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EP-4738036-A1 - CONTROL DEVICE, MACHINE TOOL, CONTROL METHOD, AND COMPUTER PROGRAM

EP4738036A1EP 4738036 A1EP4738036 A1EP 4738036A1EP-4738036-A1

Abstract

A control device configured to control: a first magazine; a second magazine; and a tool conveying device. In a state in which a second accommodation portion that is empty is disposed at a second replacement position, in a case where a first moving instruction for causing a tool to move from the first magazine to the second magazine is executed and in a case where a second moving instruction for causing a tool to move from the second magazine to the first magazine is executed, the control device executes: a first process of indexing a specified first accommodation portion to the first replacement position, a second process of performing a tool conveying operation, a third process of indexing the second accommodation portion located at a position other than the second replacement position to the second replacement position, and a fourth process of performing a tool conveying operation.

Inventors

  • TAKIMOTO, HIROKI
  • KANADA, MOTOKI

Assignees

  • Brother Kogyo Kabushiki Kaisha

Dates

Publication Date
20260506
Application Date
20251027

Claims (9)

  1. A control device configured to control: a first magazine including a plurality of first accommodation portions in which a first tool being accommodated; a second magazine including a plurality of second accommodation portions in which a second tool being accommodated; and a tool conveying device configured to convey at least one of the first tool and the second tool between a first replacement position for removing or accommodating the first tool in the first magazine and a second replacement position for removing or accommodating the second tool in the second magazine, wherein in a state in which the second accommodation portion that is empty is disposed at the second replacement position, in a case where a first moving instruction for causing the first tool to move from the first magazine to the second magazine is executed and in a case where a second moving instruction for causing the second tool to move from the second magazine to the first magazine is executed, the control device is configured to: execute a first process of indexing a specified first accommodation portion to the first replacement position in the first magazine; execute a second process of performing a first tool conveying operation from the first replacement position to the second replacement position in the tool conveying device after the first process is executed; execute a third process of indexing the second accommodation portion located at a position other than the second replacement position to the second replacement position in the second magazine after the second process is executed; and execute a fourth process of performing a second tool conveying operation from the second replacement position to the first replacement position in the tool conveying device after the third process is executed.
  2. The control device according to claim 1, wherein the tool conveying device includes: a gripping portion configured to grip at least one of the first tool and the second tool; and a moving mechanism configured to move the gripping portion to: a first gripping position corresponding to the first replacement position and where the gripping portion can grip at least one of the first tool and the second tool; a second gripping position corresponding to the second replacement position and where the gripping portion can grip at least one of the first tool and the second tool; and a non-interference position that is a position different from the first replacement position and the second replacement position and where the gripping portion does not interfere with the first magazine and the second magazine, wherein in the second process, a moving operation of the gripping portion to the first gripping position, a gripping operation of the at least one of the first tool and the second tool by the gripping portion at the first gripping position, a moving operation of the gripping portion to the second gripping position, a non-gripping operation of the at least one of the first tool and the second tool by the gripping portion at the second gripping position, and a moving operation of the gripping portion from the second gripping position to the non-interference position are executed, and wherein in the fourth process, a moving operation of the gripping portion to the second gripping position, a gripping operation of the at least one of the first tool and the second tool by the gripping portion at the second gripping position, a moving operation of the gripping portion to the first gripping position, a non-gripping operation of the at least one of the first tool and the second tool by the gripping portion at the first gripping position, and a moving operation of the gripping portion from the first gripping position to the non-interference position are executed.
  3. The control device according to claim 1 or 2, wherein before the first moving instruction or the second moving instruction is executed, the control device is configured to: determine whether to make the first accommodation portion indexed in the first process empty after the first moving instruction or the second moving instruction is executed, determine whether at least one of the first tool and the second tool are accommodated in all the second accommodation portions located at positions other than the second replacement position in a case where it is determined to make the first accommodation portion indexed in the first process empty after the first moving instruction or the second moving instruction is executed, and execute an abnormality process in a case where it is determined that at least one of the first tool and the second tool are accommodated in all the second accommodation portions located at the positions other than the second replacement position.
  4. The control device according to claim 1 or 2, wherein before the first moving instruction or the second moving instruction is executed, the control device is configured to: determine whether to make the first accommodation portion indexed in the first process empty after the first moving instruction or the second moving instruction is executed; determine whether the first tool and/or the second tool are accommodated in all the second accommodation portions located at positions other than the second replacement position in a case where it is determined to make the first accommodation portion indexed in the first process empty after the first moving instruction or the second moving instruction is executed, and execute, in a case where it is determined that the first tool and/or the second tool are accommodated in all the second accommodation portions located at the positions other than the second replacement position, a process of conveying at least one of the first tool and the second tool from any of the second accommodation portions in which at least one of the first tool and the second tool is accommodated to the first accommodation portion that is indexed in the first process and becomes empty in the second process in the execution of the fourth process when the first moving instruction or the second moving instruction is executed.
  5. The control device according to claim 1 or 2, wherein before the first process is executed, the control device is configured to execute a process of: specifying the first accommodation portion to be disposed to the first replacement position; storing first information indicating the specified first accommodation portion; specifying the second accommodation portion to be disposed to the second replacement position; and storing second information indicating the specified second accommodation portion, and wherein in the first process, the first accommodation portion based on the first information is indexed to the first replacement position, and wherein in the third process, the second accommodation portion based on the second information is indexed to the second replacement position.
  6. A machine tool comprising: a first magazine including a plurality of first accommodation portions in which a first tool being accommodated; a second magazine including a plurality of second accommodation portions in which a second tool being accommodated; a tool conveying device configured to convey at least one of the first tool and the second tool between a first replacement position for removing or accommodating the first tool in the first magazine and a second replacement position for removing or accommodating the second tool in the second magazine; and a control device configured to control the first magazine, the second magazine, and the tool conveying device, wherein the control device is configured to, in a state in which the second accommodation portion that is empty is disposed at the second replacement position, in a case where a first moving instruction for causing the first tool to move from the first magazine to the second magazine is executed and in a case where a second moving instruction for causing the second tool to move from the second magazine to the first magazine is executed, execute a first process of indexing a specified first accommodation portion to the first replacement position in the first magazine, execute a second process of performing a first tool conveying operation from the first replacement position to the second replacement position in the tool conveying device after the first process is executed, execute a third process of indexing the second accommodation portion located at a position other than the second replacement position to the second replacement position in the second magazine after the second process is executed, and execute a fourth process of performing a second tool conveying operation from the second replacement position to the first replacement position in the tool conveying device after the third process is executed.
  7. The machine tool according to claim 6, further comprising a restriction cover configured to restrict attachment and removal of the second tool to and from the second magazine without using the tool conveying device.
  8. A control method for controlling: a first magazine including a plurality of first accommodation portions in which a first tool being accommodated; a second magazine including a plurality of second accommodation portions in which a second tool being accommodated; and a tool conveying device configured to convey at least one of the first tool and the second tool between a first replacement position for removing or accommodating the first tool in the first magazine and a second replacement position for removing or accommodating the second tool in the second magazine, the control method comprising: in a state in which the second accommodation portion that is empty is disposed at the second replacement position, in a case where a first moving instruction for causing the first tool to move from the first magazine to the second magazine is executed and in a case where a second moving instruction for causing the second tool to move from the second magazine to the first magazine is executed, executing a first process of indexing a specified first accommodation portion to the first replacement position in the first magazine; executing a second process of performing a first tool conveying operation from the first replacement position to the second replacement position in the tool conveying device after the first process is executed; executing a third process of indexing the second accommodation portion located at a position other than the second replacement position to the second replacement position in the second magazine after the second process is executed; and executing a fourth process of performing a second tool conveying operation from the second replacement position to the first replacement position in the tool conveying device after the third process is executed.
  9. A computer program executable by a control device, the control device being configured to control: a first magazine including a plurality of first accommodation portions in which a first tool being accommodated; a second magazine including a plurality of second accommodation portions in which a second tool being accommodated; and a tool conveying device configured to convey at least one of the first tool and the second tool between a first replacement position for removing or accommodating the first tool in the first magazine and a second replacement position for removing or accommodating the second tool in the second magazine, wherein the control device is caused to, in a state in which the second accommodation portion that is empty is disposed at the second replacement position, in a case where a first moving instruction for causing the first tool to move from the first magazine to the second magazine is executed and in a case where a second moving instruction for causing the second tool to move from the second magazine to the first magazine is executed, execute a first process of indexing a specified first accommodation portion to the first replacement position in the first magazine, execute a second process of performing a first tool conveying operation from the first replacement position to the second replacement position in the tool conveying device after the first process is executed, execute a third process of indexing the second accommodation portion located at a position other than the second replacement position to the second replacement position in the second magazine after the second process is executed, and execute a fourth process of performing a second tool conveying operation from the second replacement position to the first replacement position in the tool conveying device after the third process is executed.

Description

TECHNICAL FIELD The present technique relates to a control device, a machine tool, a control method, and a computer program. BACKGROUND A machine tool capable of replacing tools among a plurality of tool magazines has been proposed. The machine tool includes a plurality of tool magazines, and a switch that is provided in a tool holding portion of each of the plurality of tool magazines and detects presence or absence of a tool. The machine tool confirms a state of the presence or absence of the tool in each tool holding portion based on a detection result of the switch. In a case where the state of the presence or absence of the tool in the tool holding portion is abnormal at the time of tool replacement, a warning, or abnormal stop is issued (see Patent Literature 1). Citation List Patent Literature Patent Literature 1: JP5503908B SUMMARY Technical Problem In the case where the state of the presence or absence of the tool in the tool holding portion is abnormal, when the tool replacement is performed, tools may collide with each other. However, when the switch is provided in each of the plurality of tool holding portions to detect the state of the presence or absence of the tool, a manufacturing cost is increased. The present disclosure has been made in view of such circumstances, and an object of the present disclosure is to provide a control device, a machine tool, a control method, and a computer program capable of preventing collision between tools in a case where a tool is conveyed between a plurality of tool magazines without providing a detection unit that detects presence or absence of a tool in an accommodation portion that accommodates the tool of each tool magazine. Solution to Problem A control device according to one embodiment of the present disclosure is a control device configured to control: a first magazine including a plurality of first accommodation portions in which a first tool being accommodated; a second magazine including a plurality of second accommodation portions in which a second tool being accommodated; and a tool conveying device configured to convey at least one of the first tool and the second tool between a first replacement position for removing or accommodating the first tool in the first magazine and a second replacement position for removing or accommodating the second tool in the second magazine, in which in a state in which the second accommodation portion that is empty is disposed at the second replacement position, in a case where a first moving instruction for causing the first tool to move from the first magazine to the second magazine is executed and in a case where a second moving instruction for causing the second tool to move from the second magazine to the first magazine is executed, the control device is configured to: execute a first process of indexing a specified first accommodation portion to the first replacement position in the first magazine; execute a second process of performing a first tool conveying operation from the first replacement position to the second replacement position in the tool conveying device after the first process is executed; execute a third process of indexing the second accommodation portion located at a position other than the second replacement position to the second replacement position in the second magazine after the second process is executed; and execute a fourth process of performing a second tool conveying operation from the second replacement position to the first replacement position in the tool conveying device after the third process is executed. In the present disclosure, by executing the first process to the fourth process in a state in which the second accommodation portion that is empty is disposed at the second replacement position, the tool conveying device conveys the tool to the second accommodation portion that is empty in a case where the tool is caused to move from the first magazine to the second magazine, and conveys the tool to the first accommodation portion that is empty in a case where the tool is caused to move from the second magazine to the first magazine. In the control device according to one embodiment of the present disclosure, the tool conveying device includes: a gripping portion configured to grip at least one of the first tool and the second tool, and a moving mechanism configured to move the gripping portion to: a first gripping position corresponding to the first replacement position and where the gripping portion can grip at least one of the first tool and the second tool; a second gripping position corresponding to the second replacement position and where the gripping portion can grip at least one of the first tool and the second tool; and a non-interference position that is a position different from the first replacement position and the second replacement position and where the gripping portion does not interfere with the first magazine and the second magazine, in the second proc