CN-121995842-A - Control device, machine tool, control method, and computer program product

CN121995842ACN 121995842 ACN121995842 ACN 121995842ACN-121995842-A

Abstract

A control device, a machine tool, a control method, and a computer program product are capable of suppressing tools from colliding with each other when conveying the tools between a plurality of tool libraries without providing a detection section in a housing section. The control device controls the first tool magazine, the second tool magazine, and the tool transporting device, and when the execution tool is moved from the first tool magazine to the second tool magazine and when the execution tool is moved from the second tool magazine to the first tool magazine in a state in which the empty second housing portion is disposed at the second replacement position, the control device executes the operation of moving the specified first housing portion to the first replacement position in the first tool magazine, transporting the tool from the first replacement position to the second replacement position using the tool transporting device after execution of the first process, moving the second housing portion located at a position other than the second replacement position to the second replacement position in the second tool magazine after execution of the second process, and transporting the tool from the second replacement position to the first replacement position using the tool transporting device after execution of the third process.

Inventors

Kajimoto KOH
Golden farmland

Assignees

兄弟工业株式会社

Dates

Publication Date: 20260508
Application Date: 20251104
Priority Date: 20241105

Claims (9)

1. A control device for controlling a first tool magazine having a plurality of first receiving portions for receiving tools, a second tool magazine having a plurality of second receiving portions for receiving tools, and a tool conveying device capable of conveying tools between a first replacement position for taking out or receiving tools in the first tool magazine and a second replacement position for taking out or receiving tools in the second tool magazine, In a state in which the empty second accommodation portion is disposed at the second replacement position, the control device executes, in a case where a first movement instruction to move a tool from the first tool magazine to the second tool magazine is executed, and in a case where a second movement instruction to move a tool from the second tool magazine to the first tool magazine is executed: a first process of moving the designated first accommodating portion to the first replacement position in the first tool magazine; a second process of performing an operation of conveying a tool from the first replacement position to the second replacement position using the tool conveying device after the first process is performed; a third process of moving the second housing portion located at a position other than the second replacement position to the second replacement position in the second tool magazine after the execution of the second process, and And a fourth process of executing, after execution of the third process, an operation of conveying a tool from the second replacement position to the first replacement position using the tool conveying device.
2. The control device of claim 1, wherein the tool delivery device comprises: A grip portion for gripping the tool, and A moving mechanism configured to move the holding portion between a first holding position corresponding to the first replacement position, a second holding position corresponding to the second replacement position, a position at which the holding portion can hold a tool, and a non-interference position different from the first replacement position and the second replacement position, the position at which the holding portion does not interfere with the first tool magazine and the second tool magazine, In the second process, an operation of moving the holding portion to the first holding position, an operation of holding the tool by the holding portion in the first holding position, an operation of moving the holding portion to the second holding position, an operation of not holding the tool by the holding portion in the second holding position, and an operation of moving the holding portion from the second holding position to the non-interference position are performed, In the fourth process, an operation of moving the grip portion to the second grip position, an operation of gripping the tool by the grip portion in the second grip position, an operation of moving the grip portion to the first grip position, an operation of not gripping the tool by the grip portion in the first grip position, and an operation of moving the grip portion from the first grip position to the non-interference position are performed.
3. The control device according to claim 1 or 2, characterized in that, before executing the first movement instruction or the second movement instruction, Determining whether the first accommodation part moved in the first process after the execution of the first movement instruction or the second movement instruction is empty, When it is determined that the first storage portion that moves in the first process after execution of the first movement instruction or the second movement instruction is empty, it is determined whether tools are stored in all the second storage portions located at positions other than the second replacement position, And performing abnormality processing when it is determined that tools are accommodated in all of the second accommodation portions located at positions other than the second replacement position.
4. The control device according to claim 1 or 2, characterized in that, before executing the first movement instruction or the second movement instruction, Determining whether the first accommodation part moved in the first process after the execution of the first movement instruction or the second movement instruction is empty, When it is determined that the first storage portion that moves in the first process after execution of the first movement instruction or the second movement instruction is empty, it is determined whether tools are stored in all the second storage portions located at positions other than the second replacement position, When it is determined that tools are accommodated in all the second accommodation parts located at positions other than the second replacement position, a process is performed in which, when the first movement instruction or the second movement instruction is executed, a tool is transported from any one of the second accommodation parts accommodating tools to the first accommodation part that is moved in the first process and becomes empty in the second process during execution of the fourth process.
5. The control apparatus according to claim 1 or 2, characterized in that, before the first process is performed, the following process is performed: Designating the first accommodating portion disposed at the first replacement position; Storing first information indicating the designated first accommodation portion; Designating the second accommodating portion arranged at the second replacement position, and Second information indicating the designated second accommodation portion is stored, In the first process, moving the first accommodating portion to the first replacement position based on the first information, In the third process, the second accommodating portion is moved to the second replacement position based on the second information.
6. A machine tool comprising a first tool magazine having a plurality of first receptacles for receiving tools, a second tool magazine having a plurality of second receptacles for receiving tools, a tool transport device capable of transporting tools between a first exchange position for taking off or receiving tools in the first tool magazine and a second exchange position for taking off or receiving tools in the second tool magazine, and a control device for controlling the first tool magazine, the second tool magazine and the tool transport device, In a state in which the empty second accommodation portion is disposed at the second replacement position, the control device executes, in a case where a first movement instruction to move a tool from the first tool magazine to the second tool magazine is executed, and in a case where a second movement instruction to move a tool from the second tool magazine to the first tool magazine is executed: a first process of moving the designated first accommodating portion to the first replacement position in the first tool magazine; a second process of performing an operation of conveying a tool from the first replacement position to the second replacement position using the tool conveying device after the first process is performed; a third process of moving the second housing portion located at a position other than the second replacement position to the second replacement position in the second tool magazine after the execution of the second process, and And a fourth process of executing, after execution of the third process, an operation of conveying a tool from the second replacement position to the first replacement position using the tool conveying device.
7. The machine tool of claim 6 including a limiting cover for limiting the installation and removal of tools relative to the second tool magazine without use of the tool delivery device.
8. A control method for controlling a first tool magazine having a plurality of first receiving portions for receiving tools, a second tool magazine having a plurality of second receiving portions for receiving tools, and a tool conveying device capable of conveying tools between a first replacement position for taking out or receiving tools in the first tool magazine and a second replacement position for taking out or receiving tools in the second tool magazine, In a state in which the empty second accommodation portion is disposed at the second replacement position, in a case where a first movement instruction to move a tool from the first tool library to the second tool library is executed, and in a case where a second movement instruction to move a tool from the second tool library to the first tool library is executed, the control method executes: a first process of moving the designated first accommodating portion to the first replacement position in the first tool magazine; a second process of performing an operation of conveying a tool from the first replacement position to the second replacement position using the tool conveying device after the first process is performed; a third process of moving the second housing portion located at a position other than the second replacement position to the second replacement position in the second tool magazine after the execution of the second process, and And a fourth process of executing, after execution of the third process, an operation of conveying a tool from the second replacement position to the first replacement position using the tool conveying device.
9. A computer program product executable in a control device for controlling a first tool magazine having a plurality of first receptacles for receiving tools, a second tool magazine having a plurality of second receptacles for receiving tools, and a tool transport device capable of transporting tools between a first exchange position for carrying out the removal or the reception of tools in the first tool magazine and a second exchange position for carrying out the removal or the reception of tools in the second tool magazine, In a state in which the empty second accommodation portion is disposed at the second replacement position, the control device executes, in a case where a first movement instruction to move a tool from the first tool magazine to the second tool magazine is executed, and in a case where a second movement instruction to move a tool from the second tool magazine to the first tool magazine is executed: a first process of moving the designated first accommodating portion to the first replacement position in the first tool magazine; a second process of performing an operation of conveying a tool from the first replacement position to the second replacement position using the tool conveying device after the first process is performed; a third process of moving the second housing portion located at a position other than the second replacement position to the second replacement position in the second tool magazine after the execution of the second process, and And a fourth process of executing, after execution of the third process, an operation of conveying a tool from the second replacement position to the first replacement position using the tool conveying device.

Description

Control device, machine tool, control method, and computer program product Technical Field The invention relates to a control device, a machine tool, a control method and a computer program product. Background A machine tool capable of changing tools between a plurality of tool magazines is known. The machine tool has a plurality of tool magazines and a switch provided in each of the tool holders of the plurality of tool magazines for detecting the presence or absence of a tool. The machine tool confirms whether the tool is in the state of each tool holding part according to the detection result of the switch. When the tool is replaced, if the state of the tool in the tool holding portion is abnormal, a warning, an abnormal stop, or the like is performed (see patent document 1). Patent document 1 Japanese patent No. 5503908 Disclosure of Invention If the replacement of the tool is performed in the case where the presence or absence of the tool in the tool holding portion is abnormal, there is a possibility that the tools collide with each other. However, if switches are provided in each of the plurality of tool holding portions in order to detect the presence or absence of the tool, the manufacturing cost increases. The present invention has been made in view of the above-described circumstances, and an object thereof is to provide a control device, a machine tool, a control method, and a computer program product capable of suppressing collision of tools when transporting the tools among a plurality of tool libraries without providing a detection portion for detecting the presence or absence of the tools in a housing portion for housing the tools in each tool library. In order to solve the above-mentioned problems, the present invention provides a control device for controlling a first tool magazine having a plurality of first accommodating portions accommodating tools, a second tool magazine having a plurality of second accommodating portions accommodating tools, and a tool transporting device capable of transporting tools between a first replacement position for taking out or accommodating tools in the first tool magazine and a second replacement position for taking out or accommodating tools in the second tool magazine, in a state in which the empty second accommodating portions are disposed at the second replacement position, in a case of executing a first movement instruction for moving tools from the first tool magazine to the second tool magazine, and in a case of executing a second movement instruction for moving tools from the second tool magazine to the first tool magazine, the control device performs a first process in which the specified first accommodating portion is moved to the first process, a second process in which the second replacement position is moved to the second process, and a second transport device performs a second process in which the replacement position is moved from the second tool magazine to the second process, and in a second transport device performs a second process in a state in which the replacement position is moved from the second tool magazine, and in which the second transport device performs a second process after the replacement operation is performed from the second process. In the present invention, by performing the first to fourth processes in a state where the empty second housing portion is disposed at the second replacement position, the tool conveying device conveys the tool to the empty second housing portion when the tool is moved from the first tool magazine to the second tool magazine, and conveys the tool to the empty first housing portion when the tool is moved from the second tool magazine to the first tool magazine. The control device comprises a holding part and a moving mechanism, wherein the holding part is used for holding a tool, the moving mechanism is used for moving the holding part between a first holding position and a second holding position and a non-interference position, the first holding position corresponds to the first replacement position and is a position where the holding part can hold the tool, the second holding position corresponds to the second replacement position and is a position where the holding part can hold the tool, the non-interference position is a position different from the first replacement position and the second replacement position, the holding part is a position where the holding part does not interfere with the first tool library and the second tool library, in the second treatment, the holding part moves to the first holding position, the holding part moves to the second holding position, the second holding position corresponds to the second replacement position, the holding part moves to the holding part does not interfere with the holding part, and the holding part moves to the second holding position. In the present invention, in the second process, the grip portion performs a gripping operation at the