WO2022185772A1 - Système de transport d'outils, procédé de commande pour système de transport d'outils et programme de commande pour système de transport d'outils - Google Patents

Système de transport d'outils, procédé de commande pour système de transport d'outils et programme de commande pour système de transport d'outils Download PDF

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Publication number
WO2022185772A1
WO2022185772A1 PCT/JP2022/002214 JP2022002214W WO2022185772A1 WO 2022185772 A1 WO2022185772 A1 WO 2022185772A1 JP 2022002214 W JP2022002214 W JP 2022002214W WO 2022185772 A1 WO2022185772 A1 WO 2022185772A1
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WIPO (PCT)
Prior art keywords
tool
magazine
tools
person
carrier system
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PCT/JP2022/002214
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English (en)
Japanese (ja)
Inventor
詠介 安木
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Dmg森精機株式会社
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Filing date
Publication date
Application filed by Dmg森精機株式会社 filed Critical Dmg森精機株式会社
Publication of WO2022185772A1 publication Critical patent/WO2022185772A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
    • B23Q41/08—Features relating to maintenance of efficient operation

Definitions

  • the present disclosure relates to technology for automatically transporting tools used for machining workpieces.
  • Patent Document 1 International Publication No. 2015/029232 discloses a tool management system for managing tools used in a plurality of machine tools.
  • Patent Document 1 does not relate to such automatic tool transfer technology.
  • a tool transport system includes a machine tool, a tool storage unit for storing a plurality of tools, a work station for people to work, and a transport device such as a robot.
  • the transport device transports the tool worn by the person at the work station to the machine tool or tool storage.
  • the transport device transports unnecessary tools from the machine tool or tool storage to the work station. If a person is working at the work station during this transportation, the work of the person and the transportation of the transportation device overlap.
  • a tool carrier system includes a machine tool, a tool storage unit for storing a plurality of tools, a work station having a magazine configured to be capable of mounting a plurality of tools, the magazine, the A tool storage unit, a transfer device for transferring tools to and from the machine tool, and a control unit for controlling the transfer order of the tools by the transfer device according to a predetermined transfer schedule.
  • the control unit interrupts the transfer of the tool to the magazine when the order of transfer of the tool to the magazine arrives during the progress of the transfer schedule.
  • the suspending process includes stopping the driving of the transport device. In one example of the present disclosure, the suspending process includes skipping the order of transporting tools to the magazine in progress of the transport schedule.
  • the tool carrier system further includes a display. Further, when the person is not working on the magazine and the order of transporting the tool to the magazine arrives during the progress of the transport schedule, the transport device transports the tool to the magazine. A process for displaying a warning indicating that the object is being transported on the display unit is executed.
  • the work station includes a cover for housing the magazine.
  • the cover body is provided with a door provided for the person to attach the tool to the magazine.
  • the tool carrier system further includes a sensor for detecting opening and closing of the door. In the control process, the control unit determines that the person is working on the magazine while the sensor detects that the door is open.
  • the work station includes a cover for housing the magazine and a button for switching control between the tool carrier system and the person.
  • the cover body is provided with a door provided for the person to attach the tool to the magazine.
  • the tool carrier system further includes a sensor for detecting opening and closing of the door. In the control process, while the sensor detects that the door is open and when the person has the control right, the person is allowed to access the magazine. Determine that you are working.
  • control unit further executes a process of locking opening and closing of the door based on the fact that the order of transporting tools to the magazine has arrived during the progress of the transport schedule.
  • control unit further controls the door to open when the tool transport system has the control right when the tool transport order to the magazine arrives during the progress of the transport schedule. Execute processing to lock the opening and closing.
  • the tool transport system includes a machine tool, a tool storage section for storing a plurality of tools, a work station having a magazine configured to accommodate a plurality of tools, the magazine, the tool storage section, a transport device for transporting the tool to and from the machine tool.
  • the control method includes the steps of: controlling the order in which tools are transferred by the transfer device according to a predetermined transfer schedule; and interrupting the transfer of the tools to the magazine when the order of transfer of the tools arrives.
  • the tool transport system includes a machine tool, a tool storage section for storing a plurality of tools, a work station having a magazine configured to accommodate a plurality of tools, the magazine, the tool storage section, a transport device for transporting the tool to and from the machine tool.
  • the control program provides the tool transport system with a step of controlling the transport order of tools by the transport device according to a predetermined transport schedule, and progress of the transport schedule when a person is working on the magazine. and a step of interrupting the transfer of the tools to the magazine when the order of transfer of the tools to the magazine arrives.
  • FIG. 5 is a diagram schematically showing the flow of a process of carrying in a tool holder from a work station to a tool storage section;
  • FIG. 4 is a diagram schematically showing the flow of a process of carrying a tool holder from the tool storage section to the machine tool
  • FIG. 5 is a diagram schematically showing the flow of the process of unloading the tool holder from the machine tool to the work station
  • 1 is a block diagram showing the main hardware configuration of a PLC (Programmable Logic Controller);
  • FIG. It is a schematic diagram which shows an example of the hardware constitutions of an operating terminal.
  • 4 is a flow chart showing the flow of processing for unloading a tool from a tool storage section or a machine tool to a work station;
  • FIG. 10 is a diagram showing the appearance of a work station according to Modification 1; It is a figure which shows the determination result by the determination part according to the combination of the opening-and-closing state of a door, and control authority.
  • FIG. 11 is a diagram showing a functional configuration of a tool carrier system according to modification 2;
  • FIG. 10 is a view showing a locked state of the door according to an instruction to carry the tool to the work station;
  • FIG. 10 is a diagram showing a locked state of a door according to a combination of an instruction to carry a tool to a work station and a control right;
  • FIG. 1 is a diagram showing the appearance of a tool carrier system 10. As shown in FIG.
  • the tool carrier system 10 includes a work station 200, a tool storage section 250, a carrier device 300, and a machine tool 400.
  • the work station 200 is a place for people to work with tools.
  • Work station 200 includes a magazine M1 and an operation terminal 200A.
  • the magazine M1 is configured so that a plurality of tools can be attached.
  • a person attaches a tool to the magazine M1 or retrieves a tool from the magazine M1.
  • 200 A of operation terminals receive various operations with respect to the tool carrier system 10.
  • a plurality of tools can be stored in the tool storage section 250 .
  • tool storage 250 holds each tool via a tool holder.
  • a tool holder is a pot capable of holding a tool.
  • the tool storage section 250 is provided parallel to the rail 331, for example.
  • the transport device 300 moves the designated tools among the tools in the work station 200 , the tool storage section 250 , and the machine tool 400 to the work station 200 , the tool storage section 250 , and the machine tool 400 . Transport to specified destination.
  • the transport mode in which the transport device 300 transports a tool from the work station 200 to the tool storage section 250 or the machine tool 400, or the transport mode in which the transport device 300 transports the tool from the tool storage section 250 to the machine tool 400 is referred to as "carrying in.” Also say.
  • the transport mode in which the transport device 300 transports a tool from the tool storage unit 250 or the machine tool 400 to the work station 200, or the transport mode in which the transport device 300 transports the tool from the machine tool 400 to the tool storage unit 250 is also referred to as "unloading". To tell.
  • the term "conveyor” as used in this specification is a concept that includes various devices that have the function of conveying tools.
  • a 4- to 7-axis-driven articulated robot will be described as an example of the transport device 300, but the transport device 300 is not limited to the articulated robot.
  • the transport device 300 may be a two- or three-axis driven orthogonal robot (autoloader).
  • the transport device 300 may be a self-propelled robot.
  • the transport device 300 includes an arm robot 330, a rail 331, and a carriage 332. Arm robot 330 is fixed on carriage 332 .
  • the carriage 332 is configured to be movable on the rails 331 .
  • the tool storage section 250 and the machine tool 400 are arranged in parallel along the rail 331 so as to sandwich the rail 331 therebetween.
  • the transport device 300 is configured to transport tools between the work station 200 and the tool storage section 250 and to transport tools between the tool storage section 250 and the machine tool 400 .
  • the machine tool 400 processes a workpiece using a tool conveyed by the conveying device 300.
  • Six machine tools 400A to 400F are shown as the machine tools 400 in FIG. 1, but the number of machine tools 400 provided in the tool carrier system 10 may be one or more.
  • the machine tool 400 processes a workpiece using a designated tool according to a pre-designed machining program.
  • Machine tool 400 as used in this specification is a concept that includes various devices equipped with the function of machining a workpiece.
  • Machine tool 400 may be a horizontal machining center or a vertical machining center.
  • machine tool 400 may be a lathe, an additional processing machine, or other cutting or grinding machine.
  • the tool carrier system 10 may further include a pallet carrier system (not shown).
  • the pallet transport system is a system for transporting a pallet on which works are placed to the machine tool 400 according to a predetermined machining schedule.
  • FIG. 2 is a diagram showing a configuration example of the drive mechanism of the tool carrier system.
  • the tool carrier system 10 includes a control section 50, remote I/O (Input/Output) units 71 to 73, a work station 200, a carrier device 300, and a machine tool 400. .
  • remote I/O (Input/Output) units 71 to 73 the tool carrier system 10 includes a control section 50, remote I/O (Input/Output) units 71 to 73, a work station 200, a carrier device 300, and a machine tool 400.
  • control unit 50 used in this specification means a device that controls the tool carrier system 10.
  • the device configuration of the control unit 50 is arbitrary.
  • the control section 50 may be composed of a single control unit, or may be composed of a plurality of control units.
  • the control unit 50 is composed of the management device 100, the PLC 150, and the operation terminal 200A described above.
  • the control unit 50 may include a CNC (Computer Numerical Control) 401 or other control equipment.
  • the management device 100 is a main computer that manages the tool carrier system 10.
  • the management device 100 may be composed of one computer, or may be composed of a plurality of computers.
  • the PLC 150 controls various industrial equipment for automating the machining process.
  • 200 A of operation terminals are terminals for receiving various operations regarding carrying in/out of a tool.
  • the management device 100, the PLC 150, and the operation terminal 200A are connected to the network NW1.
  • the management device 100, the PLC 150, and the operation terminal 200A may be communicatively connected by wire or may be communicatively connected by radio.
  • EtherNet registered trademark
  • Management device 100 and operation terminal 200A send control commands to PLC 150 via network NW1.
  • the control command designates a tool to be transferred, a transfer destination of the tool, start/stop of transfer of the tool, and the like.
  • the remote I/O units 71-73 and the PLC 150 are connected to the network NW2.
  • NW2 it is preferable to employ a field network that performs fixed-cycle communication, in which data arrival time is guaranteed.
  • EtherCAT registered trademark
  • EtherNet/IP registered trademark
  • CC-Link registered trademark
  • CompoNet registered trademark
  • Work station 200 includes one or more motor drivers 234 and one or more motors 235 .
  • motor drivers 234 In the example of FIG. 2, two motor drivers 234A, 234B and two motors 235A, 235B are shown.
  • a remote I/O unit 71 is installed in or around the work station 200 .
  • Remote I/O unit 71 mediates the exchange of data between various drive units (eg, motor driver 234 ) in work station 200 and PLC 150 .
  • the motor driver 234 periodically receives control instructions from the PLC 150 via the remote I/O unit 71 and controls driving of the motor 235 according to the control instructions.
  • the motor 235A controls driving of the magazine M1 (see FIG. 1) in the work station 200, for example.
  • the motor 235B controls driving of an ATC (Automatic Train Control) 238 (see FIG. 8) within the work station 200, which will be described later.
  • ATC Automatic Train Control
  • the motor driver 234 may be, for example, a servo motor driver or a stepping motor driver.
  • Motor 235 may be a servo motor or a stepping motor.
  • the transport device 300 includes one or more motor drivers 334 and one or more motors 335 .
  • motor drivers 334A, 334B and two motors 335A, 335B are shown.
  • a remote I/O unit 72 is installed in or around the transport device 300 .
  • Remote I/O unit 72 mediates the exchange of data between various drive units (for example, motor driver 334 ) in carrier device 300 and PLC 150 .
  • the motor driver 334 periodically receives control instructions from the PLC 150 via the remote I/O unit 72, and controls driving of the motor 335 according to the control instructions.
  • the motor 335A controls the driving of the carriage 332 (see FIG. 1) described above.
  • Motor 335B controls the drive of arm robot 330 (see FIG. 1).
  • Motors 335B are provided according to the number of joints of arm robot 330 .
  • the motor driver 334 may be, for example, a servo motor driver or a stepping motor driver.
  • Motor 335 may be a servo motor or a stepping motor.
  • the machine tool 400 includes a CNC 401, one or more motor drivers 411, and one or more motors 412. In the example of FIG. 2, two motor drivers 411A, 411B and two motors 412A, 412B are shown.
  • a remote I/O unit 72 is installed in or around the machine tool 400 .
  • the remote I/O unit 72 mediates exchange of data between various driving units (for example, CNC 401 ) in the machine tool 400 and the PLC 150 .
  • the motor driver 411 receives a control command from the PLC 150 via the remote I/O unit 72 at regular intervals, similarly to the motor driver 334, and controls driving of the motor 412 according to the control command.
  • the motor 412A drives, for example, a spindle configured to be mountable with a tool in the axial direction of the spindle.
  • the motor 412B for example, rotationally drives the main shaft in a rotational direction about the axial direction of the main shaft.
  • the motor driver 411 may be, for example, a servo motor driver or a stepping motor driver.
  • Motor 412 may be a servo motor or a stepping motor.
  • the carrier device 300 carries the tool attached to the person at the work station 200 into the machine tool 400 or the tool storage section 250 .
  • the transport device 300 carries out unnecessary tools from the machine tool 400 or the tool storage section 250 to the work station 200 .
  • the control unit 50 of the tool transport system 10 interrupts the transport of the tool to the magazine M1 when the tool transport order to the magazine M1 arrives while the person is working on the magazine M1. .
  • control unit 50 controls the order in which tools are conveyed by the conveying device 300 according to a predetermined conveying schedule. Assume that the order of transporting tools to the work station 200 arrives while the transport schedule is in progress. At that time, if a person is working on the magazine M1 in the work station 200, the control unit 50 interrupts the transfer of the tool to the magazine M1.
  • the tool transport system 10 can give priority to human work at the work station 200 over tool transport to the work station 200 by the transport device 300 .
  • the tool carrier system 10 can prevent duplication of work by a person and unloading by the carrier device 300 .
  • FIG. 3 is a diagram showing an example of the functional configuration of the tool carrier system 10. As shown in FIG.
  • the tool carrier system 10 includes a determination section 52, a carrier control section 54, a monitoring section 55, and a display control section 56 as functional configurations. These configurations will be described in order below.
  • each functional configuration is arbitrary. A part or all of the functional configuration shown in FIG. It may be implemented in the operation terminal 200A (see FIG. 2), or may be implemented in the above CNC 401 (see FIG. 2). As an example, the determination unit 52 and the transport control unit 54 are mounted on the PLC 150 . The monitoring unit 55 is mounted on the machine tool 400 . The display control unit 56 is implemented in the operation terminal 200A.
  • FIG. 4 is a perspective view showing the appearance of work station 200. As shown in FIG. 4,
  • the work station 200 has a cover body 231 as shown in FIG.
  • the cover body 231 accommodates, for example, the magazine M1 and the motor 235A (see FIG. 2) described above.
  • the cover body 231 includes a front cover CV0, a side cover CV1, a side cover CV2 and a back cover CV3.
  • the upper surface of the cover body 231 is formed with an opening R0 for passing a tool to be carried in or carried out.
  • An opening R1 is formed in the side cover CV1.
  • a door D1 is provided to cover the opening R1.
  • Door D1 is, for example, a sliding door. By opening and closing the door D1, the state of the door D1 is changed to an open state in which the opening R1 is not covered by the door D1, or to a closed state in which the opening R1 is covered by the door D1.
  • the door D1 may be manually driven or automatically driven by a motor (not shown) or the like.
  • the person opens the door D1 when loading the tool to be carried into the magazine M1. That is, the person can mount the tool to be carried into the magazine M1 through the opening R1. Also, the person opens the door D1 when taking out the tool to be carried out from the magazine M1. That is, the person can collect the tools to be carried out from the magazine M1 through the opening R1.
  • the determination unit 52 determines whether or not a person is working at the work station 200 based on the open/closed state of the door D1.
  • the cover body 231 of the work station 200 is provided with an opening/closing sensor 240 for detecting opening/closing of the door D1.
  • the open/close sensor 240 outputs a signal indicating the open/closed state of the door D1 to the control unit 50 at regular intervals. More specifically, when door D1 is open, open/close sensor 240 outputs a signal indicating an open state to control unit 50 . On the other hand, when door D1 is closed, open/close sensor 240 outputs a signal indicating the closed state to control unit 50 . Accordingly, the determination unit 52 of the control unit 50 periodically acquires the open/closed state of the door D1.
  • the determination unit 52 determines that a person is working on the magazine M1 while the open/close sensor 240 detects that the door D1 is open. On the other hand, the determination unit 52 determines that no person is working on the magazine M1 while the open/close sensor 240 detects that the door D1 is closed.
  • the method for determining whether or not a person is working at work station 200 is not limited to the method using open/close sensor 240 .
  • the determination unit 52 may determine whether or not a person is working at the work station 200 based on the image obtained from the camera. In this case, the camera is arranged so that the work area of work station 200 is included in the field of view.
  • the determination unit 52 detects a person using a trained model.
  • a trained model is generated in advance by a learning process using a learning data set.
  • the learning data set includes a plurality of learning images in which people are shown. The presence or absence of a person is associated as a label with each learning image.
  • the internal parameters of the trained model are optimized in advance by learning processing using such a learning data set. As a result, when receiving an image input, the trained model outputs the probability that a person appears in the image.
  • CNN convolutional neural network
  • FCN full-layer convolutional neural network
  • support vector machine etc.
  • the determination unit 52 sequentially inputs partial images within the rectangular area to the learned model while shifting a predetermined rectangular area on the image obtained from the camera. Upon receiving an input of a partial image, the trained model outputs the probability that a person is shown in the partial image. The determination unit 52 determines that the person is working at the work station 200 based on the fact that the probability exceeds the predetermined value. On the other hand, the determination unit 52 determines that the person is not working at the work station 200 when the probability is equal to or less than the predetermined value.
  • FIG. 5 is a diagram schematically showing how tools are conveyed in the tool conveying system 10. As shown in FIG.
  • the transport control unit 54 controls the order of tool transport by the transport device 300 according to the tool transport schedule 174 .
  • the tool transfer schedule 174 defines, for example, for each tool to be transferred, the scheduled transfer time of the tool, the storage location of the tool, and the transfer destination of the tool.
  • the transfer schedule 174 defines tools scheduled to be carried into the machine tool 400 .
  • the tools to be carried in are specified, for example, based on each machining program of machine tool 400 .
  • Each machining program is defined by G code, and includes a tool change command for designating a tool to be mounted on the spindle, a drive command for rotating/feeding the spindle and tools, and the like.
  • the tool transport system 10 identifies identification information of tools necessary for machining a workpiece before executing each program, and defines the tools required for machining in the transport schedule 174 as tools to be carried.
  • the order in which the tools are carried in is determined, for example, based on the execution order of each machining program.
  • the transfer schedule 174 defines tools scheduled to be transferred to the work station 200 .
  • the tools scheduled to be carried out include, for example, tools that have reached the end of their remaining life and tools that have been detected to have an abnormality such as damage.
  • a tool whose remaining tool life has expired and a tool for which an abnormality such as damage has been detected are identified, for example, based on storage information 176 (see FIG. 6), which will be described later.
  • the transport control unit 54 suspends transport of the tool to the magazine M1 by stopping driving the transport device 300 .
  • the transport control unit 54 stops driving the transport device 300 until the work of the person U at the work station 200 is completed.
  • the transport control unit 54 restarts the driving of the transport device 300 based on the completion of the work of the person U at the work station 200 .
  • the transport control unit 54 can prevent duplication of tool carry-out and human work without changing the order of tool transport.
  • the transport control unit 54 interrupts the transport of the tool to the magazine M1 by skipping the transport order of the tool to the magazine M1 in the progress of the transport schedule 174 .
  • the transport control unit 54 refers to the transport schedule 174 to specify the transport process defined next to the tool transport to the magazine M1. Then, when the work of the person U at the work station 200 is completed, the transport control unit 54 executes the process of transporting the tool to the magazine M1. As a result, the transport control unit 54 can prevent duplication of the carrying out of the tool and the work performed by a worker without waiting time.
  • the transport control unit 54 updates the storage information 176 shown in FIG. 6 based on the completion of tool transport.
  • FIG. 6 is a diagram showing an example of the data structure of the storage information 176. As shown in FIG.
  • the storage information 176 includes the storage location of each tool in the tool carrier system 10, the identification information of the tool holder stored in the storage location, the identification information of the tool held in the tool holder, and the identification information of the tool.
  • the state is associated with the remaining life of the tool.
  • the storage location defined in the storage information 176 is information for uniquely specifying the location within the tool carrier system 10 .
  • the storage location indicates, for example, any one of positional information within work station 200 , positional information within tool storage section 250 , positional information within conveying device 300 , and positional information within machine tool 400 .
  • the tool holder identification information defined in the storage information 176 is information for uniquely identifying the tool holder.
  • the identification information is assigned in advance to each tool holder.
  • the identification information may be indicated by a tool holder number such as ID (Identification), or may be indicated by a tool holder name.
  • the transportation control unit 54 monitors the transportation of each tool holder in the tool transportation system 10, and updates the correspondence between the storage location and the tool holder each time the transportation device 300 transports the tool holder. Thereby, the transfer control unit 54 can identify where each tool holder is located.
  • the tool identification information defined in the storage information 176 is information for uniquely identifying the tool.
  • the identification information is pre-assigned to each tool.
  • the identification information may be indicated by a tool number such as an ID, or may be indicated by a tool name.
  • the transfer control unit 54 monitors the transfer of each tool holder in the tool transfer system 10, and every time a tool holder is transferred by the transfer device 300, the correspondence between the tool held in the tool holder and the storage location is determined. Update attachment.
  • the tool status defined in the storage information 176 indicates, for example, whether or not the tool held by the tool holder can be used, or whether or not the tool holder holds the tool.
  • the tools that are ready for use are indicated as “normal” or "life warning”.
  • "Life warning” is a warning indicating that the life is about to expire.
  • the monitoring unit 55 changes the state of the tool from “normal” to "life warning” in the storage information 176 when the remaining life of the tool falls below a predetermined threshold.
  • the unusable tools are indicated as “expired”, “empty”, or “damaged”.
  • the monitoring unit 55 changes the state of the tool from "life warning” to "life expired” in the storage information 176 based on the fact that the life of the tool has reached zero.
  • the tool status defined in the storage information 176 is changed, for example, depending on the remaining life of the tool.
  • the term "remaining life” as used herein indicates the remaining usable time of the tool until the tool becomes unusable.
  • the monitoring unit 55 monitors the machining program of the machine tool 400 and counts down the remaining life of each tool while it is being used for machining. In addition, the remaining life of a new tool is determined in advance for each tool.
  • the machining program of the machine tool 400 is defined in G code and includes a tool change command for designating a tool to be mounted on the spindle, a drive command for rotating/feeding the spindle and tools, and the like.
  • the monitoring unit 55 identifies the type of tool to be used for machining the workpiece based on the tool change command defined in the machining program.
  • the monitoring unit 55 starts counting down the remaining life of the tool based on the execution of the drive command specified in the machining program.
  • the monitoring unit 55 stops counting down the remaining life of the tool based on the execution of the stop command or the last command specified in the machining program. Thereby, the monitoring unit 55 monitors the remaining life of each tool in the storage information 176 .
  • FIG. 7 is a diagram showing an example of a display mode of the operation terminal 200A.
  • the display control unit 56 is a functional module that controls the display of the operation terminal 200A.
  • the display control unit 56 determines the order in which the tools are transported to the magazine M1 while the transport schedule 174 is in progress. comes, a warning 30 is displayed on the operation terminal 200A (display unit). Warning 30 indicates that transport device 300 is in the process of transporting tools to magazine M1. This allows people in the vicinity of work station 200 to notice that the tool is being transported to work station 200 .
  • FIG. 8 is a diagram schematically showing the flow of the process of loading the tool holder from the work station 200 to the tool storage section 250. As shown in FIG. 8,
  • step S1 the operator mounts the tool to be carried into the tool holder H1, and sets the tool holder H1 in the magazine M1.
  • a bar code or QR code (registered trademark) reader (not shown) is provided near the position where the tool holder H1 is set. Read the QR code. As a result, the identification information of the tool holder H1 to be carried in is read.
  • the operator After completing the setting of the tool holder H1, the operator performs a completion operation on the operation terminal 200A.
  • step S2 the control unit 50 controls the motor 235A (see FIG. 2) to drive the magazine M1 inside the work station 200.
  • the control unit 50 moves the tool holder H1 to be carried in to a predetermined tool exchange position.
  • An ATC 238 is provided in the vicinity of the tool change position. The ATC 238 removes the tool holder H1 at the tool exchange position from the magazine M1 and rotates it halfway.
  • step S ⁇ b>3 the arm robot 330 removes the tool holder H ⁇ b>1 from the ATC 238 and places the tool holder H ⁇ b>1 on the temporary storage area 336 on the carriage 332 . If there are other tool holders to be carried in, steps S1 to S3 are repeated so long as the maximum storage number of the temporary storage area 336 is not exceeded.
  • step S4 the control unit 50 controls the motor 335A to drive the truck 332.
  • the controller 50 moves the carriage 332 to the instructed tool loading position.
  • the tool carry-in position is determined, for example, based on the storage information 176 (see FIG. 6) described above.
  • the control unit 50 refers to the empty storage location defined in the storage information 176 to determine the storage location of the tool holder H1. When there are a plurality of empty storage locations, the control unit 50 may determine one randomly selected storage location from among the plurality of empty storage locations as the storage location, or may select a plurality of empty storage locations. One storage location closer to the transport device 300 selected from the locations may be determined as the storage destination.
  • step S5 the arm robot 330 removes the tool holder H1 to be carried in from the temporary storage area 336, and stores the tool holder H1 in the determined storage destination.
  • the control unit 50 updates the storage information 176 by associating the identification information of the tool holder H1 with the corresponding storage location.
  • control unit 50 repeats steps S4 and S5 until there are no more tool holders on the temporary storage site 336.
  • FIG. 9 is a diagram schematically showing the flow of the process of loading the tool holder from the tool storage section 250 to the machine tool 400. As shown in FIG.
  • control unit 50 receives an instruction to carry a tool holder into the machine tool 400 at a certain timing.
  • the tool to be carried in and the machine tool 400 to be transferred are specified based on the transfer schedule 174, for example.
  • the control unit 50 identifies the storage location of the tool holder H2 from the above storage information 176 (see FIG. 6). Thereafter, the control unit 50 drives the carriage 332 by controlling the motor 335A (see FIG. 2) to move the carriage 332 in front of the storage location of the tool holder H2.
  • step S ⁇ b>11 the arm robot 330 takes out the tool holder H ⁇ b>2 to be transported from the tool storage section 250 and places the tool holder H ⁇ b>2 on the temporary storage area 336 on the carriage 332 .
  • step S12 the controller 50 controls the motor 335A to drive the carriage 332 to the position of the machine tool 400 that is the transfer destination.
  • step S13 the arm robot 330 delivers the tool holder H2 to the ATC 438 provided in the machine tool 400 to which it is transferred.
  • the ATC 438 attaches the tool holder H2 received from the arm robot 330 to the ATC 438 inside the machine tool 400 .
  • the ATC 438 sets the tool holder H2 in the magazine inside the machine tool 400 .
  • the tool holder H ⁇ b>2 is ready for use in the machine tool 400 .
  • FIG. 10 is a diagram schematically showing the flow of the process of unloading the tool holder from the machine tool 400 to the work station 200. As shown in FIG.
  • the control unit 50 receives an instruction to carry out the tool holder at a certain timing.
  • the tools to be carried out are specified based on the transfer schedule 174, for example.
  • the control unit 50 identifies the storage destination of the tool holder H3 based on the above storage information 176 (see FIG. 6).
  • the control unit 50 drives the carriage 332 by controlling the motor 335A (see FIG. 2) to move the carriage 332 in front of the machine tool 400 housing the tool holder H3.
  • the arm robot 330 takes out the tool holder H3 from the machine tool 400 and puts the tool holder H3 on the temporary storage place 336 on the carriage 332 .
  • the control unit 50 deletes the identification information of the tool holder H3 from the storage information 176, and rewrites the storage source of the tool holder H3 to an empty state.
  • step S ⁇ b>21 the control unit 50 drives the carriage 332 by controlling the motor 335 ⁇ /b>A to move the carriage 332 in front of the work station 200 .
  • step S22 the arm robot 330 removes the tool holder H3 to be carried out from the temporary storage area 336, and attaches the tool holder H3 to the above-described ATC 238 (see FIG. 8) provided in the work station 200. After that, the ATC 238 mounts the tool holder H3 in the magazine M1 of the work station 200.
  • FIG. 8 the arm robot 330 removes the tool holder H3 to be carried out from the temporary storage area 336, and attaches the tool holder H3 to the above-described ATC 238 (see FIG. 8) provided in the work station 200.
  • the ATC 238 mounts the tool holder H3 in the magazine M1 of the work station 200.
  • step S23 the control unit 50 drives the magazine M1 by controlling the motor 235A, and moves the tool holder H3 to be carried out to the exit. After that, the worker takes out the tool holder H3 to be carried out from the exit.
  • the example in which the tool holder collected from the machine tool 400 is carried out to the work station 200 has been described, but the tool holder may be carried out to the tool storage section 250.
  • FIG. 11 is a block diagram showing the main hardware configuration of PLC 150. As shown in FIG.
  • the PLC 150 includes a control circuit 151 , a ROM (Read Only Memory) 152 , a RAM (Random Access Memory) 153 , communication interfaces 154 and 155 and a storage device 170 . These components are connected to bus 160 .
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the control circuit 151 is composed of at least one integrated circuit.
  • An integrated circuit is composed of, for example, at least one CPU, at least one MPU (Micro Processing Unit), at least one ASIC, at least one FPGA, or a combination thereof.
  • the control circuit 151 controls the operations of the transport device 300 and the machine tool 400 by executing various programs such as the control program 172 .
  • the control circuit 151 reads the control program 172 from the storage device 170 to the ROM 152 based on the acceptance of the instruction to execute the control program 172 .
  • the RAM 153 functions as a working memory and temporarily stores various data necessary for executing the control program 172 .
  • a LAN, an antenna, and the like are connected to the communication interface 154 .
  • PLC 150 is connected to network NW1 via communication interface 154 . Thereby, the PLC 150 exchanges data with an external device connected to the network NW1.
  • the external device includes, for example, the management device 100 and a server (not shown).
  • the communication interface 155 is an interface for connecting to the network NW2, which is a field network.
  • PLC 150 exchanges data with external devices connected to network NW2 via communication interface 155 .
  • the external device includes, for example, the remote I/O units 71 to 73 described above.
  • the storage device 170 is, for example, a storage medium such as a hard disk or flash memory.
  • the storage device 170 stores a control program 172, a transfer schedule 174, storage information 176, and the like. These storage locations are not limited to the storage device 170, and may be stored in the storage area of the control circuit 151 (for example, cache area), ROM 152, RAM 153, external equipment (for example, server), or the like.
  • the control program 172 is a program for implementing part or all of the functional configuration shown in FIG.
  • the control program 172 may be provided as a part of an arbitrary program, not as a standalone program. In this case, the control processing according to this embodiment is implemented in cooperation with an arbitrary program. Even a program that does not include such a part of modules does not deviate from the gist of control program 172 according to the present embodiment. Furthermore, some or all of the functions provided by control program 172 may be implemented by dedicated hardware.
  • the PLC 150 may be configured in the form of a so-called cloud service in which at least one server executes part of the processing of the control program 172 .
  • FIG. 12 is a schematic diagram showing an example of the hardware configuration of the operation terminal 200A.
  • the operation terminal 200A includes a control circuit 201, a ROM 202, a RAM 203, a communication interface 204, a display interface 205, an input interface 207, and a storage device 220. These components are connected to bus 210 .
  • the control circuit 201 is composed of, for example, at least one integrated circuit.
  • An integrated circuit may be comprised of, for example, at least one CPU, at least one GPU, at least one ASIC, at least one FPGA, or combinations thereof.
  • the control circuit 201 controls the operation of the operation terminal 200A by executing various programs such as the control program 222 and operating system.
  • the control circuit 201 reads the control program 222 from the storage device 220 or the ROM 202 to the RAM 203 based on the reception of the execution command of the control program 222 .
  • the RAM 203 functions as a working memory and temporarily stores various data necessary for executing the control program 222 .
  • a LAN, an antenna, and the like are connected to the communication interface 204 .
  • Operation terminal 200A is connected to network NW1 via communication interface 204 . Thereby, the operation terminal 200A exchanges data with an external device connected to the network NW1.
  • the external device includes, for example, the PLC 150 and a server (not shown).
  • a display 206 is connected to the display interface 205 .
  • Display interface 205 sends an image signal for displaying an image to display 206 in accordance with a command from control circuit 201 or the like.
  • the display 206 is, for example, an operation screen for receiving a tool holder collection instruction, a tool selection screen for specifying the tool holder to be carried in, or a machine tool selection screen for specifying the machine tool 400 to be carried in. display.
  • the display 206 is, for example, a liquid crystal display, organic EL display, or other display device. Note that the display 206 may be configured integrally with the operation terminal 200A, or may be configured separately from the operation terminal 200A.
  • An input device 208 is connected to the input interface 207 .
  • Input device 208 is, for example, a mouse, keyboard, touch panel, or other device capable of receiving user operations. Note that the input device 208 may be configured integrally with the operation terminal 200A, or may be configured separately from the operation terminal 200A.
  • the storage device 220 is, for example, a storage medium such as a hard disk or flash memory.
  • the storage device 220 stores a control program 222 and the like.
  • the storage location of the control program 222 is not limited to the storage device 220, but may be a storage area of the control circuit 201 (for example, cache memory, etc.), ROM 202, RAM 203, management device 100, PLC 150, or an external device (for example, server). may be stored.
  • the control program 222 is a program for implementing part or all of the functional configuration shown in FIG.
  • the control program 222 may be provided as a part of an arbitrary program, not as a standalone program. In this case, the control processing by the control program 222 is implemented in cooperation with any program. Even a program that does not include such a part of modules does not deviate from the gist of control program 222 according to the present embodiment. Furthermore, some or all of the functions provided by control program 222 may be implemented by dedicated hardware.
  • the operation terminal 200A may be configured in a form such as a so-called cloud service in which at least one server executes part of the processing of the control program 222.
  • FIG. 13 is a flow chart showing the process of unloading a tool from the tool storage section 250 or the machine tool 400 to the work station 200. As shown in FIG. 13,
  • the processing shown in FIG. 13 is implemented by the control unit 50 executing the control program. In other aspects, part or all of the processing may be performed by circuit elements or other hardware.
  • step S110 the control unit 50 functions as the transfer control unit 54 (see FIG. 3) described above, and determines whether or not the timing for carrying out the tool to the work station 200 has come while the tool transfer schedule 174 is in progress. to decide.
  • control unit 50 determines that it is time to carry out the tool to work station 200 (YES in step S110)
  • control unit 50 switches control to step S120. Otherwise (NO in step S110), control unit 50 executes the process of step S110 again.
  • step S120 the control section 50 functions as the determination section 52 (see FIG. 3) described above, and determines whether or not a person is working on the magazine M1 in the work station 200.
  • control unit 50 determines that a person is working on magazine M1 in work station 200 (YES in step S120)
  • control returns to step S110.
  • control unit 50 determines that a person is not working on magazine M1 in work station 200 (NO in step S120)
  • control unit 50 switches control to step S132.
  • control unit 50 functions as the transport control unit 54 described above and starts transporting the tool to the work station 200 .
  • step S134 the control unit 50 functions as the above-described display control unit 56 (see FIG. 3) and displays a warning on the display 206 (display unit) of the operation terminal 200A.
  • This warning is a warning indicating that the tool is being transported to the magazine M1.
  • the warning includes the time until delivery of the tool to work station 200 is complete. The time is counted down.
  • the control unit 50 turns off the display of the warning when the transportation of the tool to the work station 200 is completed.
  • FIG. 14 is a diagram showing the appearance of work station 200 according to Modification 1. As shown in FIG.
  • the work station 200 differs from the work station 200 shown in FIG. 4 in that it has a button 242 for switching control rights between the tool carrier system 10 and the person.
  • Button 242 is provided, for example, on cover body 231 .
  • button 242 and door D1 are provided on the same side cover CV1.
  • the button 242 does not necessarily have to be a physical button.
  • the button 242 may be a button displayed on a GUI (Graphical User Interface).
  • a button as a GUI is displayed, for example, on display 206 of operation terminal 200A.
  • the above-described determination unit 52 uses the control right as an index when determining whether a person is working at the work station 200 or not. As an example, when a person performs work at the work station 200, the person presses the button 242 to switch the control authority to the person.
  • FIG. 15 is a diagram showing the determination result by the determination unit 52 according to the combination of the open/closed state of the door and the control right.
  • the determination unit 52 determines whether the magazine M1 in the work station 200 is opened while the open/close sensor 240 detects that the door D1 is open and when the person has the control right. It is determined that the person is working on the In this case, the transport control unit 54 suspends transport of the tool to the magazine M1. As a result, the tool transport system 10 prioritizes the human work over the tool transport work to the work station 200 .
  • the determination unit 52 controls the magazine M1 in the work station 200 to Determine that the person is not working. In this case, the transport control unit 54 does not interrupt transport of the tool to the magazine M1.
  • the determination unit 52 determines whether the person is working on the magazine M1 in the work station 200. Determine not inside. In this case, the transport control unit 54 does not interrupt transport of the tool to the magazine M1.
  • the determination unit 52 controls the magazine M1 in the work station 200. Determine that the person is not working. In this case, the transport control unit 54 does not interrupt transport of the tool to the magazine M1.
  • FIG. 16 is a diagram showing the functional configuration of the tool carrier system 10 according to Modification 2. As shown in FIG.
  • the tool carrier system 10 differs from the tool carrier system 10 shown in FIG. 3 in that it has a door control section 58 as a functional configuration.
  • the door control unit 58 controls the locking mechanism 245 of the door D1 of the work station 200.
  • FIG. Lock mechanism 245 locks door D1 or unlocks door D1 in accordance with a control command from door control unit 58 .
  • FIG. 17 is a diagram showing the locked state of the door D1 in response to an instruction to carry tools to the work station 200.
  • the door control unit 58 locks the opening and closing of the door D1 when the tool transfer schedule 174 is in progress and the tool transfer to the magazine M1 in the work station 200 has arrived. do. After that, the door control unit 58 unlocks the door D1 based on the fact that the tool has been transported to the magazine M1. Thereby, the door control section 58 prevents the door D1 from being opened while the tools are being transported to the magazine M1.
  • the door control unit 58 may further use the control authority as an index when determining whether to lock the door D1. As described above, the person can switch control between the tool carrier system 10 and the person by pressing button 242 (see FIG. 14).
  • FIG. 18 is a diagram showing the locked state of the door D1 according to the combination of the tool transfer instruction to the work station 200 and the control right.
  • the order of tool transfer to the magazine M1 in the work station 200 arrives while the tool transfer schedule 174 is in progress.
  • the door control unit 58 does not lock the opening/closing of the door D1.
  • the transport control unit 54 interrupts the transport of the tool to the magazine M1.
  • the tool conveying system 10 gives priority to the work of the person over the work of conveying the tool to the magazine M1.
  • the door control unit 58 when the tool transfer schedule 174 is in progress and the tool transfer order to the magazine M1 in the work station 200 arrives and the tool transfer system 10 has the control right, the door control unit 58 Lock the opening and closing of D1. At this time, the transfer control unit 54 does not interrupt the transfer of the tool to the magazine M1. As a result, when the tool carrier system 10 has the control right, the tool carrier system 10 gives priority to the carrying operation of the tool to the magazine M1 over the human operation.
  • the door control unit 58 does not lock the opening and closing of the door D1 while the tools are not being transported to the magazine M1. That is, during this time, the operator can freely open and close door D1 regardless of whether control is with the tool carrier system 10 or with a person.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • General Factory Administration (AREA)

Abstract

L'invention concerne une technologie pour empêcher le chevauchement du travail d'une personne au niveau d'un poste de travail et le transport d'un outil vers le poste de travail. Un système de transport d'outil comprend : une machine-outil ; une unité de stockage d'outils pour stocker une pluralité d'outils ; un poste de travail ayant un magasin configuré pour permettre la fixation d'une pluralité d'outils ; un dispositif de transport pour transporter les outils parmi le magasin, l'unité de stockage d'outils et la machine-outil ; et une unité de commande pour commander l'ordre dans lequel les outils sont transportés par le dispositif de transport, conformément à un programme de transport prédéterminé. Lorsqu'une personne travaille sur le magasin, si l'ordre de transport d'un outil vers le magasin arrive pendant que le programme de transport est en cours, l'unité de commande interrompt le transport de l'outil vers le magasin.
PCT/JP2022/002214 2021-03-02 2022-01-21 Système de transport d'outils, procédé de commande pour système de transport d'outils et programme de commande pour système de transport d'outils WO2022185772A1 (fr)

Applications Claiming Priority (2)

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JP2021-032691 2021-03-02
JP2021032691A JP7001854B1 (ja) 2021-03-02 2021-03-02 工具搬送システム、工具搬送システムの制御方法、および工具搬送システムの制御プログラム

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11239940A (ja) * 1997-12-02 1999-09-07 Nippei Toyama Corp マガジン工具交換方法及びマガジン工具交換装置
JP2000061758A (ja) * 1998-08-21 2000-02-29 Toyoda Mach Works Ltd 工具マガジン
JP2020116698A (ja) * 2019-01-25 2020-08-06 Dmg森精機株式会社 パレット搬送システム、パレット搬送方法、および、パレット搬送プログラム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11239940A (ja) * 1997-12-02 1999-09-07 Nippei Toyama Corp マガジン工具交換方法及びマガジン工具交換装置
JP2000061758A (ja) * 1998-08-21 2000-02-29 Toyoda Mach Works Ltd 工具マガジン
JP2020116698A (ja) * 2019-01-25 2020-08-06 Dmg森精機株式会社 パレット搬送システム、パレット搬送方法、および、パレット搬送プログラム

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