JPS6359605A - Numerical controller for machine tool equipment - Google Patents

Abstract

PURPOSE:To carry and manage work pallets only with a numerical controller on the machine tool side by controlling the carrying operation of work pallets by the numerical controller based on various work pallet carrying commands stored in a working program. CONSTITUTION:If a work pallet carrying command is read out in case a motion pattern operating and determining means 15 executes a working program PRO stored in the first memory means 17, the means 15 refers to a pallet layout file PLF in second memory means 13 to select and determine a motion pattern based on the carrying command from plural preliminarily prepared motion patterns in accordance with the arrangement state of work pallets. A motion command means 11 commands the work pallet carrying motion based on the motion pattern selected and determined by the motion pattern operating and determining means 15.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial Field of Application The present invention relates to a machine tool area such as a machining center, a work pallet storage rack for storing work pallets, and a work pallet storage rack for storing work pallets between the machine tool and the work pallet storage rack. This invention relates to a numerical control device used in machine tool equipment such as a work pallet transport robot that transports work pallets.

(b), Conventional technology Conventionally, in this type of machine tool equipment, in addition to the numerical control device installed on the machine tool, a transfer management control device is installed, and between the work pallet storage rack and the work 8M area. The transport management of work pallets has been performed by the transport management control device using a control program created separately from the processing program.

(C) 0 Problems to be Solved by the Invention However, with this configuration, in order to properly operate the machine tool equipment, a dedicated transport management control device is required in addition to the numerical control device that controls the machine tool. Therefore, in addition to the machining program on the machine tool side, a control program to manage the transport of the work pallets is also required. Therefore, the overall configuration is complicated and the system operation requires 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 numerical control device for machine tool equipment that can manage the transportation of work pallets only by the numerical control device on the machine tool side.

(d) Means for solving the 0 problem, that is, the present invention solves the problem of work pallet 1-(9) such as M1**.
load command to the machine tool (2), preparation command to the pad changer (3) of the work pallet (9) such as M2**, work pallet storage means (10) of the work pallet (9) such as Mloo, etc. A first memory means (17) for storing a machining program (PRO) in which a work pallet (9) (75ta transfer command, etc.) is stored, such as a return command to
and a second memory means (13) for storing a pallet layout file (PLF) indicating whether the work pallet (9) is currently located or at The machining program (PR
O), if the conveyance command for the work pallet (9) is read out, the second memory means (13
) refers to the pallet layout file (PLF) in (9), and selects and determines the movement pattern based on the transport command from a plurality of movement patterns prepared in advance, based on the arrangement state of the work pallet 1 (9). A pattern calculation and determination means (15) is provided, and an operation command means (11) is further provided for instructing the conveyance operation of the work pallet (9) based on the movement pattern selected and determined by the movement pattern calculation and determination means (15). be done.

Note that the numbers in parentheses are for convenience and indicate corresponding elements in the drawings, and therefore, this description is not limited to the descriptions on the drawings. r tel below
The same applies to the column ``, action''.

(e) 0 effect With the above-described configuration, the present invention provides a machining program (PR
The numerical control device (8) acts to control the conveyance operation of the work pallets (9) based on conveyance commands for various work pallets (9) stored in the Ol.

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

Figure 1 shows work 8 using the numerical control device according to the present invention.
1 is a perspective view showing an example of the machine equipment, FIG. 2 is a control block diagram showing an example of a numerical control device according to the present invention, FIG. 3 is a flowchart showing an example of a pallet management program, and FIG. 4 is a loading operation pattern determination subroutine. FIG. 5 is a flowchart showing an example of a pallet preparation pattern determination subroutine; FIG. 6 is a schematic diagram showing the contents of the pallet layout file memory; FIG. 7 is a schematic diagram showing the contents of the program file memory; Figure 8 shows an example of a machining program, and Figure 9 shows the status of work pallets in the work pallet storage rack, pallet changer, and machine tool, and the corresponding work pallets when a pallet load command is output. Figure 10 shows the presence status of work pallets in the work pallet storage rack and pallet 1-chain layer when the pallet preparation command is output, and the corresponding sir: work pallet transport pattern. The figure shown in FIG. 11 is a diagram showing the presence status of work pallets in the pallet changer and machine tool and the corresponding conveyance pattern of the work pallets when a pallet return command is output.

As shown in Fig. 1, the machine tool equipment 1 has a machine tool 2 such as a machining center, and the machine tool 2 is supplied with a work pallet carrying a workpiece into the machine tool, and further has a machine tool 2 which is a machining center. two loaders 3a, which discharge the workpiece pallet i loaded with the finished workpieces;
From 3a onwards, a double pallet changer 3 is provided. Craft! [No. 2, a rail 5 is laid at the front in the figure, and a work pallet transport port is placed on the rail 5]
6 is provided so as to be freely 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 in the vertical direction, that is, in the directions of arrows A and B. The work pallet 9 can be received and moved between the rack and the rack.

On the other hand, a work pallet storage rack 10 is provided along the rail 5, and the work pallet storage rack 10 has a work pallet storage shelf 10a that can store a work pallet 99 carrying a work. They are arranged in five rows in the vertical direction and six rows in the left and right direction.

By the way, the numerical control device 8 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 thereto, and further connected via a line 20 to a transfer robot control section 21 of a work valet song transfer robot 6.

Since the machine tool interior 1 has the above-described configuration, when the machine tool 2 processes a work on the work pallet 9 stored in the work pallet storage rank 10,
The main control unit 11 reads the processing program PRO to be executed from the program file memory 17. As shown in FIG. 7, the program file memory 17 stores a plurality of machining programs PRO to be executed by the machine tool 2, each assigned a machining program number PNO. reads the machining program PRO with the corresponding machining program number PNO from the program file memory 17h) based on the machining program number PNO instructed from the keyboard::19, etc., and executes the pallet management program shown in FIG. PMP
The machining program PRO is executed based on.

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, Mlol is the number 1 following the M code.
indicates a command to load the work pallet 9 to the machine tool 2, and the following two-digit number indicates the pallet number PTN of the work pallet 9 to be loaded. Therefore, M101
+Yo, work pallet 9 whose pallet number PTN is 01
This is a command to load the machine tool 2 into the machine tool 2.

The pallet management program PMP thus manages the r M
1 * * J command (** is a specific number.

Same below. ) is in the machining program PRO, the pallet transport control unit 15 executes the loading operation pattern determination subroutine SUB 1 to determine the loading operation pattern when transporting the workpiece pallet 9 to the machine tool 2. let them decide.

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. Same below. )
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)
It is determined whether or not there is a work pallet 9 on PCJ (abbreviation for "double bullet changer 3". The same applies hereinafter) 3.

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

As shown in FIG. 6, the palette layout file memory 13 has a palette layout file PLF of f8.
The pallet layout file PLFt indicates where each work pallet 9 currently exists by using the pallet number P T assigned to each work pallet 9.
Shown as N compatible.

In the storage location column of the pallet layout file PLF, "L" means that preparations are being made on a loading station (not shown), and "M" means that the work is being done on a loading station.
2, r RJ is inside the storage rack 10, rPJ is the work pallet on the pallet changer 3!・It means that 9 exists. In addition, "L", r M J, rRJ, r
The number after "P" is an identification number indicating an individual storage location; for example, "R3" indicates that the work pallet 9 is located in the storage shelf 10a with number 3 in the storage rack 10. 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 manner, if there is no work pallet 9 on the pallet changer 3, the operation pattern is determined as "a". That is, the operation pattern raJ is based on the pallet number PT commanded in the work pallet storage rack 10, as shown in FIG.
This is a case where there are N work pallets 9, and there is no work pallet 9 (regardless of the pallet number P T N) in the pallet changer 3 and work i [2]. In this case, the work pallet storage rack 10 and work pallet Since there is no obstacle in loading the work pallet 9 between the machines (or two), 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. 0
The operation pattern is such that one work pallet 9 is sent, and then the pallet changer 3 supplies the work pallet 9 to the machine tool 2. The work pallet transport robot 6 and the carriage 7 are driven to move in the directions of arrows A and B.
Furthermore, since the entire work pallet transfer robot 6 moves along the rail 5 in the directions of arrows C and D, the work pallet 9
The transfer between the work pallet storage rack 10 and the pallet changer 3 should be carried out smoothly.

Next, in step S6, if the work pallet 9 is present on the pallet changer 3, 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 that has been instructed to be loaded.

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 w, 2 will complete the execution of the M1** command. The movement pattern that should be
” is decided. That is, the operation pattern "e" is a case where, as shown in FIG. 9, there is a work pallet 9 on the pallet changer 3 that has been instructed to load, but there is no work pallet 9 in the machine tool 2. The pallet changer 3 immediately supplies the work pallet 9 instructed to be loaded to the machine tool 2.

Further, in step S7, the work pallet 9 on the pallet changer 3 is changed to the work pallet 9 that received the load command.
If not, the operation pattern is determined to be "C". 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 there is another work pallet 9 on the pallet changer 3. Furthermore, this is a case where there is no work pallet 9 in the machine tool 2. Then, since the work pallet 9 on the pallet changer 3 becomes an obstacle when feeding a predetermined work pallet 9 to the machine 81 2, the work pallet 9 on the pallet changer 3 is first transferred to the work pallet 9 by the work pallet transfer robot 6. The pattern is such that the work pallet 9 is returned to a predetermined work pallet storage shelf 10a of the pallet storage rack 10, and then 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, if it is determined in step S5 in FIG. 4 that the work pallet 9 exists in the machine tool 2, the process proceeds to step S8, in which the work pallet 9 in the machine tool 2 receives the loader command. It is determined whether the work pallet is 9 or not. The said work 8! If the work pallet 9 in the machine 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, and an alarm is generated in step S9 to notify the operator, etc. to warn. If the work pallet 1.9 in the machine tool 2 is not the work pallet 9 commanded to be loaded, step SIO is entered, it is determined whether or not the work pallet 9 exists on the pallet changer 3, and the pallet changer 3 If there is no work pallet 9 above, the movement pattern is determined to be ``rb''.

When the operation pattern is "b", as shown in FIG. 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, and transfers the work pallet 9 to the other work pallet 9. The work pallet transfer robot 6 returns the work pallet to a predetermined work pallet storage g10a.

Next, if it is determined in step 310 that there is a work pallet 9 on the pallet changer 3, the process proceeds to step 311, in which it is determined whether the work pallet 9 existing on the pallet changer 3 is the work pallet 9 to be loaded. Determine. As a result, the work pallet 9 existing on the pallet changer 3 is the work pallet 9 to be loaded.
If it is determined that the operation pattern is not rd, the operation pattern is rd.
Let J decide.

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 is 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 on which the load command has been issued is returned.
is transferred from the work pallet storage rack 10 onto the pallet changer 3, and the pallet changer 3 exchanges the supplied work pallet 9 with another work pallet 9 in the machine tool 1ffl 2 to change the predetermined work pallet 9. In addition to supplying the machine tool area 2, the work pallet 9 that had been inside the machine tool 2 is transferred to the work storage rack 10.
Return to.

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 "f" is a workpiece pallet 9 to be loaded onto the pallet changer 3, as shown in FIG.
In this case, the pallet changer 3 is driven to change the work pallet 9 in the machine tool + ft2 and the work pallet 9 to be loaded on the pallet changer 3. Replace the
Another work pallet 9 that had been in the machine tool 2 until then is returned to the work 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 SUB1 while referring to the pallet layout file PLF in the pallet/layout file memory 13, the pallet control unit 11 Management program P
In steps S12 and 513 of MP, 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 attempted robot control unit 21 and mechanism control unit 16 transfer the work pallet 9 transfer operation 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 the cases shown in steps 312 and 313 are cases where the operation pattern is raJ. next,
In step 314, the next block of the machining program PRO is read out, and as shown in FIG. 8, the command 7M202J is stored in this block.

This r M 2 * * j naro command is a command to prepare the work pallet 9 on the valence changer 3 in the machining program PRO. That is, M2O2 is M
The number 2 following the code means a preparation command to the pallet changer 3 for the work pallet 9, and the following two digits are the pallet number PTN of the work pallet 9 to be loaded.
means. Therefore, M2O2 is the pallet number PTN
This is a command to prepare a work pallet 9 with a value of 02 on the pallet changer 3.

In this way, if the command rM2**J is in the machining program PRO, the main control unit 11 executes the pallet preparation pattern determination subroutine 5UB2 for the pallet transport control unit 15 to prepare the work pallet 9. The operation pattern of the preparation operation when conveying to the pallet changer 3 is determined. After reading M2O2 in step 314, the main control unit 11 instructs the mechanism control unit 16 in step 315 to inform the mechanism control unit 16 of the work pallet 9 in the machine tool 2 (in the case of the machining program PRO in FIG. 8, the pallet number). The 8M structure control unit 16 instructs the machining of the work pallet 9) whose PTN is 01, and in response, the 8M structure control unit 16 executes the machining program P.
Following M2O2 of RO, a machining command collection COD consisting of a plurality of machining commands stored is executed to execute a predetermined machining on the workpiece on the workpiece pallet 9 in the machine tool [2.

On the other hand, as shown in FIG.
It is determined whether or not the work pallet 9 whose preparation has been instructed is being prepared by an operator.

If the work pallet 9 is being set up, it is impossible to prepare the work pallet 9 for the pallet changer 3.
Wait until the setup is completed in step S17, and if the setup is completed or if it is determined that the work pallet 9 is not being setup in step S16, the work pallet 9 is transferred to the pallet changer 3 in step S318.
Determine whether it is above. If the work pallet 9 is not on the pallet changer 3, the operation pattern is "6".
” be decided.

As shown in FIG. 10, "operation pattern 1g" means that there is a commanded work pallet 9 in the work pallet storage rack 10, and the work barre is placed on the pan/sotochanger 3!・9 is the case where there is no
The commanded work pallet 9 is conveyed from there onto the pallet changer 3.

Next, in step 318, if it is determined that the work pallet 9 is present on the pallet changer 3, the process proceeds to step 319, and the work pallet 9 on the pallet changer 3 is the instructed work pallet t-9. Determine whether or not. If the work pallet 9 on the pallet changer 3 is the commanded work pallet 9, the target work pallet 9 is already prepared on the pallet changer 3, so do not perform any operation. If the work pallet 9 on the changer 3 is not the instructed work pallet 9, the operation pattern is determined to be "rh".

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 rack 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, first, the work pallet 9 on the pallet changer 3 is moved to the workpiece in the predetermined work pallet storage rack 10 by the work pallet transport robot I-6. The work pallet 9 is returned to the pallet storage @ 10a, and then the work pallet 9 is fed onto the pallet changer 3 by the work pallet transfer robot 6.

In this way, the pallet transport control unit 15 issues the preparation command M2**
After determining the motion pattern corresponding to the motion pattern, the main control section 11 immediately instructs the guided robot control section 21 to perform a preparation motion for the work pallet 9 based on the determined motion 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 includes a valet management program PMP.
In step S20, the work pallet 9 in the machine tool 2
The workpiece mounted on the (machining program P shown in Figure 8)
In the case of RO, it monitors whether machining of the workpiece (work mounted on workpiece pallet 9 with pallet number PTN 01) has been completed, and if it is determined that machining of the workpiece has been completed, step 321 is entered. , machining program PRO
The command M1O2 stored in the next block of the machining command set COD whose pallet number PTN corresponds to 01 is read. As already mentioned, the M1** command is a command to load the work pallet 9 to the machine tool [2, so the main control unit 11 instructs the pallet transport control unit 15 to send subroutine S
Execute UB 1 to determine the operation pattern at that time. In this case, the workpiece to be machined next is prepared on the pallet changer 3 due to the preparation command from M2**, so the operation pattern is ``rf''9.
In step 322, the pallet changer 3 is driven via the mechanism control unit 16, the workpiece pallet 9 with pallet number PTN 02 is loaded into the machine tool 2, and the machining of pallet number PTN 01 is completed. The loaded work pallet 9 is pulled out onto the pallet changer 3.

Next, the main control unit 11 reads the next command program of the machining program PRO in step 323, but this block contains a command to prepare the M2O3 workpiece batch I-9, as shown in FIG. is stored. Therefore, the main control unit 11 instructs the mechanism control unit 16 to perform machining on the newly supplied work pan, Soto 9, in the machining command collection COD stored in the block following the command M2O3 in the machining program PRO. At the same time, in step S25, based on the operation pattern rf, the work pallet 9 with pallet I and number PTN 01 loaded with processed workpieces on the pallet changer 3 is moved to a predetermined work pallet storage shelf. The transfer robot controller 21 is instructed to return the transfer robot to the transfer robot 10a.

In this way, when step S25 is first executed, the main control unit 11 instructs the pallet 1M feed control unit 15 to perform an operation pattern based on the M2O3 preparation command in subroutine 5UB2.
Let it be decided by. In this case, the operation pattern is "rg", and the commanded work pallet 9 (pallet number PTN is 03) is supplied onto the pallet changer 3 in step S26.

In step 327, the main control unit 11 constantly monitors whether machining of the work on the work pallet 9 with pallet number P T N of 02 in the machine tool wtz has been completed, and when the machining of the work is completed, In step S28, the next command M1O3 is further read.

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.
The operation pattern is determined by B1. 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 "f" and step 32
9, the work pallet 9 with pallet number PTN 03 is supplied to the machine tool +ft2, and the M
Workpiece storage shelf 10 of workpiece pallet 9 loaded with processed workpieces according to the processing command set COD following the 1O3 command and processed according to the operation pattern "f" in step 331
A is returned to a. 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 + ftZ and on the pallet changer 3 to the work pallet storage shelf 10a, and there are three types of return operation patterns as shown in Fig. 11. do. That is, the main control section 11
When the M1O0 command is read, it instructs the pallet transport control unit 15 to determine a return operation pattern.

As shown in FIG. 11, when there is a work pallet 9 on the pallet changer 3 and in the machine tool 2, the pallet transport control unit 15 sets the operation pattern to "l" and first moves the work pallet on the pallet changer 3. 9 is returned to the work pallet storage rack 10, and the work pallet 9 in the machine tool 2 is further pulled out onto the pallet changer 3 and returned to the work pallet storage rank 10 by the work pallet transfer robot 6. Also, pallet changer 3
If there is a work pallet 9 on top and there is no work pallet 9 in the machine tool 2, only the work pallet 9 on the pallet changer 3 can be placed in the work pant l-storage rack 1.
The operation pattern r returns to 0. Furthermore, if there is no work pallet 9 on the pallet changer 3 and there is a work pallet 9 in the machine tool 2, the machine tool 2
The operation pattern rk is for returning the work pallet 9 to the work pallet storage rack 10 after pulling out the work pallet 9 in the pallet changer 3 onto the pallet changer 3.

In this way, when the pallet transport control unit 15 determines the return operation pattern based on the M100 command, the main control unit 11 causes the mechanism control unit 16 and the transport robot control unit 21 to return 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 S34 and 335 (in this case, operation pattern "k"), and the execution of the machining program PRO is completed.

(g) 0 Effects of the Invention As explained above, according to the present invention, the work 8 of the work pallet 9 such as M1**! Load command to castle 2, M2
Transport commands for the work pallet 9 are stored, such as a preparation command for the work pallet 9 such as ** to the pallet changer 3, and a command to return the work pallet 9 such as Mloo to a work pallet storage means such as the work storage rack 10. Program file memory 1 that stores one machining program PRO
7, etc., and a second memory means, such as a pallet layout file memory 13, which stores a pallet layout file PLF indicating whether the work pallet (work pallet) 9 is currently located or at When executing the machining program PRO stored in the first memory means, if a work barre: -9 flight command is read, the pallet layout file PLF in the second memory means is read out. With reference to the above, an operation pattern calculation and determination means such as a pallet conveyance control section 15 is provided which selects and determines an operation pattern based on the conveyance command from a plurality of previously prepared operation patterns based on the arrangement state of the work pallet 9. Furthermore, since the structure is further provided with operation command means such as a main control section 11 for commanding the transport operation of the work pallet 9 based on the operation pattern selected and determined by the operation pattern calculation and determination means, the machine tool of the work pallet 1-9 is configured. The processing program PRO performs the loading operation to the pallet changer 2, the preparation operation to the pallet changer 3, and the return operation to the work pallet storage means.
The numerical control device 8 can not only process the workpiece but also manage the transportation of the workpiece pallet 9. Furthermore, there is no need for a transport management control device for managing the transport of the work pallets 9, and therefore there is no need to create a dedicated program for transporting the work pallets 9 that is separate from the processing program PRO.
It is possible to provide a numerical control device for machine tool equipment that is simple and requires no effort in system operation.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an example of machine tool equipment using the numerical control device according to the present invention, FIG. 2 is a control block diagram showing an example of the numerical control device according to the present invention, and FIG. 3 is a diagram of a pallet management program. Flowchart showing an example; 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 a schematic diagram showing the contents of the pallet layout file memory. Figure 7 is a schematic diagram showing the contents of the program file memory, Figure 8 is a diagram showing an example of a machining program, and Figure 9 is a diagram showing the work pallet storage rack, pallet changer, and machine tool when a pallet load command is output. Figure 10 shows the presence status of work pallets in the work pallet storage rack and pallet changer when the pallet preparation command is output, and the corresponding work pallet transport pattern. Figure 11 is a diagram showing the presence status of work pallets in the pallet changer and machine tool and the corresponding work pallet transport pattern when a pallet return command is output. be. 1...Machine tool equipment 2...Machine tool 3...Pallet changer 6...Work pallet transport means (work pallet attempt robot) 8...Numerical control device 9... Work pallet 10... Work pallet storage means (work pallet storage rack) 11... Operation command means (main control unit) 13...
・Second memory means (pallet layout file memory) 15-...Movement pattern calculation determining means (pallet feeding control unit) 17...First memory means (phrogram file memory) PRO...Processing program PLF・ ...Palette I Layout File Applicant
Yamazaki Mazak Co., Ltd. Agent Patent Attorney Phase 1) Nakaji Dai 1N Late SIJM4! #4* ) 10 fu 7 no 1 ru yNsu,! ,1
12 A2 Cheer Figure 2 L J 5UB2 Figure 6 LF Figure 7 Figure 8 PRO Construction

Claims (1)

[Scope of Claims] 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 work pallet storage means for storing work pallets between the work pallet storage means and the pallet changer. In machine tool equipment having a work pallet transport means for transporting a work pallet, the machine tool equipment has a first memory means for storing a machining program in which a work pallet transport command is stored, and the pallet indicates where the work pallet is currently located. The second one that stores the layout file
memory means is provided, and when a work pallet transport command is read when executing a machining program stored in the first memory means, the pallet layout file in the second memory means is read. With reference to the arrangement state of the work pallet, determine the operation pattern based on the transport command,
A motion pattern calculation and determination means is provided for selecting and determining from a plurality of motion patterns prepared in advance, and a motion command means is further provided for instructing a transport operation of the work pallet based on the motion pattern selected and determined by the motion pattern calculation and determination means. Numerical control device for machine tool equipment provided and configured.