JPS6047056B2 - Machine tool tool life management device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (1) Object of the invention (a) Industrial field of application The present invention has an automatic tool changer, and the automatic tool changer has a first and a second tool storage means. The present invention relates to a tool life management device for a machine tool that is equipped with a device for managing tool life in a machine tool that transports tools.

(b) Conventional technology The essence of a group control system that collectively controls multiple machine tools using an electronic computer is to reduce human factors in a high-mix, low-volume production system and perform rational production management. Therefore, automatic workpiece transport systems are often adopted when group management systems are introduced.

However, on the other hand, in conventional group management systems, general-purpose tools (such as milling cutters, drills, taps, reamers, This includes not only tools) but also special tools (multi-axis drills, multi-blade tools) that can achieve extremely high efficiency cutting operations, although they vary depending on the type of workpiece.
A large number of tools of various types are introduced into the system. In addition, these tools that are used in large quantities and of various types are not only used according to a predetermined schedule, but their use is often extremely irregular.

In other words, due to emergencies such as machining new workpieces or changing schedules due to unavailability of machine tools, the machine tools used and the times in which they are used are always changed from the predetermined schedule. Subject to change. Therefore, in the current management system, the large variety and large number of tools used, which are complex and diverse, are stored in the machine tool's own tool storage magazine as much as possible, and in the event of an emergency, the operator is allowed to replace and replenish the tools as necessary. We are forced to
There was nothing that could automatically perform this replacement and replenishment.

(c) Problems to be Solved by the Invention However, although the tool storage magazine unique to machine tools, which is a conventional automatic tool transport device, greatly improves the storage capacity, it has its own limitations. Since the machine is often idle due to workers replacing and replenishing tools, there is a problem in that it significantly hinders labor saving and improvement of machine operating rate in a high-mix, low-volume production system.

From this point of view, in recent years, it has become an extremely important issue to manage the large number of different types of tools used in group management systems by minimizing human factors and in particular managing the lifespan of the tools. being watched.

(D) Objective The object of the present invention is to supply tools to the spindle from tool storage means on both sides in a machine tool having one tool changer, and to transfer tools from one tool storage means to the other tool storage means. An object of the present invention is to provide a tool life management device for machine tools that is advantageous for automatic tool transport devices that can be supplied.

(2) Structure of the Invention (a) Means for Solving the Problems The present invention provides an automatic tool changer that is arranged on a column and that exchanges tools at a raised position of the tool spindle at a tool change position of the tool spindle; a first tool storage means for storing tools; and a first tool storage means for storing tools from the first tool storage means;
a first tool supply means for supplying the tool to the tool exchange position; a second tool storage means disposed on the opposite side of the first tool storage means with the tool spindle in between; and from the second tool storage means. a second tool supply means for supplying a second tool to a second tool change position of the automatic tool changer; a first tool change position of the tool spindle;
a control device that causes an automatic tool changer to change tools between a tool change position and a second tool change position, and a control device that causes an automatic tool change device to change tools between a tool change position and a second tool change position; a first memory that stores the position of the first tool storage means, a second memory that stores the tool number in the second tool storage means of the machine tool corresponding to the work pallet number, and the position of the second tool storage means. and a third memory for storing the usage times of all used tools stored in the first tool storage means and the second tool storage means corresponding to the work pallet.
a fourth memory that stores information on the life time, accumulated time of use, and life determination of the tools used corresponding to the numbers of all the tools used to process the input workpiece, and A processing circuit that calculates time and compares the used tool with the usage time of all the used tools stored in the third memory in response to the tool request command of the used tool, and also compares the used tool with the usage time of all the used tools stored in the third memory. Next, the tool number stored in the second memory is checked to detect whether the requested tool is in the first or second tool storage means, and the result of calculating the execution time of the tool is stored in the second memory. 3, a tool life management control means configured to rewrite the usage time stored in the memory, and when the tool in use reaches the end of its life according to the tool life management control means, the tool is replaced with a new tool of the same specification. The tool exchange position is called and both tools are exchanged according to a command from the tool life management control means.

(b) Examples Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows an embodiment of the run configuration in the group management system of the present invention. In the figure, numerals 1, 2, and 3 are machine tools equipped with an automatic tool changer (hereinafter referred to as a machining center in one embodiment of the present invention), which cut the workpiece while automatically changing tools as necessary. Work is automatically performed according to a predetermined schedule. The machining center 1 also includes a carry-in conveyor 4a for carrying a work pallet into a machine tool and a carry-out conveyor 4b for carrying a work pallet out of the machine tool, and the machining center 2 further includes a carry-in conveyor 5a and a carry-out conveyor 5b. A carry-in conveyor 6a and a carry-out conveyor 6b are connected to the machining center 3, respectively. Between the carry-in conveyors 4a and 5a and the carry-out conveyors 4b and 5b, direction change is possible for supplying work pallets from the carry-in conveyors to the machining centers 1 and 2, and further discharging work pallets from the machining centers to the carry-out conveyors. pallet loading/unloading device 1a
and 2a are installed respectively. Further, the machining center 3 is constructed as in Japanese Patent Application No. 46-96183, and when the machine table moves between the carry-in conveyor 6a and the carry-out conveyor 6b, the pallet is replaced by the pallet carry-out and input means of the carry-out and input conveyors. Therefore, the pallet loading and unloading devices 1a and 2a are unnecessary. The carry-in conveyors 4a, 5a and 6a are connected to conveyors 10b and 1 for conveying work pallets via a direction changing device 12, respectively.
0c, 10d, and 10e, and the carry-out conveyors 4b, 5b, and 6b are connected to conveyor conveyors 9b, 9c for conveying work pallets via a direction changing device 12, respectively.
, 9d and 9e. Further, the conveyors 9b and 10b are connected to the conveyor 7 via a direction changing device 12, and the conveyors 9e and 1
0e is connected to a transport conveyor 8 via a direction changing device 12, and the machining centers 1, 2, and 3 are surrounded by a group of work pallet transport conveyors in a closed loop. Furthermore, one of the transport conveyors 9a is connected to a pallet storage shelf 16a for storing work pallets, and the other is connected to the transport conveyor 7 via direction changing devices 12 and 12a, respectively. Further, the conveyor 10a has a direction changing device 12 on one side and a conveyor 11 on the other.
The other is connected to the work pallet storage shelf 16b via the direction changing device 12b, and the other is connected to the conveyor 7 via the direction changing device 12. Further, a stacker crane 17 is provided between the pallet storage shelves 16a and 16b, which is movable up and down and left and right along the storage shelves 16a and 16b, and is used to carry pallets into and out of the storage shelves.

As shown in FIG. 1, workpiece exchange positions 16c and 16d are provided at one end of the pallet storage shelves 16a and 16b for exchanging workpieces on the pallets. The pallet replaced with a new workpiece is carried by the stacker crane 17 to the storage shelves 16a and 16b. Also,
At the workpiece exchange positions 16c and 16d, processed workpiece pallets brought from the conveyor to the direction changing devices 12a and 12b are returned by the stacker crane 17, and the pallets are placed on the pallets. The machined workpiece is replaced by an unprocessed or semi-processed workpiece by the operator. Furthermore, pallet storage shelves 16a and 1
The pallets stored in the stacker 6b are brought to the direction changing device 12a or 12b by the stacker crane 17 in response to a request from the machining center.

In addition, the stacker crane 17 and the pallet storage shelf 16
a and 16b are the same as the structure a detailed in Japanese Patent Application No. 47-109110.

In the area adjacent to each of the pallet storage shelf 16b and the conveyor 11, there is a centralized tool storage device 18a for storing a large number of special tools such as multi-axis drills and general-purpose tools recycled by re-grinding or chipping. and 18b (hereinafter referred to as tool storage shelves in one embodiment of the present invention), and a special tool carry-out position 22 (FIG. 4) and a special tool carry-in position 23 are provided at both ends of the tool storage shelves 18a and 18b, respectively. It is provided.

Tool storage shelves 178a and 18 as also shown in FIG.
In the vicinity of b, tools located at the special tool carry-in position 23 are carried into the storage shelf, and tools requested from the machining centers 1, 2, and 3 are carried out from the storage shelf to the special tool carry-out position 22. Tool delivery device 1 for
9a and 19b (referred to as stacker cranes in one embodiment of the present invention) are provided so as to be movable in up, down, left and right directions. Furthermore, the spindle heads of machining centers 1, 2 and 3 (
In the vicinity of Fig. 1, 1b, 2b, and 3b), special tool storage devices 13, 14, and 15 are installed, respectively, for storing tools mainly used for the work currently being processed. The storage device includes special tool standby devices 13a and 14a for temporarily waiting special tools and refurbished general-purpose tools that are used for the next processing work and are brought from the tool storage shelves 18a and 18b. and 15a
are each connected.

In one embodiment of the present invention, the special tool storage device and the special tool standby device are collectively referred to as a used tool storage device.

Thus, the special tool carry-out positions 22 of the tool storage shelves 18a, 18b and the special tool standby devices 13a, 14a, and 15
Supply tool transfer devices 20a, 20b, and 20c are each independently disposed at an elevated position so as to connect between rails 2 and 2, which are provided in a closed loop at the same elevated position.
4a, 24b, and 24c, it can run in a self-propelled manner.

Further, the supply tool transfer devices 20a, 20b and 20
C is in a corresponding relationship with each machining center 1, 2, and 3, and travels on independent rails 24a, 24b, and 24c, respectively, to carry the tool into the special tool standby position of the corresponding machining center. Furthermore, a plurality of supply tool transfer devices are placed on the rail, and each of them can run independently, and can also run in conjunction with each other.

On the other hand, return tool transfer devices 21a, 21b and 21c are installed at elevated positions to connect the special tool storage devices 13, 14 and 15 and the special tool loading positions 23 of the tool storage shelves 18a and 18b, respectively. Rails 25a, 2 are arranged independently and linearly provided at the same elevated position.
It can run self-propelled by being guided by 5b and 25c.

In addition, the return tool transfer devices 21a, 21b and 21c
The structure is exactly the same as the supply tool transfer devices 20a, 20b, and 20c, and furthermore, the special tool storage devices 13, 14, and 1 of the corresponding machining center run on independent rails 25a, 25b, and 25c, respectively.
5, the used tool is returned to the special tool carry-in position 23.

As described above, in the group management system according to one embodiment of the present invention, the main parts of the line configuration are as follows. (1) Machine tool (2) Special tool storage device Used tool storage device (3) Special tool standby device (4) Tool loading/unloading device (5) Special tool identification device (6) Supply (and return) tool transfer device ( 7) Centralized tool storage device and tool delivery device Each of the above items will be explained in detail below.

(1) Machine Tools In one embodiment of the present invention, a plurality of machine tools are comprised of machine tools equipped with automatic tool changers, but the type and type thereof are not limited in any way.

Figure 2 shows a specific example of this.
This is a well-known machining center, as described in detail in 33112 and the like. That is, the spindle head 30 is provided on a guide surface on the side surface of the column 31 so as to be movable in the vertical direction (Y direction), and the bed 35 connected to the column 31 is provided with the spindle head 30 in a horizontal plane. A saddle 34 is mounted that is movable in a direction (X direction) perpendicular to the spindle axis. Further, a carriage 33 is mounted on the saddle 34 and is movable in a direction parallel to the main shaft axis (Z direction) in a horizontal plane. The carriage edge 33
is provided with an index table 32 capable of indexing a plurality of numbers, and a pallet fixing device for carrying Japanese Patent Application No. 48-08233 is mounted on the index table (not shown). Further, on the top of the column 31, there is a spider arm 40 in which tool gripping devices 41 for gripping tools parallel to the spindle axis are arranged at four positions at equal angles in a vertical plane. movable and 4
It is provided so that it can be rotated and indexed into position. One of the tool gripping devices 41 disposed at four positions is always positioned on the movement locus of the spindle axis each time the spider arm 40 is rotated and indexed, and one of the tool gripping devices 41 is positioned on the movement trajectory of the spindle axis based on the movement of the spider arm. The tool can be attached to and detached from the spindle.

On the side of the column opposite to the spindle head 30, a tool storage magazine 37 for storing general-purpose tools such as milling tools and drill tools in a closed loop in a direction perpendicular to the spindle axis is rotatably provided. ing. As shown in FIG. 2, the tool storage magazine 37 is rotated by a magazine drive device 36, so that it can be exchanged with a twin arm 38 (to be described later) at a tool exchange preparation position (in FIG.
The necessary tools are brought to point Cl). Further, at the upper part of the column 31, a guide body 42 is provided between the tool storage magazine 37 and the spider arm 40, and the guide body 42 has a tool carrier for holding and transporting tools. 39 is provided so as to be movable in the left and right direction in FIG. The tool carrier 39
At the right side movement end TC2, the tool is transferred to and from the tool gripping device 41 of the spider arm 40, and at the left side movement end, the tool exchange preparation position TCl of the tool storage magazine 37 is transferred via the twin arm 38. The tool is transferred to and from the tool holder 43 located at . In this case, as described above, the tool storage magazine 37 stores tools in a direction perpendicular to the spindle axis via the tool holder 43, so the tool holding portion of the tool carrier 39 is located near the left moving end. On the way to approach the machine, it automatically turns 90 degrees to the left (towards the tool gripping direction of the tool storage magazine).

Therefore, tools are exchanged between the tool storage magazine 37 and the tool carrier 39 by the movement in and out of the magazine tool gripping direction of the twin arm 38 and the turning movement of 180 mm (and 90 grips).

The machining centers used in this embodiment of the present invention all receive cutting information from a computer and perform cutting operations based on this information.

(2) Special Tool Storage Apparatus FIGS. 3 and 7 to 9 show specific configurations of the special tool storage apparatuses 13, 14, and 15 shown in FIG. 1.

Hereinafter, the special tool referred to in one embodiment of the present invention also includes a general-purpose tool that has been re-milled due to tool life. In FIG. 3, a special tool transfer stand 52 is installed near the spindle head 30 of the machining center 1, and a special tool transfer stand 52 is installed at the end of the special tool transfer stand 52 on the spindle head side to move the spindle head 30. Guide side plates 51a and 51b extending in a direction parallel to the direction are provided, respectively. A sufficient distance is maintained between the guide side plates 51a and 51b so that special tool holders (for example, 55a to 55h) holding special tools are held between them, and the special tool holders (for example, 55a to 55h) holding special tools are held between the guide side plates 51a and 51b. ) are stored one on top of the other in the order in which they are used. The specific structure of this part is shown in FIGS. 7, 8, and 9. In FIG. 7, stoppers 121 are provided on both guide side plates 51a and 51b so as to be able to go in and out, and the stoppers 121 are constantly pressed by springs 122 seated on end covers 123 of the guide side plates. has been done. Therefore, the tip of the stopper 121 always projects inside the guide side plates 51a and 51b, and the tip of the stopper 121 is provided with an inclined surface. Therefore, when the special tool holder (for example, 54a) moves upward, the stopper 121 is automatically retracted at the upper edge of the special tool holder 54a, and after passing, it protrudes again, preventing the special tool holder from falling. prevent. At the lower end of the storage guide path for the special tool holder, which is composed of the guide side plates 51a and 51b, there is a stopper 12 for pushing up the special tool holder as shown in FIGS. 7, 8, and 9.
1 (FIG. 7), a vertical up-and-down table 131 that can be raised and lowered in the vertical direction is provided.
1 is guided by a dovetail or the like to a vertical guide 132 attached to the inner wall surface of the special tool moving table 52 (FIG. 9).

Further, the vertical upper and lower tables 131 are arranged in an inverted L position as shown in FIG.
It has a letter-shaped shape, and has a protruding portion protruding from its upper surface for guiding the dovetail groove of the special tool holder, and an output shaft of a hydraulic cylinder 130 is screwed onto its lower surface. Further, a rear side plate 51c, which is adjacent to the guide side plates 51a and 51b and which forms a U-shape with the guide side plates 51a and 51b, is provided with two vertical guide shafts 124a and 1
24b (FIG. 7) is provided substantially symmetrically and parallel to the special tool holder storage guide path.

On these two vertical guide shafts 124a and 124b, as shown in FIG.
It is provided so as to be movable up and down along lines a and 124b. The lifting drive of the elevator carrier 125 is shown in FIG. That is, the vertical guide shaft 124a or 1
24b (124b in one embodiment of the present invention)
A long groove is cut along the axis, and the groove chain 149 is buried. A sprocket wheel 148, which is coaxially supported with a worm gear 146 on the elevator carrier 125, is meshed with the chain 149. Also,
The worm gear 146 meshes with a worm 147 connected to the output shaft of the hydraulic motor 145, and
45, the sprocket wheel 148 is rotated, so that the elevating carrier 1
25 is guided by vertical guide shafts 124a and 124b and can move up and down.

On the other hand, as shown in FIG. 8, the elevator carrier 125 includes pistons that can engage and disengage from notches 150a...150n (FIG. 9) cut out in the vertical guide shaft 124b. A rod 151b is provided together with the piston 151a, and its tip end is constantly pressed by a spring 153 against the outer diameter of the vertical guide shaft 124b.

The notch cut into the vertical guide shaft 124b has an inclined surface as shown in FIG.
51b is automatically pushed in against the spring 153, and during the downward movement of the elevator carrier 125, pressure oil is introduced into the hydraulic pressure chamber 151c to retract the piston receptacle 151b and engage it with the notch. Release. Said piston 1
A dock 154 is attached to the small diameter portion extending rearward of 51a, and the engagement confirmation limit switch 1 is connected to the dock 154.
55a and the engagement release confirmation limit switch 155b, the engagement and disengagement between the notches 150a...150n and the piston rod 151b is confirmed. moreover,
A fork 510 that can move in and out to the left in FIG. A pinion 505 is coaxially supported on the rear 125 with a worm gear 506.
are meshing.

Further, the worm gear 506 meshes with a worm 507 connected to the output shaft of a hydraulic motor 509 provided at the rear of the carrier 125. Thus, the hydraulic motor 5
When 09 rotates, the worm 507 and the worm gear 50
6. The fork 510 moves in the left-right direction in FIG. 9 via the pinion 505 and rack 503.

In addition, notches 514a and 514b are formed on the upper surface of the fork 510 with different phases, and can be engaged with and disengaged from the brush gears 513a and 513b. Therefore,
When the fork 510 reaches the forward end, the plunger 513
b engages with the notch 514b, and the forward end limit switch 511b is activated. When the fork 510 reaches the retreat end, the engagement between the plunger 513a and the notch 514a activates the retreat end limit switch 511a. In one embodiment of the present invention, different devices such as an elevator carrier 125 and a hydraulic cylinder 130 are provided as lifting devices for the special tool holder.

That is, the hydraulic cylinder 130 is for sequentially storing special tool holders in the special tool storage guide path,
The operation continues until all the special tool holders necessary for machining one workpiece are stored in the special tool accommodation guideway. Furthermore, when the last one of all the special tool holders is lifted by the hydraulic cylinder 130 and the step-up confirmation limit switch 500 shown in FIG. 7 is pressed on the special tool holder, the fork 510 shown in FIG. Each time the special tool holder at the top of the special tool storage guide path is transferred to a tool attachment/detachment device to be described later, the elevator carrier 125 is raised and the special tool holder is stepped up.

(3) Special tool standby device A special tool transfer table 52 is connected to the lower part of the special tool storage and guide path of the special tool storage device 13 shown in FIG.

The special tool transfer table 52 is for transferring a special tool holder (for example, 54a) holding a special tool, and has a dovetail groove 83 of the tool holder in the center of the tool holder transfer surface.
A protruding guide 53 (FIGS. 3 and 7) is provided for transporting the tool holder (FIG. 6). Further, a groove portion for the chain 135 to run is provided approximately at the center of the guide portion 53, as shown in FIG. A shaft-supported sprocket wheel 134 and a sprocket wheel 2 in FIG. 13, which will be described later.
19 are engaged with each other. sprocket wheel 1
34 is rotationally driven by a hydraulic motor 133 fixed to the outer wall of the special tool transfer stand 52. Furthermore, the chain 13
5 is attached with a hook 136 that supports a link roller 137 at several locations. Thus,
The special tool holder moves on the special tool transfer stand 52 with the roller 1.
37 and is transferred while being pushed by the vertical upper and lower tables 13 in FIG.
1 will be imported. On the other hand, in FIG. 3, guide plates 50a and 50b are provided perpendicularly to each other at the right end of the special tool transfer table 52, and a special tool holder (for example, 54a) is provided between them. A sufficient gap is maintained for the tools to be held, and the special tool holder is stored in an overlapping manner in this gap. The specific structure of this part is shown in FIGS. 13, 14a, 14b, 14c, and 15. Guide side plates 50a and 5 in FIG.
Rear side plates 50c shown in FIGS. 13 and 15 are provided adjacent to 0b and 0b, respectively. A vertical guide shaft 141 is provided on the rear side plate 50c in parallel with the special tool holder storage guide path formed by the guide side plates 50a and 50b.
is attached via a shaft fixing base 142. An elevator carrier 144 is provided on the vertical guide shaft 141 so as to be movable in the vertical direction.
A fork portion 143 is provided to protrude toward the special tool holder storage guide path. The fork portion 143 is projected into the storage guide path through a notch provided in the rear side plate 50c, and a special tool holder 5 is mounted on the upper surface of the fork portion.
4a to 54d are loaded. Furthermore, the elevator carrier 144 is provided with a piston rod 151b that can be selectively engaged with and disengaged from the notches 528a to 528n of the vertical guide shaft 141.
1b is constantly pressed against the vertical guide shaft 141 by a spring 153.

The notch cut into the vertical guide shaft 141 has an inclined surface as shown in FIG.
51b is automatically pushed in against the spring 153.
In addition, during the lowering operation of the elevator carrier 144, pressure oil is introduced into the hydraulic pressure chamber 151c and the piston rod 15
1b is moved backward to release the engagement with the notch. A dock 529 is attached to the small diameter portion extending rearward of the piston 151a, and when the dock 529 and the engagement confirmation limit switch 530 and the engagement release confirmation limit switch 531 come into contact with each other, the notches 528a to 528n and the piston rod 1
51b is confirmed.

Incidentally, the lifting drive device of the elevator tension carrier 144 is the same as that of the elevator tension carrier 125 of the special tool storage device 13. As shown in FIGS. 13 and 15, the elevator carrier 144 in this case moves the piston rod 151b to the vertical guide shaft 141 every time a special tool holder is supplied from the supply tool transfer devices 20a, 20b, 20c. is released from the notches 528a to 528n, and is lowered one step at a time by the lifting/lowering drive device.

Therefore, the top part of the special tool storage guideway, which is comprised of guide side plates 50a and 50b, will be described at the feeding device. (4
) Tool attachment/detachment device In one embodiment of the present invention, the spider arm 40 of the machining center described in item (1) above is included in the tool attachment/detachment device.
However, since the spider arm 40 has already been explained, it will be omitted here.

At the top of the tool storage device 13 in FIG.
is provided, but the support stand 532 and the guide plate 51a
The special tool holder (for example, 55b) that has ascended in the storage guide path consisting of both guide side plates is placed in a horizontal plane in a direction perpendicular to the spindle axis and parallel to the spindle axis at the connection point with the top of 51b. A drive device is provided for sequentially moving the spindle in a direction perpendicular to the spindle axis and in a direction perpendicular to the spindle axis.

10 to 12 show the specific configuration of the drive device.

That is, in FIG. 10, the special tool storage device 13 (third
The special tool holder that moves the
a and the guide plate 536a attached to the guide side plate 51a.
and 536d1, and the guide side plate 51b and the guide side plate 51.
By the guide plates 536b and 536c attached to b,
You will be guided. Further, along the special tool storage guide path composed of guide side plates 51a and 51b, the elevator carrier 125 (see FIG. 9) is operated until the rising end limit switch 537 (see FIG. 10) at the top of the guide path is stepped on. The special tool holder 55b lifted up is pressed by a hydraulic cylinder 60 fixed to the guide side plate 51a (Fig. 12), and the moving body 57 (Figs. 10 and 12) adjacent to the top side of the guide side plate 51b is pressed. ) by the dovetail guide 93 of the moving body (from point R to point T). Furthermore, the movable body 57 moves the dovetail guide 56 of the support base 532 in a direction parallel to the spindle axis.
(FIG. 12) and is pressed by a hydraulic cylinder 59 fixed to the back of the fixed base 58 so that it can move (from point T to point Q). In FIG. 10, hydraulic cylinder 5
9, the special tool holder 55b is moved along with the moving body 57 to Q.
When the shifter 98 is moved to this point, it is held between the two fork portions 94a and 94b of the shifter 98 that is waiting. The fork parts 94a and 94b are provided on the front surface of the support base 532 so as to be movable together with the shifter 98 in a direction perpendicular to the axis of entry and exit of the spider arm 40, and the fork parts 94a and 94b are movable in a direction perpendicular to the axis of entry and exit of the spider arm 40, and are used to move the tool of the special tool holder to the tool grip part of the spider arm 40. (
Q point → 0 point).

A shifter 98 having fork portions 94a and 94b is held between the front surface of the support base 532 and the front cover 552, as shown in FIG. A guide portion 551 is inserted into the guide groove 547 of the front cover 552. Also,
A rack 100 cut into the lower surface of the shifter 98 is connected to a gear 99 of a hydraulic motor 95 provided on a front cover 552.
It meshes with. Fork portions 94a and 94b in FIG.
As shown in the figure, the special tool holder is stopped at three positions, 0, P, and Q points. Of these three positions, at point P, the special tool returned from the spindle is once removed from the tool gripping device of the spider arm, and
This is the position necessary for lifting with b and 21c. Thus, the shifter positioning detection device 534 (FIG. 10) is provided directly above the shifter-driving hydraulic motor 95, and detects that the shifter 98 is stopped at three positions.

That is, in FIG. 11, the guide portion 551 of the shifter 98
There are three different cutouts 548, 549 and 5 on the bottom of the
50 is cut out, and the notches 548, 549 and 5
Plungers 540, 541 and 5 that can be engaged with and disengaged from 50
42 are movably provided on the front cover 552. The plungers 540, 541 and 542 are
Since it is constantly pressed by the spring 543, when it engages with the notches 548, 549 and 550 of the shifter 98, the plungers 540, 541 and 542 and the limit switch 5
44, 545, and 546 are released. The limit switch 544 is located at the left end of the shifter (O in FIG. 10).
Point) It is a confirmation limit switch. The limit switch 545 is a limit switch for confirming the shifter intermediate position (point P in FIG. 10). The limit switch 546 is
This is a limit switch for confirming the right end of the shifter (point Q in Figure 10). Further, these limit switches issue a position confirmation signal when they release from contact with the plunger. In FIG. 10, at the zero stop position of the special tool gripped by the spider arm 40, the rotary clamping device 62 is placed at the rear of the special tool holder, and the rotary clamp device 62 is attached to the abutment 5 via the fixed base 64.
32 (Fig. 3).

FIG. 16 shows the specific structure of the special tool holder 55a and the rotary clamp device 62 in this case.
That is, the special tool holder 55a has a tapered hole for inserting the tool, and an insertion hole 115 provided at the back of the tapered hole has a sliding portion 117, and a pull stud for the special tool STl is provided inside. A holder 116 having a hole for inserting the holder 120 is provided so as to be rotationally restrained and slidable. Further, one ends of a pair of locking pieces 118 are provided on the sliding portion 117 of the holder 116 so as to be pivotable by a pivot pin 119 so as to face each other. Locking piece 11
The other end of the tool holder 55a is loosely held between the sliding portions 121a of the holder 121 fixed to both sides of the special tool holder 55a.
Further, a stop pin 122 fixed to the other end of the sliding portion 1
It is movably fitted into a notched groove 123 extending inside 21a. Further, a lock screw 83 is screwed into a bracket 114 attached to the rear part of the special tool holder 55a, and a tip end 115 of the lock screw 83 is axially restrained with respect to the holder 116 and is rotatable. connected. Thus, when the holder 116 is slid in the vertical direction as shown in the figure by the lock screw 83, the locking piece 118 is pivoted about the pivot pin 119, and the tip end is attached to the pull stud 120 of the special tool STl. The protrusion is engaged with the protrusion, or the engagement with the protrusion is released.
On the other hand, the output shaft 113 of the rotary clamp device 62 is movable in the axial direction and rotatable, and the engagement portion 1 is connected to the tip of the output shaft 113 via a spline.
11 are provided. The engaging portion 111 is connected to the output shaft 113
A stopper at the tip of the lock screw 83 is constantly pressed by a spring 112, and an engagement hole is provided so that it can engage with the square screw head 225 of the lock screw 83. In one embodiment of the present invention, the spider arm 40 is used to transfer tools to and from the main spindle, but for example, an attachment/detachment device may be provided in addition to the spider arm 40 in order to attach/detach a tool brought in from outside the machine to/from the spindle. is also possible.

Therefore, it goes without saying that the gist of the present invention is not limited to the embodiments, but includes all modifications that do not depart from the gist. (5) Special Tool Identification Device FIG. 6 shows a special tool identification code plate 81 attached to the side surface of a special tool holder (for example, 55a).

A plurality of dogs are attached to the identification code 81 to display identification codes of special tools (hereinafter referred to as tool numbers in one embodiment of the present invention) using binary codes. Further, the identification code plate 81 can be replaced as desired depending on the number of the special tools STl to STn inserted into the special tool holder 55a. Furthermore, the identification device for identifying the tool numbers displayed in these dog rows may be, for example, a special tool identification device 156, which is attached to the guide side plate 50a and consists of a group of limit switches, as shown in FIG. However, the identification device in one embodiment of the present invention is merely an example, and the gist of the present invention is not limited thereby. That is, the identification device. will naturally differ depending on the type of identification code (in one embodiment of the present invention, a row of dogs) of the special tool. Combination with or Jitsugan 1974
Perforated card and photosensitive element described in No. 99301. Various modifications are possible, such as a combination with a magnetic material dog and a magnetically sensitive element. (6) Supply (return) tool transfer device As mentioned above, tool storage shelves 18a and 18b (Fig. 1)
In order to transfer special tools or reground retreaded general-purpose tools between the machine and the machining center, the supply tool transfer devices 20a, 20b and 20c and the return tool transfer devices 21a, 21b and 21c are located at elevated positions, respectively. Although the tool transfer device is movable, the specific structure of the tool transfer device is shown in FIGS. 17, 18a, and 18b.

In FIG. 17, eight movable rollers 161a are brought into rolling contact with both side surfaces of the rail (for example, 24a), and the rollers 161a are also attached to the body body facing both end surfaces of the rail 24a. 165a and auxiliary body 16
5b via a shaft 161b so as to be rotatable.
The main body 165a and the auxiliary body 165b are connected at their upper portions by a housing 166. The housing 166 is rotatably provided with rollers 162 that roll and come into contact with the upper surface of the rail 24a at four locations, one pair of which is shown in FIG. 17. That is, the pair of rollers 162 are fixed to a shaft 169 rotatably supported on a housing 166 with a sprocket wheel 163 in between, and one end of the shaft 169 is connected to a reduction gear 167 provided on one side of the housing 166. is connected to the output shaft of the The reduction gear 167 includes an electric motor 168
is attached, and the rotation of the electric motor 168 is reduced to an appropriate speed through a general speed reduction mechanism (eg, a worm mechanism) and transmitted to the output shaft. In this way, the sprocket wheel 163 is rotated at an appropriate rotation speed, but since the sprocket wheel 163 is engaged with the chain 164 embedded in the upper part of the rail 24a, as the sprocket wheel 163 rotates, the body main body 1
65a, the auxiliary body 165b, and the housing 166 move together on the rail. Rails 24a, 2 in Fig. 1
4b and 24c, the tool standby device 13a,
14a and 15a, branch point confirmation devices 350 are provided as shown in FIG.
0a is transferred and when the protrusion 161c of the shaft 161b comes into contact with the branch point confirmation device 350, the rotation of the electric motor 168 is decelerated and stopped. Furthermore, in FIG. 17, a notch 172a is provided at the lower end of the main body 165a,
Guide grooves 172b are provided on both inner walls of the notch 172a, facing each other.

One end of a telescoping device using a link mechanism is attached to a portion of the inner wall surface of the notch 172a. Further, a hook 181 for lifting a special tool holder is attached to the other end of the telescoping device. As shown in FIG. 18a, the telescoping device includes a cross link 186a and a cross link 186a which are pivotally connected by a pivot pin (for example 188) and are pivotably intersected with each other.
Among 86b, 186c and 186d, 186e and 186f, and 186g and 186h, one end of link 186a is connected to one end of link 186d, one end of link 186b is connected to one end of link 186c, and the other end of link 186c is connected to link 18.
Connect the other end of the link 186d to one end of the link 186e.
One end has a telescopic link mechanism in which the other end of the link 186f is pivotally connected to one end of the link 186g, and the other end of the link 186e is pivotally connected to one end of the link 186h, and the telescopic link mechanisms are prepared in parallel. Upper connecting shafts 170a, 1
70b and lower connecting shafts 171a, 171b. Further, guide rollers 169 rotatably provided at both ends of the connecting shaft 170a of the link 186a are guided in the left-right direction along the guide groove 172b of the body 165a, and the connecting shaft 170b of the link 186b is connected to the notch 172a of the body 165a. is fixed to the inner wall of the

Further, guide rollers 169 rotatably provided at both ends of the connecting shaft 171a of the link 186h are guided in the left-right direction along the guide groove 172d of the hook 181,
The connecting shaft 171b of 86g is connected to the notch 172 of the hook 181.
It is fixed to the inner wall of a. As described above, among the telescopic link mechanisms prepared in parallel, the pivot pins of the cross link 186g and the link 186h are connected to each other as the hook shaft 185. The hook shaft 185 faces a notch 191 of a lock pin 189 slidably provided on the hook 181, and can be engaged as described later. The lock pin 189 is a T-shaped portion 19 inserted into a T-shaped groove 80 (FIGS. 6 and 18b) of a special tool holder (for example, 54d).
It is provided at the center of the T-shaped portion of the hook 181 having a hook 181 having one end protruding a little from the T-shaped portion 193, and the other end provided with the notch 191. In addition, the lock pin 189
is guided by a guide bush 192, and is also guided by a disc spring 1
90 through the jaw 189a (
Figure 18a).

Furthermore, the rack 5 cut into the lock pin 189
55 is a latch plate 5 which can be engaged with the lock release device 518 provided at the top of the special tool standby device shown in FIG.
25a (FIG. 14a). Therefore, when the hook 181 shown in FIG. 18a is inserted into the T-shaped groove 80 of the special tool holder, the lock pin 189 is pressed by the disc spring 190 as shown in FIG. 18b and is inserted into the T-shaped groove 80 of the special tool holder. The hook 1 is in contact with the bottom part 80a and
The T-shaped part 193 of 81 is pressed against the upper jaw part 80b of the T-shaped groove 80, and the hook 181 and the special tool holder are clamped. This prevents the special tool holder from falling during transportation. Furthermore, in FIG. 18a, a connecting portion 184 attached to the output shaft of an electric linear motion device 183 fixed to the body 165a via a fixing plate 187 is rotatable in the center of the upper connecting shaft 170a. Possibly installed.

Therefore, when the output shaft of the electric linear motion device 183 is moved to the left in FIG.
The guide rollers 169 in Figure 8a are in the guide grooves 172b and 172d.
Since you will be guided by the link 186a and link 1, you will go straight.
The angle θ made with 86b becomes smaller and the pitch of the pivot pins of each link becomes larger. Thus, hook 181 is moved downward in FIG. 18a. When the output shaft of the electric linear motion device is moved to the right, the hook 181 is moved upward in FIG. 18a. At this time, the three vertical guide shafts 180a, 180b and 180c fixed to the hook 181 are connected to the body 165.
Since the hook 181 is provided so that it can be moved up and down,
can perform stable vertical movements. Further, as described above, the lock pin 189 has a notch 191 at the top.
is provided, so when the output shaft of the electric linear motion device moves to the left and the hook shaft 185 of the link mechanism rises with respect to the hook 181, the hook shaft 185 comes into contact with the notch 191 and springs. 190 and pull the lock pin 189 upward. Therefore, at this time, the T-shaped portion 19 in FIG. 18b
3 and the T-shaped groove 180 are released. Special tool unloading position 22 and special tool standby devices 13a, 14 in Fig. 1
Since the tool entrances a and 15a are structurally different in height, the tool entrance of the special tool standby device is equipped with a lock release device 5 as shown in FIGS. 13 and 14a.
18 is attached.

That is, in the supply tool transfer devices 20a, 20b, and 20c, at the special tool unloading position 22, the electric linear motion device 183 shown in FIG. 18a extends the hook 181 to the maximum extent to grasp or release the special tool holder. However, the special tool holder must be released with the hook 181 shown in FIG. 18a partially extended at the tool loading inlets of the special tool standby devices 13a, 14a, and 15a. Therefore, the lock pin 189 cannot be lifted by the hook shaft 185 of the link mechanism at the tool loading port in the special tool standby position. The specific structure of the unlocking device 518 is shown in FIG. 14a.

At the shaft end of the pinion 556 that meshes with the lock pin 189 (FIG. 18a) of the hook 181, there are screws shown in FIGS.
A clutch plate 525a having a pawl 525b indicated by a two-dot chain line in Fig. 14c is fixed, and the special tool holder is lowered from above by the feeding tool transfer devices 20a, 20b, and 20c (Fig. 14b), and the special tool holder is placed on standby. When the device is brought to the entrance, a pawl 523b, indicated by a solid line in FIGS. 14b and 14c, is located at a position facing the clutch plate 525a.
A clutch plate 523a having a clutch plate 523a is provided. The clutch plate 523a has a pinion 5 that meshes with the rack 524.
It is fixed to the shaft end of 57. In addition, the clutch plate 523
The clutch plate 52 is adjacent to the clutch plate 52 as shown in FIG. 14c.
Clutch plate 525a rotated clockwise at 3a
A guide groove 52 for guiding the claw 525b when the hook 181 is extracted from the T-shaped groove 80 of the special tool holder.
7 is provided. The hook 181 is thus pulled out of the T-shaped groove 80 of the special tool holder in the unlocked state.

On the other hand, the return tool transfer devices 21a, 21b and 21c (
The structure of FIG. 1) is the supply tool transfer device 20a, 20b.
and 20c (FIG. 1).

Furthermore, as will be described in detail later, the return tool transfer device also performs a temporary standby operation of the special tool holder that occurs when a special tool is attached to and removed from the spindle, and in this respect it is different from the supply tool transfer device. They have different movement patterns.

(7) Centralized tool storage device and tool delivery device The centralized tool storage device is for storing special tools and general-purpose tools regenerated by resharpening. 18b corresponds to this.

FIG. 4 shows the specific structure of the tool storage shelves 18a and 18b. Tool storage shelf 18a and tool storage shelf 18b
Since they are structurally exactly the same, only the tool storage shelf 18b will be described below. In the tool storage shelf 18b, shelves for storing special tool holders (for example, 54) are provided in four stages and five rows in the figure.
The storage shelf is mounted on a base 73.

Further, a tool transfer device is provided near the tool storage shelf 18b to transfer tools between the tool storage shelf and the special tool transfer device. That is, a lower rail 72b is provided extending along the base 73 along the tool storage shelf 18b. Further, an upper rail 72a extending parallel to the lower rail 72b is supported by a support stand 77 fixed to the upper part of the tool storage shelf 18b and another support stand (not shown) on the base. Upper rail 72a and lower rail 7
2b, the stacker crane 19b is guided by a truck 71b guided by a lower rail, an upper guide body 71a guided by an upper rail, and an upper guide body 71a and a truck 7.
1b, a pair of vertical guides 74 vertically erected between the vertical guides 74, a carriage edge 75 that moves up and down in the vertical direction guided by the vertical guides 74, and a pair of vertical guides 74 placed vertically on the carriage edge 75, and a pair of vertical guides 74 standing vertically between the・Fork 7 that can be moved in and out
It consists of 6. The stacker crane 19b is the stacker crane 17 for carrying in and out pallets.
It is structurally similar to the
7-109110. Although the centralized tool storage devices 18a and 18b according to the present invention have a shelf type, the gist of the present invention is not limited to the centralized tool storage devices 18a and 18b.

That is, a known tool storage magazine used in a machine tool with an automatic tool changer may be used. Further, the tool changing device is not limited to the one embodiment of the present invention, but includes all devices as long as they have a tool changing function. (c) Function The function of the embodiment of the present invention constructed as described above will be explained.

FIG. 19 shows a block diagram of a model of a group management system that is collectively controlled by a computer.

In the figure, a magnetic drum 205 is connected to a computer 200 as an auxiliary storage means, and all information for workpiece machining (workpiece number, cutting conditions, used tool numbers, etc.) are recorded on the magnetic drum 205 according to a predetermined schedule.

The electronic computer 200 also includes an interface 206.
The machining center control circuit 207-1, 20
7-2, 207-3..., 207-N, pallet Stacker crane control circuit 211, pallet conveyor control circuit 212, tool/stacker crane control circuit 213, tool conveyor control circuit 214, special tool supply Output means such as the control circuit 208 and tool change control circuit 700 are connected to each other, and input means such as the pallet number reading devices 203a, 203b and 203c, the pallet positioning and clamping device 204, and the special tool number reading device 156 are connected. is also connected.

Thus, the electronic computer 200 determines when to transmit the information recorded on the magnetic drum 205 to the output means based on various execution programs input from input setting means such as the typewriter 201 or tape reader 202. Also, the output hand. Feedback signal returned from the stage or the pallet number reading device 203a, 20
3b and 203c, pallet positioning clamp device 20
4 and the input signals from the special tool number reading device 156, processing such as how to modify the contents of the magnetic drum 205 can be performed.

The main execution programs in one embodiment of the present invention can be broadly classified as follows.

1. Workpiece supply program 2. Special tool and refurbished general-purpose tool supply program 3. Tool exchange program Below, the execution programs described in each of the above items will be explained in detail.

1. Work Supply Program The main files prepared in the magnetic drum 205 in FIG. 19 to execute the work supply program are as follows.

JCA) Machine Buffer File (MTBUF') Figure 20 This file records the number of work pallets that must be consumed by machine tools input to the group management system according to a predetermined schedule.
This is input using the typewriter 201 or tape reader 202 shown in the figure.

Furthermore, this file is provided according to the machine tool number submitted to the group management system. Therefore, this file contains the machine number record address a of the machine tool, the number record address b of the work pallet currently being machined by the machine tool, the number record address C1 of the work pallet to be machined next with the machine tool, and Number recording addresses d to j are provided for work pallets that are to be processed by the machine tool based on a predetermined schedule and that are stored in the pallet storage shelves 16a and 16b in FIG. 1, respectively. . (B) Conveyor file (CVF) Figure 21 This file is used for pallet storage shelves 16a and 1 in Figure 1.
6b, the pallet is loaded onto the pallet transport conveyor 7 by the stacker crane 17, or is discharged from the pallet conveyor 4b, 5b.
and 6b to pallet conveyors 9b, 9c and 9d.
This is to record the number of the work pallet being carried into the area.

Therefore, the work pallet is transferred to the pallet conveyor 10b.
, 10c and 10d to the carry-in conveyors 4a and 5 of FIG.
When the work pallet is branched to a and 6a, the number of the work pallet is deleted from this file. Records of this file
The erasure is automatically processed by the computer 200 based on the carry-out completion signal of the pallet stacker crane control circuit 211 and the carry-in completion signal or branch completion signal of the pallet conveyor control circuit 212 in FIG.

(C) Pallet file (PLF) Fig. 23 This file is for recording the number of the machine tool on which the work pallet is to be processed in accordance with the process order, and is used on the typewriter 201 or tape reader 2 in Fig. 19.
This is input in 02.

Therefore, this file is provided with the number recording address A of the work pallet and the number recording addresses B, c, .

The electronic computer 200 in FIG. 19 includes machining center control circuits 207-1, 207-2, 207-3...,
In response to the machining completion signal from 207-n, a machining completion symbol is attached to the corresponding machine tool number in the file.

By doing so, it is convenient for the electronic computer 200 to check the machining status of the workpiece and to process files. (D) Tool file (TOOLF) Fig. 24 This file is for recording the tools required for machining the work pallet in the order of use.

Therefore, this file contains the number recording address A of the work pallet and the number T of the tool used according to the process content of the work.
l,...,Tn and the required machining time TMl,...,T of the tool
A recording address such as Mn is provided for each.

Now, when a processing completion signal is given to the computer 200 from the machining center control circuit 207-1 in FIG. Processing begins.

That is, according to block 571 in FIG. 32, the pallet conveyor control circuit 2 is
A pallet exchange command signal is sent to PX.12, and the pallet loading/unloading device 1a in FIG.
．． -1) to the machining center 1, and the processed pallet (for example, Pxn) to the carry-out conveyor 4b. When the work pallet Pxn-1 on the work table of the machining center 1 is thus positioned and clamped, a completion signal is transmitted from the pallet positioning and clamping device 204 to the computer 200 as shown in FIG. The electronic computer 200 is a machining center control circuit 20
Transmit cutting information to 7-1, work pallet POn-,
Cutting work begins. The computer 200 also transfers the machine buffer file (second
(Fig. 0) is read out to the arithmetic unit of the electronic computer, and the processing listed below is performed. (a) According to block 572 in FIG. 32, first, the pallet number Pxn recorded at the current processing pallet number recording address b is deleted, and the pallet numbers P, . Move n-1 to the recording address b.

(b) Also, according to block 573 in FIG. 32, the pallet number POn-1 transferred to the current machining pallet number recording address b is checked to determine whether there is a work pallet of the same type.

That is, it is assumed that the number of workpieces to be input into the group management system according to the embodiment of the present invention is a maximum of 2 pieces per rod, and that there are many types of workpieces, and the pallet number is assumed to be three digits. Therefore, the first two digits of the pallet number (for example, P, Py, etc.) indicate the type of workpiece, and the last one (for example, N, n-1, etc.) indicates the type of workpiece.
. . . 0, etc.) are sequential numbers for the same type of work.

In this way, if the workpieces are programmed in advance to be machined by the machine tool in order from the one with the largest last digit number, for example, N, n-1...0, then the current machining pallet number record address b is programmed. Transferred pallet number Pxn
The last digit of -1 is examined, and if it is zero, it can be determined that there is no subsequent identical part, and if it is not zero, it can be determined that there is a subsequent identical part.

(c) If not zero (block 574 in Figure 32),
According to block 575 in FIG. 32, the first two digits of the pallet number Pxn-1 are the same (that is, Px), and the last one is P.
Is the pallet number Pxn- one younger than xn-1? Search.

As a result of the search (block 576 in FIG. 32), the corresponding pallet number Pxn-2 found is transferred to the next processing pallet number recording address c in FIG.
According to blocks 577, 582 of the figure, the number Pxn-
2 and a call command are transmitted to the pallet stack car crane control circuit 211 shown in FIG. On the other hand, as a result of the search (block 576 in FIG. 32), if no pallet is found, the corresponding pallet is still on the pallet storage shelf 16a in FIG.
16b, the operator is requested to store the pallet (block 580 in FIG. 32).

(d) If it is zero (block 574 in Figure 32), there is no successor of the same part, so according to block 581 in Figure 32, the pallet number (for example, Pyn) at recording address d (Figure 20) is The processing pallet number is transferred to the recording address c, and further transmitted to the pallet stacker crane control circuit 211 in FIG. 19 along with the call command (third
(block 582 in Figure 2). The electronic computer 20 that has finished processing the machine buffer file as described in a to d above.
0 is transferred from the magnetic drum 205 (Fig. 19) to the pallet file (Fig. 23) according to block 584 of Fig. 33.
, and pallet number Pxn-1 (
or Py. ．． ) is extracted, and a call indication is attached to the machine number of the machine tool (machining center 1) that is calling the pallet.

By doing this, you can search from which machine the work pallet is being called. Further, according to block 585 in FIG. 33, the stacker crane 17 in FIG. 1 receives the call command from the work pallet Px. ．． -2 (or Pyn) on pallet storage shelf 16a
Or it is carried out from 16b to the direction changing device 12a or 12b. at the time. As shown in block 586 of FIG. 33, the electronic computer 200 of FIG. 19 has the magnetic drum 205,
The conveyor file shown in FIG. 21 is read from , and the pallet number Pxn-2 (or P, n) is recorded in the file. Furthermore, the direction changing device 12a or 12 of FIG.
Work pallet Pxn-2 (or Py
n) is conveyed to the branch point of the loading conveyor 4a of the machining center 1 via the conveyors 9a, 7, 10b (or conveyors 11, 10a, 10b), and the pallet attached to the branch point Number reading device 2
03a (FIGS. 1 and 19), the work pallet number is transmitted to the computer 200, and it is confirmed whether or not it is the work pallet being called up in the machining center 1 (block 587 in FIG. 33).

As a result of the confirmation (block 588 in Figure 33), if it is not currently being called, it will be passed through (block 5 in Figure 33).
90), if the work palette Pxn-2 (or Pyn) is being called, the work palette Pxn-2 (or Pyn) is
89, a drive command is given from the electronic computer 200 to the pallet conveyor control circuit 212 (FIG. 19),
The paper is branched at the direction changing device 12, carried into the carry-in conveyor 4a, and brought to the pallet standby position on the carry-in conveyor. Thereafter, according to block 591 in FIG. 33, the computer 200 in FIG. 19 checks whether there is a machining completion signal from the machining center control circuit 207-1, and based on the result, performs the following operations. Perform processing. (a) When the work completion signal is confirmed, the computer 20
0 immediately connects Pxn-1 and Pxn-2 (or Pxn-
1 and Pyn) is transmitted to the pallet conveyor control circuit 212 in FIG.

(Blocks 592 and 594 in Figure 33) (b)
To keep a work pallet on standby when a work completion signal cannot be confirmed.

(Block 593 in Figure 33) (C) Furthermore, the pallet number Pxn- recorded in the conveyor file in Figure 21
Delete 2 (or Pyn).

Thus, the electronic computer 200 completes the program processing for supplying the workpiece.

2 Special tool supply program The special tool supply program is executed by the electronic computer 20 in FIG.
However, here we will explain the process of extracting an independent control system for processing the program and performing program processing based on this system.

A control block diagram of the special tool supply control circuit 208 according to the present invention is shown in FIGS. 29 and 30.

It is assumed that the control circuit 208 is connected to the electronic computer 200 in FIG. 19, and all input/output signals are communicated between the electronic computer 200 and the control device 208. The files provided on the magnetic drum 205 of FIG. 19 to carry out the special tool supply program include those listed below.

(a) Crane P file (CRNP) Figure 22 This file allows the stacker cranes 19a and 19b (Figure 1), which serve as tool delivery means, to carry in and out special tools and refurbished general-purpose tools in the tool storage rack. This is an important file that plays the role of a keyword in some cases.

Based on the data recorded in this file, the computer 200 extracts special tools and refurbished general-purpose tools to be transferred to a machine tool (machining center), and performs complex program processing to be described later. This file includes the used tool transfer device 21a for return from the machining center.
, 21b and 21c (Fig. 1), and among the new special tools and refurbished general-purpose tools requested in the tool room, only those that received a tool storage command are recorded, and the same Another record address in this file is
When the machining center requests a work pallet, the corresponding work pallet number is recorded based on the call command.

That is, the tool number to be carried into the tool storage shelf and the pallet number called up from the machining center are recorded together. Therefore, this file contains the number recording addresses A, b, and C of the special tools brought back by the return tool transfer devices 21a, 21b, and 21c, the number recording address D, . . . of the work pallet called by the machining center, etc.
k is provided.

The numbers are sequentially recorded in the number recording addresses D, . . . , k starting from the earliest calling order. Furthermore, all recording and erasure of this file is automatically processed by the electronic computer 200 according to a predetermined execution program.

In other words, the tool number recorded in this file is deleted when the tool is loaded into the tool storage shelf, and the pallet number is deleted when all the corresponding tools are removed from the tool storage shelf.
Pre-programmed.

(b) Magazine File (MGF) FIG. 25 This file records all the numbers of general-purpose tools stored in the tool storage magazines of machining centers 1, 2, and 3 in FIG. 1, respectively.

That is, the machine number of the machining center is recorded at record address A.
All general-purpose tool numbers held in the machining center with the corresponding machine number are recorded in the recording addresses Tl, . . . , Tn, respectively. Note that the recording in this file is inputted in advance from input means such as the typewriter 201 and tape reader 202 in FIG. 19. In the processing process of the work pallet supply program, the computer 200 in FIG.
or P, n) is transmitted to the pallet stacker and -on control circuit 211 (block 582 in FIG. 32), the electronic computer 200 executes the procedure shown in the flowcharts in FIGS. 34 to 37. begins continued program processing.

That is, the electronic computer 200 in FIG.
Read the crane P file from , and perform the processing listed below.

(a) According to block 596 of FIG.
It is checked whether the first address d among the file number recording addresses d-k is empty.

That is, the presence or absence of the work pallet called up from the machining center is checked here. In this case, if the number of the special tool to be carried into the tool storage shelf is recorded in the tool number recording addresses a to c of the file, a carry-in command is transmitted to the tool/stacker crane control circuit 213 in FIG. 19. Immediately transport the relevant tool to the tool storage shelf.

In one embodiment of the present invention, whether it is a work pallet or a special tool, the work pallet and special tool carried into the storage rack are programmed to always have priority over the work pallet and special tool carried out. .

Therefore, when carrying in a work pallet and special tools from a storage shelf, the computer 200 always checks whether the carried-in pallet and special tools are present. (b) Block 59 when the first recording address d of the pallet number recording address is empty (Fig. 34)
7 and 598), since there is no work pallet that has been called up from the machining center group up to now, the work pallet number PO for the next processing that is currently being called out.

-2 (Py.) is recorded at the first recording address d. (C)
If the first recording address d of the pallet number recording address is not empty (blocks 597 and 604 in FIG. 34), there is a work pallet that has already been called from the machining center, and the stacker cranes 19a and 19b in FIG. We are continuing to carry out the special tools that will be used and the refurbished general-purpose tools.

Therefore, the work pallet number P for the next processing that is currently being called
xn-2 (Py..) is recorded at an unrecorded empty address among the pallet number recording addresses of the file. In addition, in this case, if all the special tools and refurbished general-purpose tools used for the pallet number recorded in the first recording address d are taken out from the storage shelf, the computer 200
deletes the number and steps up the pallet numbers recorded after record address e (block 60 in Figure 34).
5,606). Thus, the electronic computer 200 in FIG.
The next machining work pallet number POn-. is stored in register A of the special tool supply control circuit 208, which will be described later. (Pyn)
(Block 599 in Fig. 34), and also searches for the number of the machine tool (for example, machining center, Y1) that calls the workpiece pallet Pxn-2 (Pyn) for the next machining from the pallet file in Fig. 23 ( (The machine number being called is marked with a call indication) is stored in the register B of the special tool supply control circuit 208 (block 600 in FIG. 34), and the next processing workpiece pallet P. n-2. Tool number Tl used for ゛(P, n)
,...,T. ．． The required cutting time T′Ml,...,TM.
It is also extracted from the tool file shown in FIG. 24 and stored in the memory C of the special tool supply control device 208 (34th
block 601). In addition, the computer 200 in FIG. 19 reads the general-purpose tools stored in the tool storage magazine of the machining center 1, which calls up the work pallet Pxn-2 (Pyn) for the next machining, according to block 602 in FIG. number in the magazine file (Figure 25)
, and stored in the memory D of the special tool supply control circuit 208.

Although the specific configuration of the special tool supply control circuit 208 in FIG. 19 is not shown in the control block diagrams in FIGS. 29 and 30, the circuit is provided with the following memory circuits.

a) Register A (750 in Fig. 29) As mentioned above, the work pallet number recorded at the beginning of the pallet number recording address of the crane P file in Fig. 22 is stored in register A. This is to be used as a keyword when executing the program processing of blocks 600, 601, and 602 in FIG. 34 of the electronic computer.

b) Register B (273 in Figure 30) Register B contains:
Corresponding to the work pallet number in register A, the called machine number (for example, machining center 1) extracted from the pallet file in FIG. 23 is stored, and this is used when selecting the supply tool transfer device. It's for a reason.

c) Memory C (234 in Fig. 29) Memory C stores the used tool numbers T1 to Tn and required cutting times TMl to TM extracted from the tool file in Fig. 24, corresponding to the work pallet number in register A. .

remember. i) Memory D (235 in Figure 29) Memory D stores general-purpose tool numbers T1 to T9 extracted from the magazine file in Figure 25, corresponding to the machine tool number that calls the work pallet number in register A. remember.

The above is a storage operation performed by an electronic computer in the process of program processing, but the following are the storage operations that input information from the typewriter 201 and tape reader 202 in Fig. 19. .

→TTM memory (239 in Figures 26 and 29) This memory contains the numbers of all tools used to process the workpieces input to the group management system and the life time LT2 of each tool used.
, the cumulative usage time LTl, and lifespan determination (0: lifespan 1: usable).

In addition, there are the following types of devices that allow the operator to memorize information using the operation panel.

-) STM memory (231 in FIGS. 27 and 29) This memory has special tool number recording addresses that simulate the tool storage shelves 18a and 18b (FIG. 1).

Therefore, when a worker specifies a storage position and carries a tool into a storage shelf, a pallet number reading device attached to the storage shelf reads the number of the carried tool and stores the number at the address corresponding to the storage position. be done.

Furthermore, in this case, when the tool is removed, the memory is erased.

Furthermore, the following items are automatically erased by the special tool supply control circuit.

(g) CRNM memory (261 in Figures 28 and 30)
The memory stores special tools required by a specific machine tool (for example, machining center 1) and refurbished general-purpose tools in the order in which they are used.

Thus, when the computer program processing described in block 602 of FIG. 34 is completed, the computer 200 executes the program in the special tool supply control circuit 208 of FIG. Special tool supply command 252 (
Figure 29).

In FIG. 29, when the special tool supply command 252 is transmitted to the drive circuit 230, based on block 608 in FIG.
The numbers of the used tools stored in are provided to match circuits 236 and 238, respectively, one at a time, in accordance with the order in which they are used.

In FIG. 29, this tool number is Tn. At the same time, a read command is given from the drive circuit 230 in FIG. 29 to the memory D235 that stores the numbers of general-purpose tools stored in the tool storage magazine of the machining center 1.

This read command is sent to the memory D continuously at a certain period.
Therefore, the general-purpose tool number is sequentially provided from memory D to matching circuit 238. Therefore, based on block 609 of FIG.
The tool number Tn given from the memory D is compared with the general-purpose tool numbers Tn'' given one after another from the memory D. Based on the result of this comparison, the special tool supply control circuit 208 (19th
Figure) shows the processing paths of blocks 610, 611, 612 and 613 in Figure 35 and blocks 614, 615, 616.
, 618, 619, 620 and 626, 627.

[A] Tool number T used.

and general purpose tool number T. As a result of comparison with ``general-purpose tool T stored in memory D.'', if there is no tool that matches the used tool number Tn, the used tool Tn is not a general-purpose tool in the tool storage magazine, and is stored in memory D. According to block 614, the used tool number Tn is the special tool number T stored in the STM memory 231 and stored in the storage shelf. ''. That is, the drive circuit 230 sequentially specifies the recording addresses of the STM memory 231, and each time the special tool number (actually, the refurbished general-purpose tool number is also included) is retrieved from the STM memory 231 by the matching circuit. 236.

(a) As a result of this comparison, if the tool number Tn in use does not match the tool number Tn'' in the STM memory 231, the tool Tn in use is not stored in the tool storage shelf, so the process is performed according to block 626 in FIG. A tool request command 254 is applied from the drive circuit 230 to the gate G5, and the corresponding used tool T... that has passed through the gate G5 is displayed as a requested tool by a lamp in the tool room.

Further, the tool request command 254 opens the connection gate of the negative number circuit 240. 254'' Also, as a result of the comparison, if the used tool number Tn matches the tool number Tn'' of the STM memory 231, the used tool T.

is stored in the tool storage shelf, so according to block 616 of FIG.
is applied to open the negative number circuit 240 and the connection gate of gate G2. (b) In order to process block 618 in FIG.
6 is also given as a life calculation command 250 to open the gate.

Therefore, the required cutting time T is calculated from the memory C234.
Mn is given to the arithmetic circuit of the cutting execution processing circuit 245.

On the other hand, since the tool number Tn is given to the 'ITM memory 239 from the memory C234, the cumulative usage time LTl and life time LT corresponding to the tool number Tn are stored in the TTM memory.
2 is given to the arithmetic circuit of the cutting execution processing circuit 245, and the tool number Tn is also given to the cutting execution processing circuit 245. Here, the arithmetic circuit includes an addition circuit for the cumulative usage time LT and the required cutting time TMn, and an output of the addition circuit (
LTl+TMn) is subtracted from the life time LT2, and the subtraction result [LT2-(LT+TM.

)]. Thus,
The cutting execution processing circuit 245 calculates the cutting execution time, and the result is immediately recorded and updated in the memory by the 'ITM memory write command 251.

(c) Also, according to block 619 in FIG. 35, the tool number Tn is stored in the TTM memory 239 from the memory C234.
Therefore, the tool number T is given from the TTM memory.
Lifespan judgment signal 256 for n (0 when the lifespan has been reached)
value, 1 value when the life has not been reached) is the gate G2, G
3 and G4 (block 620 of FIG. 35).
.

In this case, the timing for applying the lifespan determination signal 256 to the gates G2, G3, and G4 must be after the record update of the cutting execution processing circuit 245 described in section (a) is completed; has a delay function for this purpose.

When the determination signal 0 value is output from the TTM memory 239, gates G3 and G4 are opened as shown in box 627 in FIG. 35, and the tool number T.G4 given to the gate is opened.
, is exchanged to a negative number by the negative number circuit 240 and the gate circuit 2
41 to the special tool memory circuit 242, and the number T.

is required as a special tool that requires refurbishment in the tool room via gate G4. Judgment signal 1 from the TTM memory 239
When the value - is issued, only gate G2 is opened and memory C
The special tool number Tn stored in 234 is given to the special tool memory circuit 242 as it is.

(d) The match signal 246 from the match circuit 236 is also applied to the drive circuit 230 via the gate G1.

In this case, the match signal sets the designated number of memory C234 to 1.
A step-up command 253 for stepping up one step and reading out the used tool number Tn+1 stored at the step-up address from the memory C234, and an STM memory 231.
As described above, this becomes a readout stop command 249 for stopping the operation of sequentially reading out tool numbers. This readout stop command 249 should be canceled and also serve as a readout start command after the processes in the previous sections (a) to (c) are completely completed, but in order to provide this timing, the drive circuit 230 is has a delay function added.

[B] In block 609 of FIG.
38, the used tool number Tn and the general purpose tool number T.

As a result of the comparison with ``, the general-purpose tool Tn stored in the memory D
If there is a tool in `` that matches the used tool number Tn, the used tool Tn is a general-purpose tool in the tool storage magazine,
According to blocks 611, 612 and 613 of FIG. 35, only general purpose tools that have reached the end of their lifespan will be treated as if they were special tools. That is, the match signal 248 is transmitted to the gate circuit 24.
1 and only the connection gate with the negative number circuit 240 is opened. Thus, blocks 610, 611, and
612, the lifespan of the used tool Tn is determined, but this process is carried out in blocks 618 and 619 in FIG.
and 620.

Also, as a result of the judgment, only if the life has been reached, the gate G
3 is opened, the life achieving general purpose tool converted to a negative number by the negative number circuit 240 is provided to the special tool memory circuit 242 and requested to the tool room (block 613 in FIG. 35).
, 627). As described above, block 62 in FIG.
According to No. 1,622, the work pallet for next processing Pxn-
1 (or PyO) are classified into general-purpose tools stored in the machining center, special tools stored in a tool storage shelf, or refurbished general-purpose tools according to the order of use. It is then confirmed whether the tool life has been reached.

As described above, the special tool memory circuit 242 stores the tool numbers of all special tools used and the tool numbers of general-purpose tools that have reached the end of their service life in the order in which they are used. The special tool memory circuit 242 includes a CRNM memory (
A memory circuit similar to that in FIG. 28) is provided, and the negative tool number stored in the circuit 242 is automatically converted to a positive number when the requested tool is replenished in the storage shelf. Furthermore, the circuit 242 includes a determination circuit that determines whether the stored contents of the memory circuit are positive or negative based on the special tool search end command 255 of the drive circuit 230, and determines whether all the special tools in the stored contents require rehabilitation or not. When the number of the general-purpose tool becomes a positive number (blocks 623 and 624 in FIG. 35), a tool storage shelf address search command 273 is given from the determination circuit to the drive circuit 260 in FIG. 30 (block 625 in FIG. 35). .

Based on block 628 of FIG.
reads out only one beginning of the tool number Tn of the special tool stored in the CRNM memory 261 to the matching circuit 263, and sets the memory address of the STM memory 262 (FIG. 27) to
lYl~XlY8, X2Yl~X2Y8...XlO
The tool numbers TO'' of special tools and refurbished general-purpose tools stored at the addresses are specified in the order of Yl to XlOY8, and are read out continuously at a certain period to the matching circuit 263. Matching from the matching circuit 263 Signal 270 (block 629 in Figure 36) is communicated to three control systems listed below:
Appropriate processing is performed for each. (a) According to block 630 in FIG.
given to.

Based on this command, the computer 200 reads the crane P file (FIG. 22) from the magnetic drum 205 in FIG.
, b, and c are recorded with the tool numbers to be carried in (block 631 in FIG. 36). If so, according to block 632 of FIG. 36, stacker cranes 19a and 19b (FIG. 1) are carrying tools, so the program processing of the special tool supply control device is suspended until the loading operation is completed. (block 633 in FIG. 36).

If it is not recorded or if the tool loading is completed, the electronic computer 20 according to block 634 in FIG.
Crane operation command 272 for unloading special tools from 0 (
30) is the tool stacker crane control circuit 213
transmitted to.

(b) During this time, the coincidence signal 270 is transmitted to the drive circuit 260.
, and tool number reading from STM memory 262 is interrupted.

(C) Further, according to block 636 in FIG. 36, the coincidence signal 270 is applied to the gate G7 and the gate is opened, so that the shelf address 271 of the tool storage shelf when the coincidence signal is issued is changed to From circuit 260, it is communicated to tool stacker crane control circuit 213.

Thus, the stacker crane of FIG.
In b), the cart 71b is guided by the lower rail 72b, the carriage edge 75 is guided by the vertical guide 74, and the fork 76 is moved to a predetermined shelf address.

When the fork 76 is positioned at a predetermined shelf address, the fork 76 scoops up the designated special tool holder (for example, 54 in FIG. 4) and takes it out from the storage shelf, and transports it to the special tool carry-out position 22. and place it in place. Next, a special tool unloading completion command 274 is sent from the tool stacker crane control circuit 213 in FIG. 30 to the gate G8 and the drive circuit 260, respectively.

The command given to the drive circuit 260 is a command to read the next special tool number or the refurbished general-purpose tool number Tn+1 from the CRNM memory 261, and to read out the tool number Tn'' from the STM memory 262 again at a constant cycle. This is a read command. Therefore, the comparison between the tool numbers Tn+1 and Tn'' is restarted.

On the other hand, since the gate G8 is opened by the special tool unloading completion command 274, the machine tool number (for example, machining center 1) stored in the register B and being called is transmitted to the supply tool transfer device control circuit 214.

Therefore, an activation command is issued to the supply tool transfer device drive circuit 267-1 dedicated to the corresponding machine tool. When the supply tool transfer device 20c comes near the special tool delivery position 22 in FIG.
The connecting shaft 17 is connected by the electric linear motion device 183 shown in FIG.
0a is moved to the left.

Therefore, the telescoping device 182 having a telescoping link mechanism is extended, and the hook 181 is)
180c and descends. When the hook 181 descends to the level of the T-shaped groove 80 (FIG. 6) of the special tool holder held at the special tool carry-out position 22, the hook shaft 185 of the telescoping device 182 and the notch of the force pick pin 189 191, and the lock pin 189 is in contact with the spring 190.
lifted upwards against the Furthermore, as the electric motor 168 in FIG. 17 starts, the chain 16 of the rail 24c
As the sprocket wheel 163 meshing with the tool holder 4 rotates, the main body 165a moves, and the T-shaped portion 193 (FIG. 18b) of the hook 181 is inserted into the T-shaped groove 80 of the special tool holder. A detection device similar to the branching point confirmation device 350 in FIG. 17 is provided at the stop position of the supply tool transfer device 20c moving on the rail 24c, and each operating mechanism section is provided with a detection device for confirming completion of operation. Since a detection device is provided for each operation, the operation of each operating mechanism is
Based on the signals from these detection devices, all are sequentially controlled by the supply tool transfer device drive circuit 267-1 shown in FIG. Next, the output shaft of the electric linear motion device 183 in FIG. 18a moves to the right, and the upper connecting shaft 170a moves to the right together with the connecting portion 184, so that the telescopic device 182 is reduced and the hook 181 is moved together with the special tool holder. Rise.

In this case, the hook shaft 185 and lock pin 1 shown in FIG.
89 is released from contact with the notch 191, so that the spring 1
90 fixes the T-shaped portion 193 of the hook 181 and the T-shaped groove 80 of the special tool holder (FIG. 18b). When the above operations are completed, the electric motor 168 in FIG. 17 is started, and the main body 165a moves in the direction of the arrow in FIG. 1.

When the supply tool transfer device 20c is brought to the tool standby device (for example, 13a), the protrusion 161c of the roller shaft 161b comes into contact with the branch point confirmation device 350 in FIG. 17, and the electric motor 168 stops. .

Next, the electric linear motion device 183 shown in FIG. 18a is operated again, and the special tool holder is moved along with the hook 181 to the elevator carrier 144 (the 15th On the fork part 143 of the figure),
descend.

At this time, as shown in FIG. 14a, the special tool standby device 13
Clutch plate 52 of lock release device 518 at the top of a
3a and the clutch plate 525a of the hook 181 are exactly opposed to each other, and the mutual arrangement of the claws is also as shown in FIG. 14b.

When the special tool number identification device 156 (FIG. 14a) located at the top of the special tool standby device 13a reads the tool number Tn recorded on the identification code plate 81 of the special tool holder, the number is displayed as shown in FIG. The detection number 275 is then transmitted to the electronic computer 200. The electronic computer 200 is a third
In order to execute block 637 in Figure 6, the detection number 275 is
Based on this, the tool file (FIG. 24) is read from the magnetic drum 205 in FIG.
Pallet number PO-2 or P stored in (Figure 29)
The used tool number Tn of yn and the detection number 275 are compared.

If there is no match as a result of the comparison (block 63 in Figure 36)
8,640), the special tool carried into the special tool standby device 13a (FIG. 1) is deemed to be a mistake, and a request is made to the operator to remove it.

As a result of the comparison, if they match, (block 6 in Figure 36)
38, 639), the electronic computer 200 issues an operation command to the special tool standby position drive circuit 264 shown in FIG.
Return command 50 to supply tool transfer device drive circuit 267-1
Give 0.

Thus, according to block 641 of FIG.
The rack 524 shown in Fig. 14a operates and rotates the clutch plate 523a clockwise as shown in Fig. 14c via the pinion 557, so that the pawl 523b (Fig. 14b) of the clutch plate 523a shown in Fig. 14a is hooked. 181 clutch plate 5
25a, and the claw 525b is engaged with the claw 525b of the 14th c.
Bring it to the angular position as shown in the figure.

Therefore, the pinion 55 connected to the clutch plate 525a
6 is rotated clockwise in FIG. 18a, and the lock pin 189 is pulled upward via the clutch 555 that engages with the pinion 556. That is, the T-shaped part 193 of the hook 181 in FIG. 18b and the T-shaped groove 80 of the special tool holder.
The clamp state with is released.

Further, the feeding tool transfer device 20c in FIG. 3 starts the electric motor 168 (FIG. 17) and extracts the T-shaped portion 193 (FIG. 18b) of the hook 181 from the special tool holder T-shaped groove 80. Next, when the electric linear motion device 183 shown in FIG. 18a is operated to raise the hook 181, the
The supply tool transfer device 20c returns to the special tool carry-out position 22 shown in the figure.

On the other hand, when an operation command is issued to the special tool standby position drive circuit 264 in FIG. 30, pressure oil is supplied to the hydraulic pressure chamber 151c in FIG. 15 according to block 642 in FIG. 37, and the tip of the piston rod 151b is The engagement between the part and the cutout part 528a of the vertical guide shaft 141 is released.

After that, the hydraulic motor 145 starts and the worm 147
, sprocket wheel 1 via worm gear 146
48 rotates. Therefore, the elevator carrier 144 of FIG. 15 begins to descend. When the carrier 144 descends a little, the pressure oil in the hydraulic pressure chamber 151c is connected to the return side, and the piston 151a is pressed by the spring 153.
Therefore, the tip of the piston grip 151b is connected to the vertical guide shaft 1.
The outer periphery of 41 is brought into contact. As the elevator carrier 144 descends, the piston rod 151b
When the tip of the dot 5 engages with a plurality of notches 528b cut at a pitch equal to the height of the special tool holder, the dot 5
29 and the engagement confirmation limit switch 530, the hydraulic motor 145 in FIG. 8 is stopped. Thus, each time a required special tool or a refurbished general-purpose tool is supplied from the tool storage shelves 18a, 18b of FIG. 1, the elevator carrier 144 is lowered one pitch at a time. In this way, the reason why the elevator carrier 144 is lowered one pitch at a time is to continuously supply a plurality of tools to the tool standby position when a plurality of the feeding tool transfer devices are connected to each other. This is to significantly shorten the tool supply time. In this way, the 30th
The special tool standby position driving circuit 264 shown in the figure controls the sequential operation of the special tool standby device according to the flowchart of blocks 643 to 662 in FIG. 37.

That is, according to block 643 in FIG. 37, it is checked whether all tool number recording addresses in the CRNM memory 261 in FIG. 30 are empty, and whether all special tools and refurbished general-purpose tools have been supplied from the storage shelf. Please check.

(a) If the result of the confirmation is that it has not been completed, follow block 648 in FIG. 37 to check whether the elevator extending carrier 144 in FIG. Guide side plates 50a and 5 in the figure
Check whether the special tool holder storage guide path consisting of 0b is full of tool holders.

If it is not full, the subsequent tool holder may be stored in the guide path through the processes of blocks 641, 642 and 643 in FIG. If it is full, according to block 647 of FIG. 37, guide side plates 51a and 51 of FIG.
Check whether the special tool holder storage guide path consisting of b is full of special tool holders. (b) Block 64 in Figure 37
In step 4, it is confirmed whether all special tools and refurbished general-purpose tools have been supplied from the storage shelf. If the supply has been completed, the supplies are transferred to the hydraulic pressure chamber 151c in FIG. 15 according to block 646 in FIG. 37. Pressure oil is supplied and the piston rod 151
The engagement between the tip end b and the notch 528j of the vertical guide shaft 141 is released. After that, the hydraulic motor 145 starts,
Elevating carrier 144 begins to descend. When the carrier 144 descends a little further than the lower end notch 528n, the pressure oil in the hydraulic pressure chamber 151c is connected to the return side, and the piston 151a is pressed by the spring 153. Furthermore, as the elevator carrier 144 continues to descend, the tip of the piston rod 151b engages with the lower end notch 528n, and the hydraulic motor 145 stops.
Thus, when the elevator carrier 144 descends to the lowest position and stops, the fork portion 14 of the carrier 144
The special tool holder 54a located at the lowest position among the special tool holders stacked in No. 3 is brought to the bottom S, as shown in FIG.

Thereafter, according to block 647 in FIG. 37, it is determined whether the special tool storage guide path consisting of the guide side plates 51a and 51b in FIG. 3 is full of special tool holders.

In order to check whether the tool is full, the special tool standby position drive circuit 264 shown in FIG. Check to see if there are any.

As a result of the confirmation (block 650 in FIG. 37), if the two limit switches are both in the depressed state and the accommodation guide path is full, the special tool standby position drive circuit 2 in FIG.
64 is temporarily suspended (block 651 in FIG. 37). If the result of the above confirmation (block 650 in FIG. 37) is that it is not full, then in accordance with block 652 in FIG. 37, the hydraulic chamber 216 of the hydraulic cylinder 220 of the special tool standby device shown in FIG. Pressure oil is supplied,
Piston rod 221 is let out. Therefore, the other special tool holders (for example, 54b to 54d) above the special tool holder 54a located at the bottom S are received at the tip of the piston 221. Thereafter, the output shaft of the hydraulic cylinder 223 is projected to the left in the figure, and the special tool holder 54a located at the lowermost portion ES is moved to a position to the left of the sprocket 219. Next, pressure oil is again supplied to the hydraulic pressure chamber 151c of the elevator carrier 144 of the special tool standby device shown in FIG.
1, the hydraulic motor 145 is started in the opposite direction to the direction in which it was lowered, and the elevator carrier 144 is raised.

The pressure oil supplied to the hydraulic pressure chamber 151c is transferred to the carrier 14.
4 is connected to the return side after being raised by a small distance, so when the elevator carrier 144 is raised by one special tool holder, the piston grip 151b and the notch 52 are connected to the return side.
8m is engaged, and the rotation of the hydraulic motor 145 is stopped. Thus, the fork portion 143 in FIG. 15 comes into contact with the lower surface of the special tool holder 54b, and pressure oil is supplied to the hydraulic chamber 217 of the hydraulic cylinder 220 of the special tool standby device shown in FIG. is retracted. Therefore, the special tool holder 54b will be placed on the fork portion 143 of the elevator suspension carrier 144, so the hydraulic motor 145 in FIG. 15 will be restarted to lower the elevator suspension carrier 144. Now, bring the special tool holder 54b to the bottom ES in FIG. Next, when the hydraulic motor 133 of FIG. 7 is started in accordance with block 653 of FIG. The special tool holder 54a comes into contact with the protruding special tool holder 54a, and the special tool holder 54a is guided by the guide section 53 on the special tool transfer stand 52 shown in FIG. The tool storage device 13) is brought to the bottom (point T of the seventh layer) and comes into contact with the supply confirmation limit switch 120 (FIG. 7).

In the process of block 653 of FIG.
Depending on the length of the special tool transfer stand 52 shown in the figure, a modified sequence can be created.

That is, when the length of the special tool transfer table 52 is relatively short, the operation sequence described above may be used, but if the special tool transfer table 52 is long, the top of the transfer table 52 can also be used as a tool storage area. , block 65 in FIG. 37 described above.
It is also possible to perform the second process continuously for a plurality of items within the storage capacity of the transfer table 52.

Next, according to block 654 in FIG. 37, the hydraulic cylinder 130 in FIG. 7 is operated to raise the vertical up-and-down table 131 so that it is now at the lowest position of the special tool holder storage guide path of the special tool storage device 13. Special tool holder 54 brought to T
a is lifted up to the position of the special tool holder 55h in FIG.

However, in this case, when the elevator tension carrier 125 is located at the lower end and the fork 510 is extended to support the special tool holder 55h, the process of block 654 in FIG. Pause until you step up. When the lower surface of the special tool holder 54a is stopped by the stopper 121, the vertical vertical table 131 is lowered by the hydraulic cylinder 130,
Return to original position.

Further, in accordance with block 655 in FIG. 37, the special tool standby position driving circuit 264 in FIG. 30 is operated for the next machining in FIG. Tool confirmation limit switch 71
2 and the special tool holder (for example, 54b). (a) As a result of the confirmation, if the above-mentioned trampling has occurred,
It can be assumed that the special tool holder 54a just lifted is not the last one and there are subsequent special tool holders, so according to block 661 in FIG. 37, the special tool holder 54a just lifted and the special tool in FIG. It is checked whether the storage device 13 and the elevator carrier 125 are in an adjacent state. That is, the elevator carrier 125 is
This is provided to lift the last special holder (for example, 55h) among the special tools and refurbished general-purpose tool holders used for the work pallet currently being processed in machining center 1, and the timing of the lifting operation is , depends on the progress of cutting work on the work pallet.

Therefore, when the hydraulic cylinder 130 in FIG. 9 lifts the special tools to be used on the work pallet for the next processing one after another, the special tool holder 54 used for the next processing that was brought into contact with and lifted
A gap occurs between a and the elevator carrier 125.

In one embodiment of the present invention, the elevator carrier 125 is provided with a proximity confirmation limit switch 710 as shown in FIG. 9, so that the limit switch 710 and the screw head 225 of the lifted special tool holder 54a Block 661 in FIG. 37 can be confirmed depending on whether there is a foot contact.

If they are not adjacent, blocks 652 to 652 of FIG.
Special tool holder 5 following the process of 655;
4b is stored in the tool storage guide path of the special tool storage device 13. If they are adjacent, the following special tool holder 54b is moved to the first position according to block 651 in FIG.
The operation of transferring the special tool from the ES point of the special tool standby device 13a in FIG. 3 to the special tool transfer table 52 is interrupted. (b) 13th
When the next machining tool confirmation limit switch 712 shown in the figure no longer comes into contact with the special tool holder (for example, 54d), the special machining tool that has been lifted up. Since the tool holder (for example, 54d) can be considered as the last one, according to block 657 in FIG. 37, the special tool standby position driving circuit 264 in FIG. Palette Px. ．． -Check the presence or absence of the machining completion signal of 1.

If the machining completion signal is not transmitted from the machining center control circuit 207-1 of FIG. 19, the sequence processing of the special tool standby position drive circuit 264 is interrupted until the machining completion signal is obtained. Further, if the machining completion signal is transmitted from the machining center control circuit 207-1, according to block 659 in FIG. 37, as shown in FIG. The hydraulic motor 509 of the elevator carrier 125 is started, and the worm 507 and the worm gear 5
06 respectively, the fork 510 is moved to the right. The moving end limit switch 511a is connected to the notch 5 of the fork 510.
14a, the hydraulic cylinder 15 in FIG.
Pressure oil is introduced into the second hydraulic pressure chamber 151c, and the engagement between the piston rod 151b and the upper end notch 150a of the vertical guide shaft 124b is released. Thereafter, as the hydraulic motor 145 is started, the elevator carrier 125 begins to descend and is brought to the lower end as shown in FIG. In response to the signal from the lower end limit switch 515, the hydraulic motor 145 shown in FIG. 8 is stopped, and the hydraulic motor 509 shown in FIG. Contact the bottom surface. Next, the third
According to block 650 of FIG. 7, hydraulic motor 1 of FIG.
45 starts in the opposite direction to the direction in which it was lowered, lifts up the special tool holders 54a to 54d together with the elevator carrier 125, and when the uppermost special tool holder 54a touches the rising end limit switch 537 in FIG. Hydraulic motor 145 stops.

In this way, the work pallet Pxn-2 (P, n
) All the special tools and refurbished general-purpose tools needed to process the material will have been prepared.

3 Tool Exchange Program The tool exchange program based on the present invention is an operation program related to the tool exchange operation of a general-purpose tool stored in a tool storage magazine specific to the machine tool and the tool exchange operation of a special tool supplied from outside the machine. It is.

FIG. 31 shows a control block diagram of the tool change control circuit 700 (FIG. 19) prepared to execute the tool change program. The process of the tool exchange program is also shown in the flowchart of FIG. The machining center 1 in Fig. 1 uses a certain tool.
or work pallet Px currently being processed.
After all machining of n-1 is completed, work pallet P for next machining
When the xn-2 (or Pyn) function table installation is completed, the machining center control circuit 207- in FIG.
A completion signal is transmitted from No. 1 to computer 200, and No. 38
According to block 663 in the figure, a tool change command is given from the electronic computer 200 to the tool change control circuit 700 in FIG.

As shown in FIG. 31, the tool change control circuit 700 in FIG. 19 is provided with the following memory circuits for processing the tool change program. (a) Memory C (281 in Figure 31) This is the special tool supply control circuit 208 (Figure 19)
It is the same as that of the work pallet Pxr. −2(
The used tool numbers T1 to Tn and the required cutting time TMl extracted from the tool file (Fig. 24) corresponding to Pyn)
~TMn are stored in the order of use.

(b) CRNM memory (282 in Figure 31) This is the same as the special tool supply control circuit 208 (Figure 19), and is necessary for machining work pallet POn-2 (Py...). The numbers of all special tools and refurbished general-purpose tools are stored in the order of use.

(c) Register F (283 in FIG. 31) Stores the number (for example, Tα) of the tool inserted into the spindle.

(d) Register G (284 in Fig. 31) Tool number for the next process to be used (for example, T
a+1) is stored.

(e) Register H (285 in FIG. 31) Stores the tool number for the subsequent process (for example, Ta+2) to be used following the next process.

Thus, the tool change command 301 becomes the driver in FIG. When the reading command 229 is given to the moving circuit 280, the leading tool number among the used tool numbers stored in the memory C28l is read out from the gate G9 opened by the tool change command 301.
The signal is transmitted to the determination circuit 302 via the.

According to block 664 in FIG. 38, the accompaniment circuit 302 determines whether the tool exchange command 301
It has a function to determine whether it is the first one or the second or subsequent one. Therefore, the judgment circuit 302 determines the tool number given to the judgment circuit 302 by the registers F, G, H depending on the presence or absence of the empty confirmation signals 303, 304, 305 from the registers F, G, H.
Decide where to shift H.

That is, empty confirmation signals 303, 3 from registers F, G and H
When receiving 04 and 305, the tool number given to the determination circuit 302 is shifted to the matching circuit 288 and register G, and empty confirmation signals 304 and 305 are sent only from registers G and H.
When received, the tool number given to the determination circuit 302 is shifted to the register H.

Also, if an empty confirmation signal is received only from register H, the given tool number is shifted to register H, and registers F and H are shifted.
When the empty confirmation signal is received only from ", the given tool number is shifted into register G. Block 665 of FIG.
Accordingly, when the tool change command 301 is the first one, the contents of registers F, G, and H are all empty, so the first tool number (for example, T1) read from memory C is stored in registers G and H. A match circuit 288 is provided.

On the other hand, the drive circuit 280 outputs the tool exchange command 3.
01, the storage addresses of the CRNM memory are continuously output to the CRNM memory 282, so the special tool number and the refurbished general-purpose tool number T are output from the CRNM memory 282.
n are applied to the matching circuit 288 one after another. Thus, according to block 666 of FIG. 38, match circuit 288:
Said tool numbers T1 and T. Compare with. The processing of the control system will be explained below based on the comparison results. (a) Results of comparison (
38 block 667), if the tool number T1 does not match the special tool number or the refurbished general-purpose tool number Tn,
Since the tool T1 is a general-purpose tool stored in the tool storage magazine of the machining center 1, according to block 668 in FIG.
The read completion command 312 of No. 2 is given to the tool storage magazine drive circuit 292 via the gate Gl7, and the tool storage magazine 37 starts rotating by the magazine drive device 36 of FIG.

A tool change preparation position TCl is provided near the twin arm 38 in FIG.
(Fig. 31) is provided. Thus, as the magazine rotates, the tool numbers Tβ read from the tool number detection device 293 are successively transmitted to the matching circuit 294 (FIG. 31). The match circuit 294 includes a gate G from a register G.
Since the tool number T1 is given through 19, the tool numbers Tβ and T are compared. Match circuit 294
When a coincidence signal 311 is output from the tool storage magazine drive circuit 292, the signal becomes a magazine stop command 317.
The tool storage magazine 37 shown in FIG. 2 is stopped, and the tool T1 is brought to the tool change preparation position TCl.

Furthermore, the match signal 311 is passed through the memory C through the gate G26 opened by the register empty signal 221 of the determination circuit 302.
It is transmitted to the drive circuit 280 as a step-up command 220. The step-up command 220 is also given to gates Gll and Gl2 to open the gates. Therefore, the next process tool T2 stored at the next address in the memory C28l is given to the register G based on the empty confirmation signals of the registers F and H. Further, the tool number T1 stored in register G is shifted to register F. On the other hand, when the tool T1 is brought to the tool change preparation position TCl (FIG. 2) of the tool storage magazine of the machining center 1 according to block 668 of FIG. 290.

Thus, according to block 669 of FIG. 38, the twin arm 38 and tool carrier 39 of FIG.
The tool T1 is then gripped by the left tool gripping device 41L (FIG. 3) of the spider arm 40.

(Figure 10). Additionally, blocks 670, 6 in FIG.
71, the spider arm 40 pulls out the tool T1 from the tool carrier 39, rotates 900 degrees, and inserts the tool T1 into the spindle of the spindle head 30. Thus, the tool change circuit 290 of FIG. 31 provides a tool change completion signal 223 to the computer 200. Thus, electronic computer 2
00 transmits cutting information to the machining center control circuit 207-1 in FIG. 19 in accordance with block 672 in FIG. 38, and causes the machining center 1 to start cutting. (
b) The result of the comparison between the tool numbers T1 and Tn by the matching circuit 288 (block 667 in FIG. 38), the tool number T
1 and the special tool number or the refurbished general-purpose tool number Tn, the tool T1 is a special tool or a refurbished general-purpose tool, so the match signal 810 is sent to the special tool exchange preparation circuit 2.
91 and is also transmitted to the drive circuit 280 as a read stop command 227.

When the drive circuit 280 receives the reading stop command 227, it stops reading the tool number from the CRNM memory 282. As described in the above item (b), when an operation command is input to the special tool change preparation circuit 291, block 67 in FIG.
3, the uppermost special tool holder 55a having the tool T1 among the special tool holders (for example, 55a to 55f) stored in the tool storage device 13 in FIG.
While being guided by the dovetail guide 93 shown in FIGS. 0 and 12, it is pushed out from the R point to the T point by the hydraulic cylinder 60 and transferred to the moving body 57.

In this way, when the transfer to the moving body 57 is completed, the output shaft of the hydraulic cylinder 60 shown in FIGS. 10 and 12 moves backward, and the elevator carrier 125 shown in FIG. 9 moves as shown in FIG. , lift the following special tool holder 55b to the top of the special tool storage device 13. Next, the hydraulic cylinder 59 shown in FIGS. 10 and 12 presses the movable body 57 along the dovetail guide 56 to move it from point T to point Q.

When the special tool holder 55a is moved to point Q,
According to block 674 of FIG. 38, the special tool change preparation circuit 294 of FIG. Since this is the first tool, it will go through the processes of blocks 675 and 669 in FIG.

Therefore, the special tool holder 55a moved to point Q in FIG.
As the hydraulic motor 95 shown in FIG.
8 to the left in FIG. Therefore, the special tool holder 55a held between the fork portions 94a and 94b of the shifter 98 is connected to the dovetail guide 538.
and along the guide 539, it is transported from point Q) to point O.

Thus, the special tool or refurbished general-purpose tool T1 held in the special tool holder 55a, as shown in FIG.
Right tool gripping device 41R (TC) of spider arm 40
9).

After that, the output shaft 1 of the rotary clamping device 62 shown in FIG.
13 (hereinafter shown in FIGS. 10 and 16) is fed out, and the tip engaging portion 111 engages with the screw head 225 screwed into the special tool holder.

Further, in the clamping device 62, the locking piece 118 is pivoted around the pivot pin 119 by rotating the lock screw 83 clockwise and pushing the holder 116 upward in the figure. Therefore, the engagement between the tip of the locking piece 118 and the projection of the pull stud 120 of the special tool or the refurbished general-purpose tool T1 is released. Thus, the 31st
Since the tool change preparation position completion command 319 shown in the figure is transmitted from the special tool change preparation circuit 291 to the tool change circuit 290,
The Sviter arm 40 in FIG. 3 extracts the special tool or refurbished general-purpose tool T1 from the special tool holder 55a,
Turn the spindle 30 of the spindle head 30 by 270 degrees counterclockwise.
Insert into a.

Further, the tool change preparation position completion command 319 is the 31st
As shown, the memory C step-up command 220 is passed through the gate G26 which is opened by the register empty signal 221.
is transmitted to the drive circuit 280, and based on this, the tool T2 for the next process is shifted to the register G, and the tool number T1 stored in the register G is transferred to the register F.
will be shifted to

This is exactly the same as described in (a) above. As described above, when a special tool or a refurbished general-purpose tool is inserted into the spindle, a tool change completion signal is sent from the tool change circuit 290 in FIG. 31 to the computer 200. No. 223 was transmitted,
The electronic computer 200 executes the machining center control circuit 207-1 in FIG. 19 according to block 672 in FIG.
The cutting information is transmitted to the machining center 1 to cause the machining center 1 to start machining work.

Further, the tool replacement completion signal 223 becomes a CRNM memory read command 226 and is sent to the drive circuit 28.
0 (FIG. 31) and to gate Gl3 to open the gate.

Therefore, the process returns to block 666 in FIG. 38 again and the next process tool number T2 and CR stored in the Regis
A matching circuit 288 compares the special tool number read from the NM memory 282 and the refurbished general-purpose tool number Tn. Below, blocks 667, 668, 669 in FIG.
The processes in blocks 667, 673, and 674 are exactly the same as in the case of tool T1 inserted into the spindle.

However, blocks 667, 668, 6 in FIG.
In the case of process 69, regarding block 670, since the tool change command 301 from the computer 200 in FIG. 31 has already disappeared with the start of cutting, the next process tool is replaced according to block 677 in FIG. 38. T2 is brought to the tool exchange position TC2 in FIGS. 3 and 10 by the tool carrier 39, and is temporarily kept on standby until the use of the currently used tool T1 is completed.

In this case, the match signal 311 from the match circuit 294 in FIG.
is given to the gate G26, but the register empty signal 221
Since the gates are combined so that the value is 1 only when the registers F and H are empty, the gate G26 is closed in this case.

Therefore, the step-up command 220 for the memory C is not output from the gate G26. On the other hand, block 6 in FIG.
For processes 67, 673 and 674, block 6
74, the next process tool T2 is the moving body 57 in FIG.
(point T), the special tool exchange preparation circuit 291 in FIG. 31 detects that the special tool holder 55a preceding the point O in FIG. (38th)
(block 675 in the diagram). (a) As a result of the confirmation, if the special tool holder 55a is located, the tool holder 55a
Since the tool T1 has already been inserted into the spindle and is engaged in machining, according to block 676 in FIG.
The special tool exchange preparation circuit 291 in FIG. 31 transmits the evacuation command 721 to the return tool transfer device drive circuit 720,
As shown in FIG. 9a, the special tool holder 55a located at point O in FIG. 10 is transferred to the return tool transfer device 21C (FIG. 1).
is lifted upward (point O'' in Figure 39b(7)) and evacuated.Then, the hydraulic motor 95 in Figures 10 and 11
Accordingly, the shifter 98 and the fork parts 94a, 94
b moves to point Q. When the right limit switch 546 in FIG. 11 is activated, the hydraulic motor 95 is stopped, and the special tool holder 55b on the movable body 57 is transferred to point Q by the hydraulic cylinder 59 in FIG. is held between waiting forks 94a and 94b.

Furthermore, as shown in FIG. 39b, the shifter 98 is moved to the left by the hydraulic motor 95 in FIG. Then, the special tool holder 55b is brought to point O, and the next process tool T2 is moved to the right tool gripping device 41R (TC3) of the spider arm 40.
).

Further, the tool T2 is unclamped by the rotary clamp device 62. Thus, the tool change preparation position completion command 319 is transmitted from the special tool change preparation circuit 291 of FIG. 31 to the tool change circuit 290, and as shown in FIG.
The spider arm 40 in Fig. 0 pulls out the next process tool T2 from the holder 55b, rotates 1800 degrees, brings the tool T2 to the tool exchange position TC2, and temporarily waits until the tool T1 currently being processed is finished being used ( Flock 6 in Figure 38
77).

(b) According to block 675 in FIG. 38, if the preceding special tool holder 55a is not located, the special tool holder 55b having the next process tool T2 is 670 and 677,
The tool T2 is brought from point R to point O via points T and Q.
is made to stand by at the tool exchange position TC2 by the spider arm 40.

In the case of items A and b, the tool change preparation position completion command 319 from the special tool change preparation circuit 291 in FIG.
26, but as mentioned above, the gate G26
As described above, the memory C step-up command 220 is not output from the memory C step-up command 220.

When the machining operation by the tool T1 is completed in the machining center 1, the completion signal is transmitted from the control circuit 207-1 in FIG. 19 to the computer 200.

The computer immediately transmits a tool change command 301 (hereinafter referred to as FIG. 31) to the tool change control circuit 700 (block 663 in FIG. 38).

When the gate G9 is opened by the tool change command 301 and the address of the memory C28l is stepped up by the read command 229, the subsequent next process tool number T3 is given to the determination circuit 302 from the memory C28l.

The determination circuit 302 includes a register F283 and a register G2.
84 are not empty, the next process tool number T3
is shifted to register H285. Next, according to block 678 in FIG. 38, since the drive circuit 280 is given the CRNM memory read command 229 based on the tool change command,
Tool number T from M memory 282. are sequentially and continuously applied to the matching circuit 287 via the gate GlO. The matching circuit 287 has already received the tool number T from the register F283.
Since 1 is given, tool numbers T1 and Tn are compared. Hereinafter, the processing of the control system based on the comparison results will be enumerated and explained.

[A] As a result of the comparison (block 679 in FIG. 38), when tool numbers T1 and Tn match, the match signal 306 is sent to the tool change circuit 2 according to block 683 in FIG.
90, and is further sent to the electronic computer 200 as a magazine file confirmation command 307 together with the used tool number T1.
given to.

When the tool exchange circuit 290 receives the coincidence signal 306, the spider arm 40 of FIG. 3 extracts the used tool T1 inserted into the main shaft 30a from the shaft and rotates 900 times according to block 681 of FIG. Then, the next process tool T2 held by the left tool holding device 41L (tool exchange position TC2) of the arm 40 is inserted into the main shaft 30a. Once insertion is complete, in accordance with block 682 of FIG.
A tool change completion signal 223 is given from the tool change circuit 290 to the computer 200, and the machining center 1
Start processing according to step 2.

The electronic computer 200 confirms the magazine file. Directive 3
When receiving 07, the magazine file (Fig. 25) is read from the magnetic drum 205 shown in Fig. 19, and the register B5 is read out.
It must be confirmed whether the tool number T1 is recorded at the memory address corresponding to the machine number stored in 6O (for example, machining center 1).

(a) As a result of confirmation (block 684 in Fig. 38), if tool number T1 is recorded in the file, tool T1
(This tool was transported from outside the machine as a special tool or a refurbished general-purpose tool) is a general-purpose tool and a new tool that has been reground, so according to block 685 in FIG. It must be replaced with an end-of-life tool stored in the storage magazine.

Therefore, the computer gives the tool number T1 presence command 309 to the gate G24 and opens the gate. Further, the tool exchange completion signal 223 output from the tool exchange circuit 290 is
As mentioned above, the command 309 from the electronic computer is also transmitted to the gate G24, which is opened.
The output 1 signal is transmitted to the tool exchange circuit 290 and the tool storage magazine drive circuit 292 as a command to replace the life-expired general-purpose tool with the refurbished general-purpose tool. FIGS. 42a to 42g show a replacement operation pattern between the life-achieving general-purpose tool and the once-refurbished general-purpose tool.

According to this, the spider arm 40 of FIGS. 3 and 10 moves forward and then turns 180 degrees to insert the used and refurbished tool T1 into the tool insertion hole 2139a of the tool carrier 39 on standby ( Figure 42B, c).

Furthermore, the tool carrier 39 moves to the left in FIG. 2 while being guided by the guide body 42, and waits the used and refurbished tool T1 at a position near the twin arm 38.
Melt. Also, in accordance with block 686 of FIG.
The tool storage magazine 37 in the figure is also rotated by the drive device 36, and the tool numbers T3Cβ and the register F283 are read out one after another by the tool number detection device 293 in FIG.
A comparison is made in a matching circuit 294 with the used and refurbished tool number T1 given from the numeral T1 via the gate circuit 295.

In this way, the tools T and L that need to be refurbished and stored in the tool storage magazine are moved to the tool change preparation position TCl.
(FIG. 2), a general-purpose tool call command 318 is transmitted to the tool change circuit 290, and the twin arm 38 in FIG. Exchange 4θ with a new tool T1 that has been ground (block 687 in FIG. 38). According to block 688 in FIG. 38, the end-of-life tool TIL inserted into the tool carrier 39 is brought to the left gripping device 41L (TC2) of the spider arm 40 in FIGS. 3 and 10 and is gripped. (Figure 42d).

(a-1) Next, according to block 689 in FIG. 38, in order to check whether the tool T2 inserted into the spindle was brought from outside the machine as a special tool or a refurbished general-purpose tool, Check whether the special tool holder 55b holding the tool T2 is waiting at point O in FIG. 10.

That is, the tool exchange circuit 290 in FIG.
It is checked whether the special tool evacuation command 721 has been issued.

(a-2) If blocks 690 and 69 in FIG.
4, if the evacuation command 721 has been issued, the tool change circuit 290 transmits an operation command to the special tool change preparation circuit 291, and according to FIG. 42c, the hydraulic motor shown in FIG. 95 to move the shifter 98 to the right.

When the notch 549 of the shifter 98 comes into contact with the intermediate limit switch 545 shown in FIG. 11, the hydraulic motor 95 is stopped and the special tool holder 55b of the tool T2 currently being processed is positioned at point P in FIG. 10. Furthermore, in accordance with block 695 in FIG. 38, a special tool evacuation release command 722 is issued to the returning tool transfer device drive circuit 720 as shown in FIG. 42c.
is transmitted, and the special tool holder 55a, which had been temporarily retracted upward by the transfer device 21C, is lowered to point O in FIG. 10 (FIG. 42d).

In addition, the hydraulic motor 95 shown in FIG.
Move 8 to the left.

When the inclined surface 94C of the fork portion 94b of the shifter 98 hits the side surface of the special tool holder 55a that is already on standby,
It is a so-called one-way locking body that is designed to be retracted as the shifter 98 moves to the left, and can come into contact with the side surface of the special tool holder when the shifter 98 moves to the right. Therefore,
The fork portions 94a and 94b can again hold the special tool holder 55a located at point O in FIG. 10 from both sides. According to block 696 in FIG. 38, the evacuation command 721 is transmitted from the special tool exchange preparation circuit 291 in FIG. 31 to the return tool transfer device drive circuit 720,
The special tool holder 55b of the tool T2 currently being processed by the tool transfer device 21C is retracted upward (FIG. 42e).

According to block 697 of FIG. 38, from the left end limit switch 544 of FIG. 1b1 to the tool change circuit 29 of FIG.
10, the spider arm 40 in FIG.
The tool 1T1L is taken out, rotated 180 degrees, and then inserted into the special tool holder 55a (FIG. 42e).

Thereafter, according to block 698 in FIG. 38, the special tool exchange preparation circuit 291 operates the hydraulic motor 95 in FIG.
Move right to point P.

Further, in accordance with block 699 in FIG. 38, a retraction release command 722 is transmitted to the return tool transfer device drive circuit 720, and the special tool 2 that has been retracted upward as shown in FIG. 42e is
The holder 55b (the tool holder holding the tool T2 currently being processed) is lowered to point O in FIG. 10 (FIG. 42g). (a-3) On the other hand, block 690 in FIG.
691, the evacuation command 721 has not been issued from the special tool exchange preparation circuit 291 to the return tool transfer device drive circuit 720, and by exchanging the used tool T1 with the next machining tool T2, the tool cannot be inserted into the spindle. When the loaded tool T2 is a general-purpose tool and is supplied from a tool storage magazine. is the 10th
The special tool holder 55a of the used and refurbished general-purpose tool T1 is placed on standby at the tool exchange preparation position TC3 in the figure.

Therefore, the general-purpose tool TIL that requires refurbishment is inserted into the special tool holder 55a by the spider arm 40 as is. Hereinafter, as indicated by the dotted line blocks in FIG. 42d-g, the special tool holder 55a is moved to point P in FIG. 10 by the shifter 98 according to block 692 in FIG. Block 6 in Figure 38
It is exactly the same as the 98 process.

The special tool holder 55a thus moved to point P in FIG. 10 is returned to the special tool loading position 23 in FIG. 1 by the return tool transfer device 21C (block 693,700) In this case, the tool return command 561 is transmitted to the computer 200, and the computer 200 transfers the tool 2 for return of the crane P file (FIG. 22).
The tool number T1 is recorded in carrier tool number recording address a of 1C.

In this case, since the tool requires refurbishment, an instruction to request refurbishment may be given to the tool room. (b) If the used tool number T1 is not recorded in the magazine file (Fig. 25) according to block 684 in Fig. 38, the used tool T1 is not a refurbished general-purpose tool but a special tool. , Based on the tool number T1 no command 308 in FIG. 31 and the tool exchange completion command 223, the spider arm 40 in FIG. 3 is used in accordance with the tool exchange operation as shown in the operation modes of FIGS. The finished tool T1 is returned to the special tool holder 55a.

However, even in this case, block 68 of FIG.
9, if the tool T2 inserted into the spindle is a special tool, it goes without saying that the special tool exchange preparation circuit 291 of FIG. 31 must be activated in accordance with the processes of blocks 694 to 700. (Fig. 42a-g). [
B] According to block 679 in FIG. 38, used tool numbers T1 and CR written in register F in FIG.
As a result of comparison with the tool number Tn read from the NM memory 282, if the tool numbers T1 and Tn do not match, the used tool T1 should be returned to the tool storage magazine,
CRNM memory read completion signal 23 from drive circuit 280
0 is applied to the tool change circuit 290 via gate G23. Thus, according to block 681 in FIG. 38, the spider arm 40 in FIG. The next process tool T2 held at 41L (tool exchange position TC2) is inserted into the spindle. Once the insertion is complete, block 68 of FIG.
2, a tool change completion signal 223 is given from the tool change circuit 290 to the computer 200, and the machining center 1 starts machining using the tool T2.

Moreover, since the used tool T1 is a general-purpose tool, the C
RNM memory read completion command 230 is given to tool storage magazine drive circuit 292 via gate G23 and gate circuit 295.

Furthermore, tool number T1 stored in register F is given to matching circuit 294 via gate circuit 295. Thus, the tool T1 storage address of the tool storage magazine 37 shown in FIG. 2 is brought to the tool exchange preparation position TCl.

In addition, a tool change completion signal 22 from the tool change circuit 290
3 is returned to the tool exchange circuit 290 again as a transfer command 314 to the tool storage magazine.

Thus, the spider arm 40 of FIGS. 2 and 3 pivots 2702 and transfers the used tool T1 to the tool insertion hole of the tool carrier 39 waiting at the tool exchange position TC2 of the arm. The tool carrier 39 that has received the used tool T is guided by the guide body 42 and moves to a position near the twin arm 38. Furthermore, the twin arm 38 inserts the used tool T4 of the tool carrier 39 into the storage address (tool storage magazine 37) of the tool T1 which is waiting at the tool exchange preparation position TCl. Block 68 in Figure 38
1, when the tool change completion signal 223 is output from the tool change circuit 290 of FIG. 31, the completion signal 223 is applied to the gate Gl3.

Therefore, the CRNM memory read command 226 is applied to the drive circuit 280 from the gate Gl3, and the gate Gl3 is applied to the drive circuit 280.
Register shift commands are given to Il and Gl2, respectively. Thus, the tool number stored in register G -
The tool number T2 stored in the register F and the tool number T3 stored in the register H are shifted to the register G, and the tool number T2 stored in the register H is shifted to the register G via the opened gate Gl3. T3 is provided to match circuit 288.

Ma. In addition, based on the CRNM memory read command 226 given to the drive circuit 280, the drive circuit 280 reads CRN.
Memory addresses in the M memory are sequentially designated, and numbers Tn of special tools and refurbished general tools stored from the CRNM memory 282 are given to the matching circuit 288. Hereinafter, the process of bringing the subsequent process tool T3 to the tool exchange position TC2 in FIGS. 3 and 10 and making it standby is exactly the same as the case where the tool number T2 is brought to the tool exchange position TC2.

(3) Effects of the Invention The present invention provides that the tools used in the spindle are supplied from both tool storage means via a single tool changer, and that the tools used in the main spindle are supplied from both tool storage means through a single tool changer, and that the tool is stored in which tool storage means before the tool is conveyed. Since the tool life is determined by comparing the tool execution time and determining the tool life, it is easy to control automatic tool transport in line with tool life management.

By adopting the structure of the present application, it is possible to accommodate an increase in the number of tools stored, and furthermore, it is possible to replace tools as spares, and it is also possible to replenish tools. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a mechanical layout diagram of an embodiment of the present invention.

Claims (1)

[Claims] 1: an automatic tool changer disposed on a column and exchanging tools at a raised position of the tool spindle at a tool change position of the tool spindle; a first tool storage means for storing a plurality of tools;
a first tool supply means for supplying tools from the tool storage means to a first tool change position of the automatic tool changer; and a second tool supply means disposed on the opposite side of the first tool storage means with the tool spindle in between. and a second tool storage means for supplying a second tool from the second tool storage means to a second tool changing position of the automatic tool changer.
a control device for causing an automatic tool changer to change tools between each of the tool change position of the tool spindle, the first tool change position, and the second tool change position, and a first tool storing a tool number in a first tool storing means of the machine tool and a position of the first tool storing means;
a second memory for storing the tool number in the second tool storage means of the machine tool corresponding to the work pallet number and the position of the second tool storage means, and a first memory corresponding to the work pallet. A third memory that stores the usage time of all the used tools stored in the tool storage means and the second tool storage means, and a lifespan of the used tools corresponding to the numbers of all the used tools for machining the input workpiece. A fourth memory stores time, accumulated usage time, and life determination information, a processing circuit that calculates the execution time of the used tool, and a third memory that stores the used tool in response to the tool request command of the used tool. In addition to comparing the memorized usage times of all used tools, the tool numbers stored in the first memory and the tool numbers stored in the second memory are also checked to ensure that the requested tool is the first or and a tool life management control means that detects which of the second tool storage means the tool is in and calculates the execution time of the tool and rewrites the usage time stored in the third memory. When the tool reaches the end of its life according to the tool life management control means, a new tool of the same specification and the new tool are called to a tool exchange position and both tools are replaced by a command from the tool life management control means. Tool life management device for machine tools.