JPS6357155A - Transport control method for work pallet in machine tool equipment - Google Patents

Abstract

PURPOSE:To enable the control of a work pallet to be performed only by a machining program in a machine tool side, by storing a load instruction of the work pallet to a machine tool in the machining program. CONSTITUTION:A load instruction of work pallets 9 of M1**, etc. to a machine tool 2 is left as stored in a machining program PRO. When this load instruction is read, on the basis of arranged conditions of the work pallet 9 in a work pallet storage means 10, pallet changer 3 and the machine tool 2, the optimum action pattern is determined from plural prepared action patterns. And it is constituted that the load action of the work pallet 9 to the machine tool 2 is performed on the basis of the above determined action pattern. That is, since the load action of the work pallet 9 to the machine tool 2 is executed on the basis of the instruction stored in the machining program PRO, the necessi ty for providing an exclusive use program for loading a work pallet 9 separate from the machining program PRO is eliminated.

Description

Detailed Description of the Invention (a) Industrial Field of Application The present invention is applicable to machine tool areas such as manning centers, work pallets and storage racks for storing work pallets, and connections between machine tools and work pants) and storage racks. The present invention relates to a work pallet transport control method suitable for application to machine tool equipment consisting of a work pallet transport robot or the like that transports work pallets between machines.

(b), Prior Art Conventionally, in this type of machine tool equipment, the transport management of work pallets between the work pallet storage rack and the machine tool weave 2 is created separately from the machining program for the machine tool area.i:
This is done by the ff1t control program.

(C) 0 Problems to be Solved by the Invention However, with this configuration, in order to operate the machine tool equipment properly, in addition to the machining program on the machine tool side, a control program to manage the work pallet is required. Therefore, the overall configuration was complicated, and the operation of the system required a lot of time and effort.

SUMMARY OF THE INVENTION In order to eliminate the above-mentioned drawbacks, the present invention aims to provide a work pallet management and control method in machine tool equipment that can manage work pallets and sorting only by the machining program on the machine tool side. It is.

(d) Means for solving the zero problem, that is, the present invention provides a method for solving the problem of Ml during the processing program (PROj).
** Work pallet (9) work tjJH4i (2
), and when the load command is read, the work pallet i-storage means (10) is stored.
, Pallet changer (3) and crafts! +1'12
2, the optimal movement pattern is determined from a plurality of movement patterns prepared in advance on the work pallet (9) based on the arrangement of the work pallet (9), and based on the determined movement pattern, the work pallet (9) is 9) Craft 8! [4(2)].

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

(e) 9 Effects With the above-described configuration, the present invention allows the loading operation of the work pallet (9) to the machine tool (2) to be performed by the machining program (
It acts to be executed based on the instructions stored in PRO.

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

Fig. 1 is a perspective view showing an example of machine tool equipment to which the present invention is applied, Fig. 2 is a control block diagram showing an example of a numerical control device in machine tool equipment to which the present invention is applied, and Fig. 3 is a flowchart showing an example of a pallet management program, FIG. 4 is a flowchart showing an example of a loading operation pattern determination subroutine, FIG. 5 is a flowchart showing an example of a pallet preparation pattern determination subroutine, and FIG. 6 is a flowchart showing an example of a pallet preparation pattern determination subroutine. Figure 7 is a schematic diagram showing the contents of the program file memory, Figure 8 is a diagram showing an example of a machining program, and Figure 9 is a diagram showing the workpiece pallet storage when a pallet load command is output. Figure 10 shows the presence status of work pallets in racks, pallet changers, and machine tools, and the corresponding work pallet transport patterns. Figure 11 shows the status of the work pallet in the pallet changer and machine tool and the corresponding conveyance pattern of the work pallet when the pallet return command is output. It is a figure showing the conveyance pattern of a work pallet.

As shown in Fig. 1, the machine tool equipment 1 has a machine tool 2 such as a machining center, and the machine tool 2 is supplied with a workpiece balent loaded with a workpiece into the machine tool, and is further provided with a workpiece balent loaded with a workpiece. two loaders 3a for discharging the workpieces loaded with the finished workpieces from;
A double pallet chain 3 consisting of 3a is provided. A rail 5 is laid on the machine tool 2, and a work pallet transfer robot 6 is installed on the rail 5.
is provided so as to be freely movable and driveable along the rail 5 in the direction of the arrow CSD. A carriage 7 is supported by the work pallet transfer robot 6 so as to be movable and driven in the vertical direction, that is, in the directions of arrows A and B.
In addition, the work pallet 9 can be transferred between the pallet changer 3 and a work pallet storage rack to be described later.

On the other hand, a work pallet storage rack 10 is provided along the rail 5, and the work pallet storage rack 10 has a work pallet storage shelf 10a that can store a work pallet 9 loaded with a work. They are arranged in five rows in the vertical direction and six rows in the left and right direction.

By the way, the numerical control equipment 8 of the machine tool 2 has a main control section 11 as shown in FIG. 2, and the main control section 11 has a pallet layout file memory 13, Pallet transport control section 15, mechanism control section 16,
A program file memory 17, a keyboard 19, etc. are connected to it, and it is further connected to an attempted robot control section 21 of the work pallet transport robot 6 via a line 20.

Since the machine equipment 1 has the above-described configuration, when the machine tool 2 processes the work on the work pallet 9 stored in the work pallet storage rack 10, the main control unit 11 executes the program file. The machining program PRO to be executed from now on is read out from the memory 17. As shown in FIG. 7, the program file memory 17 stores a plurality of machining programs PRO to be executed by the machine tool 2, each assigned a machining program number PNO, and the main control unit 11 Based on the machining program number PNO instructed from the keyboard 19 etc., the machining program PRO to which the corresponding machining program number PNO is attached is read out from the program file memory 17, and based on the pallet management program PMP shown in FIG. The machining program PRO is executed.

That is, in step S1, the palette management program PMP stores the program file memory 17 shown in FIG.
Reads the command of the first block of the four-gram program PRO read from the program. This first command is r M 101
J, and this command of M1+2 digits is considered to be a command to load the work pallet 9 to the machine tool in the machining program PRO. That is, in Mlol, the number 1 following the M code means a load command for the work pallet 9 to the machine tool + ft2, and the following two digit numbers mean the pallet number P T N of the work pallet 9 to be loaded. do.

Therefore, Mlol is a command to load the work pallet 9 whose pallet number P T N is 01 into the machine tool 2 .

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

Same below. ) is in the machining program PRO, the loading operation pattern determination subroutine SUB
1 is executed to determine the operation pattern for transporting the work pallet 9 to the machine tool +42.

That is, in step S3 of subroutine SUB 1,
As shown in FIG. 4, it is determined whether or not the work pallet 9 that has been instructed to be loaded is being set up by an operator. If the work pallet 9 is being set up, it is impossible to supply the work pallet 9, so wait for the set up to be completed in step S4, and when the set up is completed, the work pallet 9 is supplied in step S3. If it is determined that the workpiece pallet 9 is not in the setup stage, the process proceeds to step S5, and the workpiece pallet 9 is placed in the machine tool 2 ("Mashire" in the figure means the machine tool 2. The same applies hereinafter). If the work pallet 9 does not exist in the work + a [2, step S6 is entered, and the pallet changer (r 2 P CJ in the figure refers to the 12-series pallet changer 3
”. Same below. ) 3 to determine whether there is a work pallet 9 on it.

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

As shown in FIG. 6, the pallet layout file memory 13 stores a pallet layout file PLF, and the pallet layout file PLF indicates where each work pallet 9 currently exists. It is shown in correspondence with the pallet number PTN attached to.

In the pallet layout file PLF, 7L means setup on a loading station (not shown), rJ means inside the machine tool 2, and R means inside the storage rack 10.
"VP" means that the work pallet 9 is present on the pallet changer 3. Nao, rLj, rMJ
, rR", and rPj are identification numbers that indicate individual storage locations. For example, 1R3" indicates that the work pallet 9 is located in the storage shelf 10a with number 3 in the storage rack 10. There is. Therefore, by referring to the pallet layout file PLF, the current position of the work pallet 9 can be immediately known.

As a result of referring to the pallet layout file PLF in this way, if there is no work pallet 9 on the pallet changer 3, the operation pattern is determined to be 7aJ. That is, the operation pattern raJ is based on the pallet number PT commanded in the work pallet storage rank 10, as shown in FIG.
There are N work pallets 9, but there are no work pallets 9 (regardless of the pallet number P T N) in the pallet changer 3 and machine tool 2. In this case, the work pallet storage rack 10 and the work pallet Since there is no obstacle to loading the work pallet 9 between the machines 2, the pallet number PTN is transferred from the predetermined work storage shelf 10a of the work pallet storage rank 10 to the pallet changer 3 by the work pallet transfer robot 6. 01 work pallet 9 is transported, and then the pallet changer 3
is the operation pattern for supplying the work pallet 9 to the machine tool 2. The work pallet transport robot 6 is
The carriage 7 is driven to move in the directions of arrows A and B, and furthermore, the entire workpiece transfer robot 6 is mounted on the rail 5 and moved in the direction of arrow Fl]C
, D directions, the work pallet 9 is smoothly transferred between the work pallet storage rack 10 and the pallet changer 3.

Next, if the work pallet 9 is present on the pallet changer 3 in step S6, as shown in FIG.
In step S7, it is determined whether the work pallet 9 on the pallet changer 3 is the work pallet 9 that has been instructed to be loaded.

If the work pallet 9 on the pallet changer 3 is the work pallet 9 for which the code has been commanded, the execution of the M1** command will be completed by supplying the work pallet 9 into the machine tool 2. re the action pattern that should be done
” is decided. That is, the operation pattern "e" is a case where, as shown in FIG. 9, there is a work pallet 9 on the pallet changer 3 that has been instructed to load, but there is no work pallet 9 in the machine tool 2. The pallet changer 3 immediately supplies the work pallet 9 instructed to be loaded to the machine tool 2.

Further, in step S7, the work pallet 9 on the pallet changer 3 is changed to the work pallet 9 that received the load command.
If not, the motion pattern is determined to be rcJ. That is, in this case, as shown in FIG. 9, the work pallet 9 corresponding to the load command is stored in the work pallet storage rack 10, and there is another work pallet 9 on the pallet changer 3. Furthermore, this is a case where there is no work pallet 9 in the machine tool 2. Then, since the work pallet 9 on the pallet changer 3 becomes an obstacle to supplying a predetermined work pallet 9 to the machine tool 2, the work pallet 9 on the pallet changer 3 is first transferred to the work pallet by the work pallet transfer robot 6. The work pallet 9 is returned to the predetermined work pallet storage shelf 10a of the storage rack 10, and then the work pallet 9 corresponding to the load command is
The pattern is such that the pallet is supplied from the work pallet storage rack 10 to the machine tool 2 via the pallet changer 3.

Furthermore, if it is determined in step S5 in FIG. 4 that the work pallet 9 exists in the machine tool 2, the process proceeds to step S8, and the work pallet 9 in the machine tool 2 is loaded. It is determined whether the work pallet is 9 or not. If the work pallet 9 in the machine tool 2 is the work pallet 9 for which loading was instructed, it is determined that there is an error in the load command for M1** of the machining program PRO, an alarm is generated in step S9, and the work is stopped. Warn others. If the work pallet 9 in the machine tool 2 is not the work pallet 9 that was commanded to be loaded, the process goes to step 310, where it is determined whether or not there is a work pallet 9 on the pallet changer 3. If the work pallet 9 does not exist in , the movement pattern is determined to be ``rb''.

As shown in FIG. 9, the operation pattern "rb" means that the work pallet 9 in the load command is in the work pallet storage rank 10, there is no work pallet 9 on the pallet changer 3, and there is no work pallet 9 in the machine tool 2. Another work pallet 9
exists. In this case, unless the work pallet 9 in the machine tool 2 is loaded, a new work pallet 9 cannot be loaded, so the work pallet transfer robot 6 loads the work pallet 9 from the work pallet storage rank 10. At the same time, the pallet changer 3 exchanges the work pallet 9 supplied by the work pallet transfer robot 6 with another work pallet 9 in the machine tool 2, and the other work pallet 9 is replaced with a work pallet. Predetermined work pallet storage 44 by the transfer robot 6] 10 a
The operation is to return the

Next, if it is determined in step 310 that there is a work pallet 9 on the pallet changer 3, the process proceeds to step 311, in which it is determined whether the work pallet 9 existing on the pallet changer 3 is the work pallet 9 to be loaded. Determine. As a result, the work pallet 9 existing on the pallet changer 3 is the work pallet 9 to be loaded.
If it is determined that it is not, the movement pattern is “d
” be decided.

Operation pattern rdJ: As shown in FIG. In this case, unless the work pallet 9 on the pallet changer 3 is removed first, a load command is issued and the work pallet 9 cannot be loaded. Therefore, after the work pallet transfer robot 6 returns another work pallet 9 on the pallet changer 3 to the predetermined work pallet storage @ 10a, the work pallet 9 on which the load command has been issued is transferred to the work pallet 9. The work pallet 9 is transferred from the storage rack 10 onto the pallet changer 3, and the pallet changer 3 exchanges the supplied work pallet 9 with another work pallet 9 in the machine tool 2, and then replaces the supplied work pallet 9 with another work pallet 9 in the machine tool 2.
is supplied to machine tool wt2, and until then machine tool wt2
The work pallet 9 inside is returned to the work pallet storage rack 10.

Furthermore, if the work pallet 9 existing on the pallet changer 3 is the work pallet 9 to which the load command was issued in step 311, the operation pattern becomes rfJ.

That is, the operation pattern "rf" is a case where there is a work pallet 9 to be rowed on the pallet changer 3 and another work pallet 9 in the machine tool 2, as shown in FIG. To do this, move the pallet changer 3 9 to exchange the work pallet 9 in the machine tool 2 with the work pallet 9 to be loaded on the pallet changer 3, and replace the other work pallet 9 that was in the machine tool 2 until then. Return it to the storage rack 10.

In this way, the barin it-1 sending control unit 15 transfers the par-so-to-layout files P L Fr, Q reference 1 in the pallet layout file memory 13 . After determining the operation pattern for transporting the work pallet 9 using the SUB 1, the main control unit 11 executes steps 312 and S13 of the pallet management program PMP.
Then, the work pallet 9 is loaded based on the operation pattern determined in the subroutine SUB1.
Instructs the feeding robot control section 21 and mechanism control section 16. In response to this, the transfer robot control unit 21 and mechanism control unit 16 start the transfer operation of the work pallet 9 by driving and controlling the work pallet transfer robot 6 and the pallet changer 3, respectively. In addition, in the case shown in steps 312 and 313, the operation pattern is ra.
” is the case. Next, in step 314, the next block of the machining program PRO is read out, and as shown in FIG. 8, the command 7M202J is stored in this block.

This command rM2**J is a command to prepare the work pallet 9 on the pallet changer 3 in the machining program PRo. That is, in M2O2, the number 2 following the M code indicates the pallet changer 3 of the work pallet 9.
The following two-digit number means the pallet number PTN of the work pallet 9 to be loaded.

Therefore, M2O2 is a command to prepare the work pallet 9 whose pallet number PTN is 02 on the pallet changer 3.

In this way, the main control unit 11 controls the pallet t when the rM2**j round command is in the machining program PRO.
? i? Execute the pallet preparation pattern determination subroutine 5UB2 for the transport IJN section 15 to determine the operation pattern for conveying the work pallet 9 to the pallet changer 3. Note that M2O2 in step 314
After reading out, the main control unit 11 proceeds to step 315, and instructs the mechanism control unit 16 to read the work pallet 9 in the machine tool w, 2 (in the case of the machining program PRO in FIG. 8, the pallet number PTN is 01). In response to this instruction, the mechanism control unit 16 executes the machining command collection COD consisting of a plurality of machining commands stored following M202 of the machining program PRO, and performs the machining. Machine 2
A predetermined process is performed on the workpiece on the workpiece pallet 9 inside.

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

If the work pallet 9 is being set up, it is impossible to prepare the work pallet 9 for the pallet changer 3.
Wait for the completion of the setup in step S17, and if the setup is completed or if it is determined in step 316 that the work pallet 9 is not being setup, the workpiece valent 9 is transferred to the pallet changer 3 in step S17.
Determine whether it is above. If the work pallet 9 is not on the pallet changer 3, the operation pattern is rg
It is determined that J.

As shown in FIG. 10, operation pattern "g" is a case where there is a commanded work pallet 9 in the work pallet storage rack 10 and there is no work pallet 9 on the pallet changer 3. In this case, , the work pallet transfer robot 6 transfers the instructed work pallet 9 from the work pallet storage rack 10 onto the pallet changer 3.

Next, in step 318, if it is determined that there is a work pallet 9 on the pallet changer 3, the process proceeds to step 319 to determine whether the work pallet 9 on the pallet changer 3 is the instructed work pallet 9. Determine whether Work pallet 9 on pallet changer 3
If it is the commanded work pallet 9, the target work pallet 9 is already prepared on the pallet changer 3, so no operation is performed.
If the work pallet 9 on the pallet changer 3 is not the commanded work pallet 9, the operation pattern is "
h” is determined.

As shown in FIG. 10, "operation pattern 7h" is a case where there is a commanded work pallet 9 in the work pallet storage rack 10 and another work pallet 9 on the pallet changer 3. Since the work pallet 9 on the pallet changer 3 is an obstacle to executing the preparation command, the work pallet transport robot 6 first stores the work pallet 9 on the pallet changer 3 in a predetermined work pallet storage rack 10. The work pallet 9 is returned to the shelf 10a, and then the work pallet 9 that has been commanded is fed onto the pallet changer 3 by the work pallet transport robot 6.

In this way, the pallet transport control unit 15 issues the preparation command M2**
After determining the operation pattern corresponding to the operation pattern, the main control section 11 immediately instructs the transfer robot control section 21 to perform a preparation operation for the work pallet 9 based on the determined operation pattern. As a result, a workpiece to be processed next is prepared on the pallet changer 3 while the mechanism control section 16 is processing the workpiece.

The main control unit 11 also operates a pallet management program PMP.
At step 320, the workpiece pallet 9 in the machine tool 2 is
The workpiece mounted on the (machining program P shown in Figure 8)
In the case of RO, it is monitored whether machining of the workpiece (work mounted on workpiece pallet 9 with pallet number PTN 01) has been completed, and if it is determined that machining of the workpiece has been completed, the process proceeds to step 321. Enter 9, machining program PRO
The command M1O2 stored in the next block of the machining command set COD whose pallet number PTN corresponds to 01 is read. As mentioned above, the M1** command is a command to load the work pallet 9 to the machining +
Execute UB 1 to determine the operation pattern at that time. In this case, the workpiece to be processed next is prepared on the pallet changer 3 due to the preparation command from M2**, so the operation pattern is "rf".
In step 322, the pallet changer 3 is driven via the mechanism control unit 16, the workpiece pallet 9 with pallet number PTN 02 is loaded into the machine tool 2, and the workpiece with pallet number PTN 01 that has been processed is loaded into the machine tool 2. The loaded work pallet 9 is pulled out onto the pallet changer 3.

Next, the main control unit 11 reads the next command block of the machining program PRO in step 323, and this block stores a preparation command for the M2O3 Naro work pallet 9, as shown in FIG. . Therefore, the main control unit 11 instructs the mechanism control unit 16 to process the newly supplied work pallet 9 using the machining program PRO.
At the same time, in step S25, the machined workpiece is loaded on the pallet changer 3 based on the operation pattern "f". The transfer robot controller 21 is instructed to return the work pallet 9 with pallet number PTN 01 to the predetermined work pallet storage shelf 10a.

In this way, when step S25 is executed, the main control unit 1
1 causes the pallet transport control section 15 to determine an operation pattern based on the preparation command of M2O3 using subroutine 5UB2. In this case, the operation pattern is "g", and the command work pallet 9 (pallet number PTN is 03
) is fed onto the pallet changer 3 in step 326.

In step 327, the main control unit 11 constantly monitors whether machining of the workpiece on the workpiece pallet 9 with pallet number P T N of 02 in the machine tool 2 has been completed, and when the machining of the workpiece has been completed, In step S28, the next command M1O3 is further read.

Since M1** is a load command for the work pallet 9, the main control unit 11 sends a subroutine 5U to the pallet transport control unit 15.
The operation pattern is determined by BI. In this case, M2
Since the work pallet 9 with pallet number PTN 03 has already been supplied to the pallet changer 3 by the O3 command, the operation pattern becomes "f" and step 329
At step 330, the work pallet 9 with the pallet number PTN 03 is supplied to the machine 81 and the M1O
Processing is performed using the processing command set COD following the third command, and the work pallet 9 carrying the processed work is returned to the work pallet storage shelf 10a according to the operation pattern [fJ in step 331. In this case, since there is no M2** command after the M1O3 command, the new work pallet 9
is not prepared on the pallet changer 3.

In step S32, the main control unit 11 selects the pallet number P T
It is determined whether or not the machining of the workpiece mounted on the workpiece pallet 9 whose N is 03 has been completed. If it is determined that the machining has been completed, in step 333, the machining program PRO is executed.
The command M100 of the next block is read. This command is a machine tool lol! This is a command to return all the work pallets 9 in the pallet changer 2 and on the pallet changer 3 to the work pallet storage shelf 10a, and there are three types of operation patterns as shown in FIG. That is, the main control unit 11 controls M
When the 100 command is read, the pallet transport control unit 1
5 to determine an operation pattern.

As shown in FIG. 11, when there is a work pallet 9 on the pallet changer 3 and in the machine tool 2, the knee feed control unit 15 sets the operation pattern to "l" and first moves the pallet changer Return the work pallet 9 on machine tool 3 to the work pallet storage rack 10, and then
The work pallet 9 inside is pulled out onto the pallet changer 3 and returned to the work pallet storage rack 10 by the work pallet transport robot 6. In addition, when there is a work pallet 9 on the pallet changer 3 and there is no work pallet (9) in the machine tool 2, the operation pattern "J" returns only the work pallet 9 on the pallet changer 3 to the work pallet storage rack 10. ”. Furthermore, if there is no work pallet 9 on the pallet changer 3 (or if there is a work pallet 9 in the machine tool 2, then after pulling out the work pallet 9 in the machine tool 2 onto the pallet changer 3, The operation pattern rk is for returning the work pallet to the work pallet storage rack 10.

In this way, when the pallet transport control unit] 5 determines the operation pattern based on the M100 command, the main control unit 11 causes the mechanism control unit 16 and the transport robot control unit 21 to move the work pallet 9 based on the determined operation pattern. A command is issued to perform a return operation to the work pallet storage rack 10, and predetermined operations are performed in steps 334 and 335 (in this case, operation pattern rk''), and the execution of the machining program PRO is completed.

(g) 0 Effects of the Invention As explained above, according to the present invention, a command to load the work pallet 9 such as M1** to the machine tool 2 is stored in the machining program PRO, and the load command is stored in the machining program PRO. When the command is read, the optimum operation pattern is selected from a plurality of pre-prepared operation patterns based on the arrangement of the work pallets 9 in the work pallet storage means such as the work pallet storage rack 10, the pallet changer 3, and the machine tool 2. Since the operation pattern is determined and the loading operation of the work pallet 1-9 to the machine tool 2 is performed based on the determined operation pattern, the loading operation of the work pallet 9 to the workpiece rAllllR2 is performed in the machining program. It is now possible to issue commands in PRO, eliminating the need for a dedicated program to load the work pallet 9 that is separate from the machining program PRO, making it possible to transport work pallets in machine tool equipment easily and without the hassle of system operation. It becomes possible to provide a control method.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing an example of machine tool equipment to which the present invention is applied, Fig. 2 is a control block diagram showing an example of a numerical control device in machine tool equipment to which the present invention is applied, and Fig. 3 is a perspective view of a machine tool equipment to which the present invention is applied. Flowchart showing an example of the management program; FIG. 4 is a flowchart showing an example of the loading operation pattern determination subroutine; FIG. 5 is a footyard showing an example of the pallet preparation pattern determination subroutine; FIG. FIG. 7 is a schematic diagram showing the contents of the program file memory. FIG. 8 is a diagram showing an example of a machining program. FIG. 9 is a diagram showing the work pallet storage rack when a pallet load command is output. Pallet changer and craft 13! Figure 10 shows the presence of work pallets in the work pallet storage rack and pallet changer when the valent preparation command is output. Figure 11 shows the status of the work pallet in the pallet changer and machine tool when the pallet return command is output, and the corresponding work pallet transport pattern. FIG. 1... Machine tool equipment 2... Machine tool 6... Work pallet transfer means (work pallet transfer robot) 9 - Work pallet 10 Work pallet storage means (work pallet storage rack) 1N 11 examples Handcraft β Figure 5 5 UB2 Figure 6 Figure 7 Figure 18 RO Work

Claims (1)

[Claims] A work pallet storage means for storing a work pallet, a machine tool, and a work pallet for supplying and supplying the work pallet to the machine tool.
In machine tool equipment having a pallet changer for discharging and a work pallet transport means for transporting the work pallet between the work pallet storage means and the pallet changer, a command for loading the work pallet to the machine tool is stored in the machining program. After the load command has been read, the optimal operation pattern is determined from a plurality of previously prepared operation patterns based on the arrangement of the work pallets in the work pallet storage means, pallet changer, and machine tool. A method for controlling the transport of a work pallet in machine tool equipment, the method comprising: loading the work pallet onto the machine tool based on the determined operation pattern;