the work pallet 9 is not being set up, the process proceeds to step S5, where the machine tool (in the figure
"Machine" means the machine tool 2. Under breath, same. )
It is determined whether the work pallet 9 exists in the machine tool 2, and if the work pallet 9 does not exist in the machine tool 2,
Step S6 is entered, and the pallet changer (r2 in the figure)
PcJ is an abbreviation for 12 pallet chain layer 3. Same below. ) 3 to determine whether there is a work pallet 9 on it.

These determination operations are performed by the pallet feeding control section 15 searching the pallet layout file memory 13.

As shown in FIG. 6, the pallet layout file memory 13 stores a pallet layout file PLF, and the pallet layout file PLF indicates where each work pallet 9 currently exists. It is shown in correspondence with the pallet number P T N attached to it.

"Palette layout file PLF medium A rL" is
"rM" means that the work pallet 9 is in the machine tool 2, "rR" means that the work pallet 9 is in the storage rack 10, and "P" means that the work pallet 9 is on the pallet changer 3. means. In addition, rLJ
, "M", "rR", and "P" are identification numbers indicating individual storage locations. For example, "R3" means that the work pallet 9 is in the storage shelf 10a with the number 3 in the storage rack 10.
It shows that there is. Therefore, by referring to the pallet layout file PLF, the current position of the work pallet 9 can be immediately known.

As a result of referring to the pallet layout file PLF in this way, if there is no work pallet 9 on the pallet changer 3, the operation pattern is determined to be ``ra''. In other words, as shown in FIG.
This is a case where there are N work pallets 9, but there are no work pallets 9 (regardless of the pallet number P T N) in the pallet changer 3 and the machine tool 2. In this case, the work pallet storage rack 10 and the machine tool Since there is no obstacle in loading the work pallet 9 between 2 and 2, the pallet number PTN is transferred from the predetermined work pallet storage shelf 10a of the work pallet storage rack 10 to the pallet changer 3 by the work pallet transfer robot 6.
The operation pattern is such that the work pallet 9 is completed, and then the pallet changer 3 supplies the work pallet 9 to the machine tool 2. Work pallet transfer robot 6
In this case, the carriage 7 is driven to move in the directions of arrows A and B, and the entire work pallet transfer robot 6 moves along the rails 5 in the directions of arrows C and D. The transfer to and from the pallet changer 3 should be carried out smoothly.

Next, if the work pallet 9 is present on the pallet changer 3 in step S6, as shown in FIG.
In step S7, it is determined whether the work pallet 9 on the pallet changer 3 is the work pallet 9 for which loading has been instructed.

If the work pallet 9 on the pallet changer 3 is the work pallet 9 that was commanded to be loaded, supplying the work pallet 9 into the machine tool 2 will complete the execution of the M1** command. re the action pattern that should be done
Decided to be J. In other words, as shown in FIG. 9, the operation pattern Te is a case where there is a work pallet 9 on the bullet changer 3 that has been instructed to load, but there is no work pallet 9 in the machine tool 2, and the pallet The changer 3 immediately supplies the workpiece valent 9 instructed to be loaded to the machine tool [2.

Second, in step S7, if the work pallet 9 on the pallet changer 3 is not the work pallet 9 that received the load command, the operation pattern is determined to be rcJ. That is, in this case, as shown in FIG. 9, the work pallet 9 corresponding to the load command is stored in the work pallet storage rack 10, and the pallet changer 3
This is a case where there is another work pallet 9 above, and there is no further work pallet 9 inside the machine tool 2. Then, since the work pallet 9 on the pallet changer 3 is an obstacle to feeding a predetermined work pallet 9 to the machine tool 2, the work pallet 9 on the pallet changer 3 is first fed by the feeder bot 6 using the work pallet. Predetermined work pallet storage shelf 10a of the work pallet storage rack 10
After that, the work pallet 9 corresponding to the load command is supplied from the work pallet storage rack 10 to the machine tool 2 via the pallet changer 3.

Furthermore, in step S5 in FIG. 4, if it is determined that the work pallet 9 exists in the machine tool 2, the process proceeds to step S8, and the work pallet 9 in the work i [2 is given a loading command. It is determined whether the work pallet 9 is the one that has been used. If the work pallet 9 in the machine tool 2 is the work pallet 9 for which loading was instructed, it is determined that there is an error in the load command for M1** of the machining program PRO, an alarm is generated in step S9, and the work is stopped. Warn others. If the work pallet 9 in the machine tool [2 is not the work pallet 9 commanded to be loaded, step 310 is entered, and it is determined whether or not there is a work pallet 9 on the pallet changer 3, and the work pallet 9 on the pallet changer 3 is If the work pallet 9 does not exist in , the motion pattern l to rbJ is determined.

As shown in FIG. 9, the operation pattern "rb" means that the work pallet 9 of the load command is in the work pallet storage rack 10, there is no work pallet 9 on the pallet changer 3, and there is no work pallet 9 in the machine tool 2. Another work pallet 9
exists. In this case, unless the work pallet 9 in the machine tool 2 is taken out, a new work pallet 9 cannot be loaded, so the work pallet transport robot 6 picks up the work pallet 9 to be loaded from the work pallet storage rack 10. At the same time, the pallet changer 3 exchanges the work pallet 9 supplied by the work pallet transfer robot 6 with another work pallet 9 in the machine tool 2. The pallet transport robot 6 returns the work pallet to a predetermined work pallet storage shelf 10a.

Next, if it is determined in step s i o that there is a work pallet 9 on the pallet changer 3, the process goes to step 311, and it is determined whether the work pallet 9 existing on the pallet changer 3 is the work valent 9 to be loaded or not. Determine whether or not. As a result, if it is determined that the work pallet 9 existing on the pallet changer 3 is not the work pallet 9 to be loaded, the operation pattern is determined to be rdJ.

The operation pattern rdJ means that, as shown in FIG.
0, and there is another work pallet 9 in the pallet changer 3 and the machine tool 2. In this case, first the pallet changer 3
Unless the upper work pallet 9 is removed, the work pallet 9 for which the load command has been issued cannot be loaded. Therefore, after the work pallet transfer robot 6 returns another work pallet 9 on the pallet changer 3 to the predetermined work pallet storage shelf 10a, the work pallet 9 for which the load command has been issued is stored in the work pallet. It is transported from the rack 10 onto the pallet changer 3, and the pallet changer 3 transfers it to the machine tool @2.
The supplied work pallet 9 is exchanged with yet another work pallet 9 in the machine tool w1. The work pallet is returned to the storage rack 10.

Further, if the work pallet 9 existing on the pallet changer 3 is the work pallet 9 to which the load command was issued in step 311, the operation pattern becomes "rf".

That is, the operation pattern "rf" is a work pallet 9 to be loaded onto the pallet changer 3, as shown in FIG.
This is a case where there is another work pallet 9 in the machine tool 2, and in this case, the pallet changer 3 is driven to change the work pallet 9 in the machine tool 2 and the work to be loaded on the pallet changer 3. Replace pallet 9,
Another work pallet 9 that had been in the machine tool 2 until then is returned to the storage rack 10.

In this way, when the pallet transport control unit 15 has determined the operation pattern for transporting the work pallet 9 by subroutine 5UBI while referring to the pallet layout file PLF in the pallet layout file memory 13, the main control unit 11 M
At steps 312 and S13 of P, the subroutine SO
The transfer robot control unit 21 causes the work pallet 9 to be loaded based on the operation pattern determined in step B1.
and instructs the mechanism control unit 16. In response to this, the transfer robot control unit 21 and the mechanism control unit 16 control the transfer operation of the work pallet 9 to the work pallet transfer robot 6.
The process starts by driving and controlling the pallet changer 3 and the pallet changer 3, respectively. Note that in the case shown in steps 312 and 313, operation pattern 1. This is the case for s r a J. Next, in step 314, the next block of the Nib 4-gram PRO is read out, and as shown in FIG. 8, the 7M202J command is stored in this block.

This rM2**J Naro command is a command to prepare the work pallet 9 on the pallet changer 3 in the machining program PRO. That is, in M2O2, the number 2 following the M code indicates the pallet changer 3 of the work pallet 9.
The following two-digit number means the pallet number PTN of the work pallet 9 to be loaded.

Therefore, M2O2 is a command to prepare the work pallet 9 whose pallet number PTN is 02 on the pallet changer 3.

In this way, the main control unit 11 controls the r M 2 * * J
If there is a command in the machining program PRO,
A pallet preparation pattern determination subroutine 5UB2 is executed for the pallet transport control unit 15 to determine an operation pattern for a preparation operation when transporting the work pallet 9 to the pallet changer 3. Note that after reading M2O2 in step 314, the main control unit 11 performs step 3.
15, the work pallet 9 in the machine tool 2 is sent to the mechanism control unit 16 (in the case of the machining program PRO in FIG. 8, the work pallet 9 with pallet number P T N is 01).
), and in response to this, the mechanism control unit 16 executes a machining command collection COD consisting of a plurality of machining commands stored following M2O2 of the machining program PRO.
Predetermined machining is performed on the workpieces on the workpiece pallet 9 in the work iMZ.

On the other hand, as shown in FIG.
* At *, it is determined whether the work pallet 9 whose preparation has been instructed is being set up by the worker.

If the work pallet 9 is being set up, it is impossible to prepare the work pallet 9 for the pallet changer 3.
Wait for the completion of the setup in step 317, and if the setup is completed or if it is determined in step 316 that the work pallet 9 is not in the setup 9, the work pallet 9 is transferred to the pallet changer 3 in step 518.
Determine whether it is above. If the work pallet 9 is not on the pallet change 43, the operation pattern is rg
It is determined that J.

As shown in FIG. 10, operation pattern "g" is a case where there is a commanded work pallet 9 in the work pallet storage rack 10 and there is no work pallet 9 on the pallet changer 3. In this case, , the work pallet transport robot 6 continuously transports the instructed work pallets 9 from the work pallet storage rack 10 onto the pallet changer 3.

Next, in step 318, if it is determined that there is a work pallet 9 on the pallet changer 3, the process proceeds to step 319 to determine whether the work pallet 9 on the pallet changer 3 is the instructed work pallet 9. Determine whether Work pallet 9 on pallet changer 3
If it is the commanded work pallet 9, the target work pallet 9 is already prepared on the pallet changer 3, so no operation is performed.
Work pallet on pallet changer 3! If -9 is not the instructed work pallet 9, the movement pattern is determined to be rhJ.

As shown in FIG. 10, the operation pattern rhJ is a case where there is a commanded work pallet 9 in the work pallet storage rank 10 and another work pallet 9 on the pallet changer 3. In this case, Since the work pallet 9 on the pallet changer 3 is an obstacle to executing the preparation command, the work pallet transfer robot 6 first moves the work pallet 9 on the pallet changer 3 to a work pallet storage shelf in a predetermined work pallet storage rack 10. 10a, and then the instructed work pallet 9 is fed onto the pallet changer 3 by the work pallet transport robot 6.

In this way, the pallet conveyance control section 15! i! Preparation directive M2
After determining the operation pattern corresponding to **, the main control section 11 immediately instructs the transfer robot control section 21 to perform a preparation operation for the work pallet 9 based on the determined operation pattern. As a result, a workpiece to be processed next is prepared on the pallet changer 3 while the mechanism control section 16 is processing the workpiece.

The main control unit 11 also controls the pallet management program P M
In step S20 of P, machining of the workpiece mounted on the workpiece pallet 9 in the machine tool 2 (in the case of the machining program PRO shown in FIG. 8, the workpiece mounted on the workpiece pallet 9 with pallet number PTN 01) is completed. If it is determined that the machining of the workpiece has been completed, the process proceeds to step S21, and the machining program P
M1O2 stored in the next block of the machining command collection COD whose pallet number PTN in RO corresponds to 01
Read the instructions for . M1**Command 1, as mentioned above, is a command to load the work pallet 9 to the machine tool 2, so the main control unit 11 causes the pallet transport control unit 15 to execute subroutine SUB 1 and set the operation pattern at that time. let them decide. In this case, the workpiece to be processed next is prepared on the pallet changer 3 due to the preparation command from M2**, so the operation pattern becomes "rf", and in step 322, the mechanism control unit 16 The pallet changer 3 is driven via the pallet number PTN is 0.
Two work pallets 9 are loaded into the machine tool 2,
The work pallet 9 carrying the completed workpiece with pallet number PTN 01 is pulled out onto the pallet changer 3.

Next, the main control unit 11 reads the next command block of the machining program PRO in step 823, and this block stores a preparation command for the work pallet 9 called M2O3, as shown in FIG. . Therefore, the main control unit 11 instructs the mechanism control unit 16 to perform machining on the newly supplied work pallet 9 using the machining program PR.
Instructs to perform processing based on the processing command collection COD stored in the block following the command M2O3 in O, and
In step 325, based on the operation pattern rf, the transporting robot instructs the transport robot to return the work pallet 9 with the pallet number PTN 01 on which the processed work is mounted on the pallet changer 3 to the predetermined work pallet storage 1'' 1110a. A command is given to the control unit 2N.

In this way, the main control unit 1
1 causes the pallet transport control unit 15 to determine an operation pattern based on the preparation command of M2O3 by subroutine SUB2. In this case, the operation pattern is "g", and the command work pallet 9 (pallet number PTN is 03
) is fed onto the pallet changer 3 in step 326.

In step 327, the main control unit 11 controls the machine tool + fItZ
It is constantly monitored whether machining of the workpiece on the workpiece pallet 9 whose pallet number PTN is 02 has been completed, and when the machining of the workpiece is completed, the next command M1O3 is read in step 328.

Since M1** is a load command for the work pallet 9, the main control section 11 sends the subroutine SU to the pallet transport control section 15.
Let B1 determine the movement pattern. In this case, M
Since the work pallet 9 with pallet number PTN 03 has already been supplied to the pallet changer 3 by the 2O3 command, the operation pattern becomes rfJ, and step 32
Work pallet 9 with pallet number PTN 03 is machine tool v! 2 and M1 at step 330
Machining by the machining command set COD following the O3 command and operation pattern in step 331 [f = Work storage on work pallet 9 loaded with processed workpieces (l)
10 Return to a should be made. In this case, since there is no M2** command after the M1O3 command, no new work pallet 9 is prepared on the pallet changer 3.

At step 332, the main control unit 11 selects the pallet number P T
It is determined whether or not the machining of the workpiece mounted on the workpiece pallet 9 whose N is 03 has been completed. If it is determined that the machining has been completed, in step 333, the machining program PRO is executed.
The command M100 of the next block is read. This command is a command to return all work pallets 9 in the machine tool 2 and on the pallet changer 3 to the work pallet storage @ 10 a, and there are three types of operation patterns as shown in Fig. 11. do. That is, the main control unit 11
When the M1O0 command is read, the pallet transport control unit 1
5 to determine the return operation pattern.

As shown in FIG. 11, the pallet a feed @fake section 15 sets the operation pattern to "l" when there is a work pallet 9 on the pallet changer 3 and in the machine tool 2, and first moves the pallet a on the pallet changer 3. The work pallet 9 is returned to the work pallet storage rack 10, and the work pallet 9 in the machine tool 2 is pulled out onto the pallet changer 3, and the work pallet 1 is transferred by the work pallet transport robot 6.
11'! Return to Rack 10. In addition, when there is a work pallet 9 on the pallet changer 3 and there is no work pallet 9 in the machine 81 2, the operation pattern "J" returns only the work pallet 9 on the pallet changer 3 to the work pallet storage rack 10. ”. Furthermore, there is no work pallet 9 on the pallet changer 3, and the work [
If there is a work pallet 9 in the 1t42, after pulling out the work pallet 9 in the machine tool 2 onto the pallet changer 3, move the work pallet 9 to the work pallet j.
・Operation pattern rLc for returning to the storage rack 10.

In this way, when the pallet feeding control section 15 determines the return operation pattern based on the M1O0 command, the main control section 11 causes the mechanism control section 16 and the transfer robot control section 21 to control the work pallet 9 based on the determined operation pattern. A command is given to perform a return operation to the work pallet storage rack 10, and predetermined operations are performed in steps 334 and 335 (in this case, operation pattern "k"), and the execution of the machining program PRO is completed.

(g) 9 Effects of the Invention As explained above, according to the present invention, during the machining program PRO, a command to load the work pallet 9 such as M1** to the machine tool 2 and a work pallet such as M2** are issued. 9
Store the preparation command for the pallet changer 3,
When the load command is read, a plurality of pre-prepared loading operations are performed based on the arrangement of the work pallets 9 in the work pallet storage means such as the work pallet storage rack 10, the pallet changer 3, and the machine tool 2. An optimal operation pattern is determined from the operation patterns, and the work pallet 9 is loaded onto the machine tool w, 2 based on the determined operation pattern, and when the preparation command is read, the work pallet storage means and Work pallet 9 in pallet changer 3
Based on the arrangement situation of the work pallet storing means and the pallet changer 3, an optimal movement pattern is determined from a plurality of movement patterns of quasi-i movements prepared in advance, and the work pallet is moved between the work pallet storage means and the pallet changer 3 based on the determined movement pattern. Since the configuration is configured to carry out the transport operation of workpiece pallet 9 [! 2 and the preparation operation of the work pallet 9 to the pallet changer 3 can be commanded in the machining program PRO, and a dedicated program for loading and preparing the work pallet 9 separate from the machining program PRO. It is possible to provide a method for transporting work pallets in machine tool equipment that is simple and does not require much time and effort for system operation.

Furthermore, if the winding operation of the work pallet 9 between the work pallet storage means and the pallet changer 3 based on the preparation command is performed during machining of the work in the machine tool +4.2, then the machine tool 2 The work pallet 9 loaded with the work to be machined can be prepared on the pallet changer 3 before the work currently being machined is completed, so that the work pallet 9 loaded with the work to be machined can be prepared on the pallet changer 3.
related processing can be performed without waiting time, contributing to improvement of processing efficiency.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing an example of machine tool equipment to which the present invention is applied, Fig. 2 is a control block diagram showing an example of a numerical control device in machine tool equipment to which the present invention is applied, and Fig. 3 is a pallet. FIG. 4 is a flowchart showing an example of the loading operation backup determination subroutine; FIG. 5 is a flowchart showing an example of the pallet preparation pattern determination subroutine; FIG. 6 is the content of the pallet layout file memory. Fig. 7 is a schematic diagram showing the contents of the program file memo () Fig. 8 is an example of a machining program, Fig. 9 is a work pallet storage rack when a pallet load command is output, Figure 10 shows the status of work pallets in the pallet changer and machine tool, and the corresponding work pallet transport pattern. Figure 11 shows the presence status of the Kero work pallet and the corresponding work pallet transport pattern. It is a diagram showing a transport pattern of work pallets corresponding to this. 1...Machine tool equipment 2...Machine tool 3...Pallet changer 6...Work pallet transport means (work pallet Eishin Robot) 9... Work Pallet 10 Work Pallet Storage Means (Work Pallet Storage Rack) Applicant Yamazaki Mazak Co., Ltd. Agent Patent Attorney Ai 1) Shinji (and 1 other person) Figure 1 I L ( $lfg°!W4 Manual work z・°shi Fig. 2, 8 L J5UB2 Fig. 6 LF Fig. 7 Kaku 8 Fig. RO Work

Claims (2)

[Claims] (1) A work pallet storage means for storing work pallets, a machine tool, a pallet changer for supplying and discharging work pallets to and from the machine tool, and transporting work pallets between the work pallet storage means and the pallet changer. In machine tool equipment that has a work pallet transport means, a command to load the work pallet to the machine tool and a command to prepare the work pallet to the pallet changer are stored in the machining program, and when the load command is read, , determining the optimal operation pattern from a plurality of pre-prepared operation patterns for loading operations based on the arrangement of the work pallets in the work pallet storage means, the pallet changer, and the machine tool; When the work pallet is loaded into the machine tool based on the above preparation command and the preparation command is read, multiple preparations prepared in advance are performed based on the arrangement status of the work pallet in the work pallet storage means and the pallet changer. A work pallet in machine tool equipment configured to determine an optimal movement pattern from movement patterns and to carry out a movement of the work pallet between a work pallet storage means and a pallet changer based on the determined movement pattern. transport control method. (2) The machine tool equipment according to claim 1, wherein the work pallet transport operation between the work pallet storage means and the pallet changer based on the preparation command is performed during processing of the work in the machine tool. A work pallet transport control method.