Machine tool

Abstract

To provide a machine tool that allows a user to easily find a robot point to be set.SOLUTION: A machine tool disclosed herein includes a user interface, a robot that transports a workpiece, and a control device that controls movement of the robot. The control device executes a movement process for moving the robot based on the coordinates of a robot point that is associated with a position to which the robot moves, a current position change process for controlling the robot based on an operation input to the user interface and changing the current position of the robot, and a display process for displaying a robot point that is close to the current position of the robot, among multiple robot points displayed, differently from the other robot points when a list of the robot points is displayed on the user interface.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present disclosure relates to a technique for setting coordinates related to the movement of a robot.

Background Art

[0002] The following Patent Document 1 describes a technique for creating a loader program for controlling an autoloader device. The interactive input type loader control device of Patent Document 1 displays the relative position data between the main unit of the NC device and the autoloader device on the CRT screen, and accepts the point data for the autoloader to move in a form that answers questions while displaying this, and creates a loader program based on the accepted point data.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Robots such as autoloader devices execute the transfer of workpieces between multiple devices. Machine tools are installed with various devices according to the functions and performance required for the machine tool, such as a workpiece spindle device, a turret device, a tool spindle device, a reversing device, and a measuring device. When registering the movement destination of the robot as a robot point, the number of registered robot points and the registration order vary depending on the configuration of the machine tool. For this reason, when a user wants to move the robot and set the coordinates of the movement destination as the coordinates of an arbitrary robot point, there is a problem that an operation of searching for the desired robot point from among the registered robot points occurs.

[0005] The present disclosure has been made in view of the above problems, and an object thereof is to provide a machine tool that can easily find a desired robot point.

Means for Solving the Problem

[0006] To solve the above problems, this specification provides a machine tool comprising a user interface, a robot for transporting workpieces, and a control device for controlling the movement of the robot. The control device performs a movement process for moving the robot based on the coordinates of a robot point that associates the position where the robot moves with coordinates, a current position change process for controlling the robot based on an operation input to the user interface and changing the current position of the robot, and a display process for, when displaying a list of the robot points on the user interface, displaying a robot point close to the current position of the robot in a display different from that of the other robot points.

Advantages of the Invention

[0007] According to the machine tool of the present disclosure, when a list of robot points is displayed, a robot point close to the current position of the robot is displayed differently from the other robot points. Therefore, the user can relatively easily find a robot point close to the current position of the robot by checking the difference in the display modes of the robot points. By checking the list after moving the robot to the position to be registered, the desired robot point can be found and the registration of the coordinates can be smoothly performed.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Best Mode for Carrying Out the Invention

[0009] Hereinafter, an embodiment embodying the machine tool of the present disclosure will be described in detail with reference to the drawings. FIG. 1 is a front view of a machine tool 10 according to this embodiment. FIG. 2 is a block diagram of the machine tool 10. As shown in FIGS. 1 and 2, the machine tool 10 of this embodiment can be equipped with optional devices such as an inlet device 15, an outlet device 17, and a work table (hereinafter referred to as a "table") 18 in addition to a main body device 11 and a robot 13. Further, FIG. 1 transparently shows a part of the devices and equipment (such as a rail base 26) provided in each device. In the following description, as shown in FIG. 1, with reference to the direction of viewing the machine tool 10 from the front, the left-right direction horizontal to the installation surface 19 of the device in the machine width direction is defined as the X-axis direction, the front-back direction parallel to the installation surface 19 of the device and perpendicular to the left-right direction is defined as the Y-axis direction, and the up-down direction perpendicular to the X-axis direction and the Y-axis direction is defined as the Z-axis direction for explanation.

[0010] The machine tool 10 is arranged in the order of an inlet device 15 for loading a work W, a main body device 11, a table 18 for arranging the work W to check the processed work W, and an outlet device 17 for discharging the work W from right to left in the X-axis direction. The main body device 11 includes, for example, a turret device 21 (see FIG. 2) and a work spindle device 22 (see FIG. 2) inside the device, and processes the work W chucked by the work spindle device 22 with a cutting tool (such as a tool bit or a rotary tool) of the turret device 21. A slide door 24 and an operation panel 25 are provided on the front surface of the main body device 11. A processing space in which the turret device 21 and the work spindle device 22 are arranged is provided behind the slide door 24. The operation panel 25 includes, for example, a touch panel 20 (see FIG. 2) and an operation unit 23 (see FIG. 2), and executes display of information related to the machine tool 10 and reception of operation instructions. As the operation unit 23, various operation devices such as a changeover switch, a button, a slide switch, and a rotary switch can be adopted. In particular, in this embodiment, the machine tool 10 receives the coordinates of the robot point on a setting screen of the robot point, which will be described later, by the touch panel 20 (see FIG. 4).

[0011] The operation panel 25 is an example of the user interface of the present disclosure. Note that the user interface of the present disclosure is not limited to the configuration of the above-described operation panel 25. For example, as the user interface of the present disclosure, a configuration including a display device that only executes display such as an LCD or an organic EL panel and an operation unit 23 may be used. Further, the user interface may be a portable device such as a teaching pendant.

[0012] The robot 13 executes the transfer of the workpiece W between the inlet device 15, the workpiece spindle device 22 of the main body device 11, the mounting table 18, and the outlet device 17. The robot 13 is, for example, a gantry-type workpiece transfer device (which can also be called a loader), and moves the movable part 27 in the left-right direction along a rail base 26 provided on the upper part of the main body device 11. The robot 13, for example, engages a pinion fixed to the output shaft of a traveling motor 28 (see FIG. 2) built in the movable part 27 with the tooth part of a traveling rack provided on the rail base 26, thereby sliding the movable part 27 in the X-axis direction. Further, the robot 13 includes a lifting device 29 (see FIG. 2) for moving the movable part 27 in the vertical direction, and by driving the lifting device 29, the movable part 27 can be moved in the Z-axis direction. Further, the robot 13 includes a slide device 30 (see FIG. 2) for moving the movable part 27 in the front-rear direction, and by driving the slide device 30, the movable part 27 can be moved in the Y-axis direction. Note that the configuration of the mechanism (such as the lifting device 29 and the slide device 30) for moving the movable part 27 in each of the XYZ axis directions is not particularly limited. For example, the moving mechanism may be a configuration using a motor or a rack mechanism, or a configuration using a rail or a linear motor.

[0013] At the lower end of the movable part 27, for example, a pair of chuck mechanisms 31 (see FIG. 2) are attached. Each of the pair of chuck mechanisms 31 includes claws for clamping the workpiece W and executes the transfer of the workpiece W with other devices. The position and coordinates of the robot point of the present disclosure indicate, for example, the position and coordinates where the chuck mechanism 31 of the movable part 27 moves. Therefore, the current position of the robot 13 in the following description means, for example, the current position of the chuck mechanism 31. Note that the definition of the position and coordinates of the robot point and the definition of the current position of the robot 13 are not limited to the above definitions and may be appropriately changed according to the configuration of the machine tool 10 and the like.

[0014] Also, the configuration of the robot of the present disclosure is not limited to the configuration of the robot 13 described above. For example, the robot 13 may have a configuration including only one chuck mechanism 31 or a configuration including three or more chuck mechanisms 31. Also, for example, the axis along which the robot 13 (chuck mechanism 31) moves is not limited to the XYZ axis directions. The axis along which the robot 13 moves may be, for example, two-axis directions of the X-axis direction and the Z-axis direction. Also, the moving axis is not limited to a slide axis (a linearly driven axis), and may be a so-called A axis that rotates about the X axis, a so-called B axis that rotates about the Y axis, or a so-called C axis that rotates about the Z axis. Therefore, as the coordinates of the robot point of the present disclosure, coordinates obtained by combining various slide axes and rotation axes for moving the robot 13 can be adopted.

[0015] In addition, the inlet device 15 includes a transfer device 32 that grips the workpiece W and moves it in the X-axis direction. The transfer device 32 can receive the workpiece W from, for example, a workpiece stocker (not shown), a device in the previous process (not shown), a user, etc. at a receiving position provided behind the door 33. The transfer device 32 moves leftward from the receiving position and transfers the workpiece W to the robot 13 at the leftmost transfer position (the receiving position of the robot 13 at "P02" in FIG. 3). Further, the outlet device 17 includes a receiving device 35 that grips the workpiece W and moves it in the X-axis direction. The receiving device 35 receives the workpiece W from the robot 13 at the rightmost receiving position that has moved rightward from the transfer position behind the door 36 (the transfer position of the robot 13 at "P02" in FIG. 3). After receiving the workpiece W at the receiving position, the receiving device 35 moves leftward and transfers the workpiece W to a device in the subsequent process (not shown), etc. at the transfer position behind the receiving door 36. The pedestal 18 is provided on the left side of the main body device 11, exposing the slide member 39 from the opening 38A of the fence 38. By pulling out the slide member 39 downward toward the front side, the temporarily placed workpiece W can be confirmed. Note that the configuration of the machine tool 10 described above is an example. For example, the machine tool 10 may include a measuring device for measuring the outer diameter of the workpiece W after processing, a cleaning device for cleaning the workpiece W, etc. Also in this case, the robot points described later can be set as the target positions for moving to each device.

[0016] (Control device 41) Next, the control device 41 provided in the main body device 11 will be described with reference to FIG. 2. As shown in FIG. 2, the machine tool 10 includes a control device 41 and a plurality of drive circuits 43 that connect each of the above-described devices (robot 13, inlet device 15, outlet device 17, pedestal 18, turret device 21, workpiece spindle device 22, operation panel 25). Note that the connection configuration in the block diagram of FIG. 2 is an example. For example, all the drive circuits 43 connected to each device may be installed inside the main body device 11.

[0017] The control device 41 includes a numerical control device 45 and a PLC 46. The numerical control device 45 includes a CPU 47 and a storage device 48. The storage device 48 includes, for example, a RAM, a ROM, a flash memory, etc. Note that the configuration of the storage device 48 is not limited to the above-described configuration, and may be a configuration including an HDD or an SSD, a configuration including an external storage device such as a USB memory, a storage medium such as a DVD-RAM, or a configuration combining these.

[0018] The storage device 48 stores a plurality of NC programs 53 for numerically controlling the operations of the robot 13, the turret device 21, the work spindle device 22, etc. in the machining of the work W. In this embodiment, in particular, the NC program 53 for controlling the robot 13 will be described. For this reason, in the following description, when the NC program 53 is described, it shall mean the NC program 53 for controlling the robot 13.

[0019] The control device 41 is electrically connected to each of the above-described devices via a drive circuit 43 and can control each device. The drive circuit 43 is, for example, an amplifier circuit that executes amplification or the like of a signal input from the operation panel 25 if it is the drive circuit 43 connected to the operation panel 25. Further, the drive circuit 43 is, for example, a driver circuit (servo amplifier) that changes the power (such as three-phase alternating current) supplied to each motor (such as a servo motor), based on an instruction signal (such as a moving speed) of the control device 41, if it is the drive circuit 43 connected to a motor such as the traveling motor 28 of the robot 13. The numerical control device 45 executes the NC program 53 with the CPU 47 and outputs and controls an instruction signal to the drive circuit 43 (driver circuit) according to the numerical command described in the NC program 53. The drive circuit 43 (driver circuit) executes feedback control to change a three-phase alternating current based on, for example, encoder information of an encoder attached to each servo motor and an instruction signal of the control device 41, and notifies the numerical control device 45 of completion of processing or the like. Thereby, the control device 41 slides and moves the robot 13 (chuck mechanism 31) to a desired position along each of the X-axis, Y-axis, and Z-axis based on the numerical control by the numerical control device 45. Note that the drive source for sliding and moving each device is not limited to a servo motor, and other drive sources such as a stepping motor and a linear motor can be adopted. The PLC 46 is a Programmable Logic Controller and is connected to the numerical control device 45 via a communication bus 59. The PLC 46 executes, for example, a ladder program and performs sequence processing on various signals by a ladder circuit. The PLC 46 executes relay (input / output) of signals between the external I / O provided in the machine tool 10 and the numerical control device 45.

[0020] In addition to the NC program 53, the storage device 48 stores a display control program 55 for changing the display content of the operation panel 25, point data 56, and various other data (not shown in the figure) necessary for other machining. The display control program 55 is a program for changing the display content of the touch panel 20 of the operation panel 25. The display control program 55 executes display processing such as displaying a setting screen 71 (see FIG. 4) that receives the coordinate values registered in the point data 56. Note that the storage destinations of the display control program 55 and the point data 56 are not limited to the storage device 48, and other storage devices, for example, the storage device of the PLC 46, an external storage connected to the machine tool 10, a network storage, etc. may be used.

[0021] (Regarding the point data 56) Next, the point data 56 will be described. FIG. 3 shows the data registered in the point data 56. As shown in FIG. 3, the point data 56 stores data related to the robot point RP. In the point data 56, a point number 63, a position 64, an X-axis coordinate 65X, a Z-axis coordinate 65Z, and a Y-axis coordinate 65Y are stored in association with each other. The point data 56 is, for example, a database that associates information such as these point numbers 63 as one record and stores records for each robot point RP.

[0022] One record corresponds to the robot point RP to which the robot 13 (chuck mechanism 31) moves. The robot point RP is, for example, information associating the movement destination position 64 for moving the robot 13 with the coordinates (X-axis coordinate 65X, Z-axis coordinate 65Z, Y-axis coordinate 65Y) of that position 64. Note that the robot point RP is not limited to information associating a position with coordinates, and may be other information associating coordinates with information for identifying those coordinates, for example, information associating the point number 63 (number) with the coordinates (X-axis coordinate 65X, Z-axis coordinate 65Z, Y-axis coordinate 65Y).

[0023] The point number 63 is an identification number for identifying the position 64, that is, a number capable of identifying the robot point RP, and a unique number is set for each position 64. For example, in the example shown in FIG. 3, the point numbers 63 are set in ascending order of P01, P02, P03, ··· from top to bottom in FIG. 3. The control device 41 can register, for example, 50 robot points RP from P01 to P50 of the point number 63. Note that the information for identifying the position 64 (robot point RP) is not limited to numbers, and may be characters such as alphabets or combinations thereof.

[0024] The position 64 is the position and name of the robot point RP indicated by the point number 63. The position 64 is, for example, the original position (P01) which is the initial position of the robot 13, a position where the transfer of the work W occurs such as the receiving position (P02) where the work W is received from the inlet device 15 to the robot 13. Further, the position 64 is, for example, the stop position (P05) where the robot 13 stops to change the moving direction. Alternatively, the position 64 is, for example, a position (P06) where the work W is removed from the robot 13 and temporarily placed to correct the posture and phase, a position (P07) where the chuck mechanism 31 is driven to correct the posture and phase and the work W is gripped again, a turning position (not shown) where the direction of the chuck mechanism 31 is changed, and the like. Therefore, as the position 64, various positions of the movement destination of the robot 13 can be adopted. Further, as the position 64, a name such as "point 8" where the specific name of the movement destination of the robot 13 is not determined may be an initial set point. Also, as described above, when the robot 13 moves on the A axis, B axis, etc., the position 64 becomes the position when moving in the rotation direction.

[0025] The X-axis coordinate 65X is the coordinate in the X-axis direction of the robot point RP indicated by the point number 63. The Z-axis coordinate 65Z is the coordinate in the Z-axis direction of the robot point RP indicated by the point number 63. The Y-axis coordinate 65Y is the coordinate in the Y-axis direction of the robot point RP indicated by the point number 63. The coordinates are, for example, absolute coordinates with respect to a predetermined reference position of the machine tool 10. As the unit of the coordinates, for example, mm can be adopted. By changing this X-axis coordinate 65X, Z-axis coordinate 65Z, and Y-axis coordinate 65Y, the user can change the coordinates (variables) of the NC program 53 and adjust the position of the robot 13 after moving to each robot point RP. For example, the point data 56 is set by the operator of the manufacturer of the machine tool 10 when the machine tool 10 is installed, and then adjusted by the user according to the position of the robot 13, the shape of the workpiece W, and the like.

[0026] (Regarding the reception of the coordinates of the robot point RP) Here, the destination of the movement of the robot 13 varies depending on the type of the workpiece W, the configuration of the optional device, and the like. For this reason, the coordinates of the destination set in the NC program 53 vary depending on the type of the workpiece W and the optional device. On the other hand, when the movement destination of the robot 13 can be almost covered by, for example, 50 types of robot points RP for various types of workpieces W and configurations of optional devices (such as the inlet device 15 and the pedestal 18), it is effective for the machine tool 10 side to manage the robot points RP. For example, by associating the robot point RP with the variable indicating the movement destination of the NC program 53, without directly changing the coordinates of the NC program 53, by changing the coordinates of the robot point RP managed by the machine tool 10 on the operation panel 25, the change of the coordinates for various NC programs 53 can be executed collectively.

[0027] The memory device 48 stores, for example, a plurality of point data 56 associated with each of a plurality of NC programs 53. Each of the plurality of point data 56 has registered therein robot points RP of P01 to P50. Further, the coordinates of the robot points RP set in the point data 56 are associated with the variables of the NC program 53. The user changes the NC program 53 used for machining, for example, according to the setup change for changing the workpiece W to be machined. The control device 41 reads, for example, the NC program 53 designated by the user from the memory device 48, and calls the point data 56 (robot points RP) associated with the NC program 53 to be read. The user can change the coordinates of the robot points RP used by appropriately changing the coordinates of the robot points RP. For example, when the numerical control device 45 of the control device 41 executes the NC program 53, according to the definition of variables (the rule for substituting the coordinates of the robot points RP into the variables), the coordinates of the robot points RP associated with the variables are set in the variables included in the NC program 53 and executed. For example, the numerical control device 45 sets the X-axis coordinate 65X of a predetermined point number 63 in a predetermined variable and executes the G code with the variable as an argument. The numerical control device 45 moves the robot 13 to the coordinates of the robot points RP by executing the NC program 53 (an example of the movement process of the present disclosure). Thereby, when using the same NC program 53 or similar NC programs 53 in machining workpieces W having similar shapes, such as workpieces W having different lengths, it is possible to cope with the change of the workpiece W only by adjusting the coordinates of the robot points RP. Further, this change is applied to a plurality of NC programs 53 using the same variables. Therefore, the coordinates set in each of the plurality of NC programs 53 can be collectively changed by the robot points RP. Further, by changing the coordinates of the robot points RP associated with each of the plurality of NC programs 53, when the same point number 63 is called by a variable, the movement destination can be changed for each NC program 53.

[0028] Figure 4 shows a setting screen 71 for setting the coordinates of the robot point RP. The control device 41 executes a display control program 55 based on a predetermined operation on the operation panel 25, and causes the setting screen 71 to be displayed on the touch panel 20. Further, the control device 41 accepts changes in the X-axis coordinate 65X, Z-axis coordinate 65Z, and Y-axis coordinate 65Y of each robot point RP on the setting screen 71. Further, the control device 41 executes the display control program 55 and performs the highlighting described later. In FIG. 4 and FIG. 5 described later, in order to avoid making the drawing complicated, zero is described for all setting values.

[0029] As shown in FIG. 4, the control device 41 displays, for example, in order from the left of the setting screen 71, a robot point column 73, a position display column 74, an X coordinate input section 75X, a Z coordinate input section 75Z, a Y coordinate input section 75Y, a current position input button 78, a deceleration distance input section 79, and a deceleration override input section 80. The control device 41 reads the point data 56 from the storage device 48 and displays the point number 63, the position 64, the X-axis coordinate 65X, the Z-axis coordinate 65Z, and the Y-axis coordinate 65Y in the robot point column 73, the position display column 74, the X coordinate input section 75X, the Z coordinate input section 75Z, and the Y coordinate input section 75Y, respectively. For example, when the identification number of the NC program 53 is specified by the user according to the setup change, the control device 41 reads the point data 56 associated with the specified NC program 53 and displays it on the setting screen 71. Note that the control device 41 may use the same point data 56 for all NC programs 53 or a plurality of NC programs 53.

[0030] The control device 41 displays each piece of data in ascending order of the point number 63, from top to bottom in sequence. The control device 41 receives the values of each coordinate at each of the X coordinate input unit 75X, Z coordinate input unit 75Z, and Y coordinate input unit 75Y (hereinafter sometimes referred to as coordinate input units 75X to 75Z). When the setting button 81 displayed on the setting screen 71 is operated, the control device 41 sets the coordinates input to each of the coordinate input units 75X to 75Z as the coordinates in each axis direction (such as the X-axis coordinate 65X, etc.) and updates the point data 56. Note that the timing for updating the point data 56 is not limited to this timing. For example, the control device 41 may update the point data 56 when coordinates are input to the coordinate input units 75X to 75Z.

[0031] In addition, the control device 41 displays current position display units 83X, 83Z, 83Y that display the XYZ coordinates of the current position of the robot 13 (movable part 27) above the coordinate input units 75X to 75Z. The control device 41 displays the X coordinate, Y coordinate, and Z coordinate of the robot 13 on the current position display units 83X, 83Y, 83Z in this order. When the operation panel 25 or the like is operated and the current position of the robot 13 is changed, the control device 41 changes the coordinates of the current position display units 83X, 83Y, 83Z according to the changed current position. When an arbitrary current position input button 78 among the current position input buttons 78 displayed in each row indicating the robot point RP is operated, the control device 41 inputs the XYZ coordinates displayed on the current position display units 83X, 83Z, 83Y to the coordinate input units 75X to 75Z in the same row as the operated current position input button 78. That is, the current position of the robot 13 is input as the coordinates of the robot point RP for which the current position input button 78 has been operated.

[0032] The deceleration distance input unit 79 is an input unit that inputs the distance at which deceleration starts during the movement of the robot 13 toward the robot point RP. The deceleration override input unit 80 is an input unit that sets the rate at which the robot 13 is decelerated at the deceleration distance set by the deceleration distance input unit 79. For example, when the control device 41 executes control to move the robot 13 to the robot point RP of "P01", when it reaches a position that is separated from the robot point RP of "P01" by the distance set in the deceleration distance input unit 79 of "P01", it starts deceleration control. Also, the control device 41 decelerates at the rate set in the deceleration distance input unit 79 of "P01".

[0033] Also, the control device 41 displays a workpiece - to - workpiece point copy button 85 below the X - coordinate input unit 75X. When the workpiece - to - workpiece point copy button 85 is operated, the control device 41 copies the settings (coordinates, etc.) of the point data 56 associated with each NC program 53 to the point data 56 associated with another NC program 53 for the point data 56 associated with each NC program 53 (50 robot points RP). For example, when the workpiece - to - workpiece point copy button 85 is operated, the control device 41 displays a screen for selecting the source NC program 53 and displays the point data 56 associated with the selected NC program 53 on the setting screen 71. Thereby, by copying the data, the burden of the setting work can be reduced.

[0034] Also, in FIG. 4, for example, 5 robot points RP are displayed on the setting screen 71. When the control device 41 receives an operation to display the setting screen 71 on the operation panel 25, among the robot points RP registered in the point data 56, it displays the data from the first robot point RP "P01" to "P05" on the setting screen 71. That is, it displays the data of "P01" to "P05" as the initial screen. In the following description, the screen on which these 5 robot points RP are displayed is referred to as a page. In this embodiment, the control device 41 divides the 50 robot points RP registered in the point data 56 into a plurality of pages, with 5 points per page, and displays them.

[0035] When the scroll buttons 87A and 87B displayed at the right end of the setting screen 71 are operated, the control device 41 displays the remaining robot points RP that cannot be fully displayed on the setting screen 71. When the scroll button 87A is operated, the control device 41 displays the previous page or the next page. That is, the robot points RP are updated five by five to display a new page. When the scroll button 87B is operated, the control device 41 displays the page before or after by only one robot point RP. That is, it scrolls one line at a time.

[0036] Here, for example, the user adjusts the workpiece spindle receiving position of "P04" according to the length of the workpiece W in accordance with the setup change. The user operates the operation panel 25 to move the robot 13 and adjusts the current position of the robot 13 while checking for interference and the like (an example of the current position change process of the present disclosure). After the user adjusts the position of the robot 13, in order to register the current position of the robot 13 as the robot point RP of "P04", the user searches for the robot point RP of "workpiece spindle receiving position" from the list of robot points RP. In the present embodiment, as shown in FIG. 4, "P04" is displayed on the initial screen of the setting screen 71, and the name of "workpiece spindle receiving position" is set at position 64. However, when setting a robot point that is not displayed on the initial screen, for example, the robot point RP of "posture correction" of "P06", there is a task of searching for what number it is registered under. Or, for robot points RP that are not easily distinguishable at first glance, such as the robot point RP of "P8" with no name set, even if they are displayed on the initial screen, there is a possibility that they cannot be found immediately. Also, the relationship between the registration order of the robot points RP and the registered position 64 may vary depending on the configuration of the machine tool 10, the operator who registers, the user who uses it, and the like.

[0037] Therefore, the control device 41 of the present embodiment executes a display process of displaying a robot point RP close to the current position of the robot 13 in a display different from other robot points RP. Specifically, the control device 41 displays the robot point RP closest to the current position of the robot 13 in a color different from other robot points RP. In the following description, the robot point RP displayed in a different color may be referred to as an emphasized robot point RP. Also, in the following description, as an example, the case where the robot point RP of "P8" is the closest will be described.

[0038] For example, when the current position of the robot 13 is changed, the control device 41 detects the robot point RP closest to the current position of the robot 13. The control device 41, for example, calculates the straight-line distance in the XYZ coordinates between the current position and each robot point RP, and emphasizes the robot point RP with the shortest calculated straight-line distance (hereinafter, may simply be referred to as "the closest robot point RP"). Incidentally, if the robot 13 is a two-axis robot of XZ, the closest robot point RP is the robot point RP with the shortest straight-line distance from the current position on the XZ plane (a plane along the vertical and horizontal directions). Also, the robot point RP to be emphasized, that is, the robot point RP to be displayed differently from other robot points RP, is not limited to the robot point RP closest to the current position, and may be the second or third closest robot point RP. Also, the robot point RP close to the current position in the present disclosure is not limited to the robot point RP close in terms of straight-line distance, and may be a robot point RP with a short distance along the path traveled by the robot 13. Further, in the case where the robot 13 has a configuration having a rotation axis such as an A axis, a B axis, or a C axis, the robot point RP with the shortest distance in the rotation direction (rotation orbit) may be used as the closest robot point RP.

[0039] FIG. 5 shows a setting screen 71 in which the emphasized robot point RP is displayed, showing a state in which the robot point RP of "P08" is emphasized. When the control device 41 receives an operation to display the setting screen 71 on the operation panel 25 when the robot point RP of "P8" is the closest, it displays the initial screen shown in FIG. 4. In this case, since the robot point RP of "P8" does not exist on the page of the initial screen, all the robot points RP (P01 to P05) are displayed in the same way. When the scroll buttons 87A and 87B are operated and the row of the robot point RP of "P8" is to be displayed or the page including the robot point RP of "P8" is to be displayed, as shown in FIG. 5, the robot point RP of "P8" is highlighted. As shown in FIG. 5, the control device 41 displays the row of the robot point RP of "P8", that is, the background from the leftmost point number 63 to the rightmost deceleration override input section 80, with a color such as blue, and displays the other rows in another color (white or black). Thereby, the closest robot point RP can be easily found. When changing the coordinates of the robot point RP, if the robot 13 is moved to the position where the coordinates are to be changed (such as the workpiece transfer position), the robot point RP for the purpose of changing the coordinates is highlighted and can be easily found.

[0040] Note that the "display different from other robot points" in the present disclosure is not limited to the above-described display mode. For example, only the robot point column 73 and the position display column 74 of the closest robot point RP may be made to have different colors. Alternatively, the row of the closest robot point RP may be surrounded by a thick line or a broken line frame. That is, it may be made to have a different display by a method other than color.

[0041] Further, when the control device 41 receives an operation to display the setting screen 71 from the operation panel 25, it may display and highlight the nearest robot point RP in the list without displaying the setting screen 71 in FIG. 4. For example, when the control device 41 receives an operation to display the setting screen 71 from the operation panel 25, it may display, as the initial screen, a screen in which "P08" shown in FIG. 5 is highlighted without displaying the setting screen 71 in FIG. 4. Thereby, the user can display the nearest robot point RP only by performing an operation to display the setting screen 71. In this case, the highlighted robot point RP may be displayed at the top of the list. Further, as an operation when the control device 41 receives an operation to display the setting screen 71, it may be possible to switch between a mode of displaying from the first robot point RP "P01" in the registration order shown in FIG. 4 and a mode of displaying the nearest robot point RP as shown in FIG. 5.

[0042] Further, the control device 41 may perform a highlighting display on a screen that displays a list of robot points RP other than the setting screen 71. That is, not limited to the setting screen 71 for setting coordinates such as the setting screen 71, a highlighting display may be performed on a list screen of robot points RP (a display screen having only the robot point column 73 and the position display column 74, or a screen that displays coordinates but cannot be changed).

[0043] Further, as shown in FIG. 4, the control device 41 displays a proximity point button 91 at the upper left of the setting screen 71. Based on the operation of the proximity point button 91, the control device 41 displays the page on which the nearest robot point RP is displayed, that is, the setting screen 71 in which "P08" in FIG. 5 is displayed. Thereby, the nearest robot point RP can be displayed and highlighted simply by pressing the proximity point button 91. The nearest robot point RP from the current position can be found more easily. Note that the proximity point button 91 may be a physical button. Also, the operation unit that realizes the function of the proximity point button 91 may be a switch or the like.

[0044] Also, when the proximity point button 91 is operated, the control device 41 displays the page shown in FIG. 5, displays the nearest robot point RP at the top of the list, and displays the nearest robot point RP in a different color. For example, when the proximity point button 91 is pressed on the screen of FIG. 4, as shown in FIG. 5, "P08" is displayed at the top, and the row of "P08" is emphasized in blue or the like. Thereby, the nearest robot point RP from the current position can be found more easily. Note that the nearest robot point RP may be displayed at the bottom or in the middle instead of at the top.

[0045] Also, after the control device 41 displays the setting screen 71 of FIG. 5, if the proximity point button 91 is operated again, the control device 41 displays a page on which the robot point RP close to the current position is displayed next to the nearest robot point RP. For example, when there are other robot points RP near the robot point RP to be set, depending on the current position of the robot 13, a robot point RP different from the robot point RP to be set may be the nearest and highlighted. Therefore, by displaying the second-nearest robot point RP when the proximity point button 91 is pressed, the burden of searching for the target robot point RP can be reduced even when there are multiple robot points RP nearby.

[0046] The control device 41 displays the pages of the first, second, third,... nearest robot points RP each time the proximity point button 91 is pressed. Each time the control device 41 displays in order, it displays the robot point RP to be emphasized at the top of the page. Thereby, the user can find the target robot point RP by operating the proximity point button 91 multiple times.

[0047] Further, even if the continuous operation of the proximity point button 91 described above is performed, the control device 41 may always display only the closest robot point RP without displaying the second or third robot point RP. Further, after the second or third robot point RP is displayed, if a predetermined time has elapsed, the control device 41 may return the display to the page of the closest robot point RP. Further, the control device 41 may display buttons that can be operated in the reverse order, such as the fourth, third, second, and first.

[0048] Further, when the operation panel 25 or the like is operated and the current position of the robot 13 is changed and the closest robot point RP is changed while the setting screen 71 of FIG. 4 or FIG. 5 is being displayed by the control device 41, the control device 41 emphasizes and displays the robot point RP closest to the current position of the robot 13 after the change. Therefore, the control device 41 repeatedly executes the determination of the closest robot point RP in accordance with the change in the current position of the robot 13 while continuing the process of emphasizing and displaying the closest robot point RP. As a result, the robot point RP to be emphasized can be changed in real time according to the current position. The user can find the target robot point RP by checking the current position and the emphasized robot point RP. Note that the control device 41 does not necessarily have to execute the above-described real-time determination of the robot point RP. For example, the control device 41 may display an update button on the setting screen 71 and, when the update button is operated, may execute the determination of the closest robot point RP again and update the information on the robot point RP to be emphasized.

[0049] Further, as shown in FIG. 4, for each of the plurality of robot points RP to be displayed in the list, the control device 41 displays the identification information (point number 63 and position 64) of the robot point RP, the coordinate input units 75X to 75Z, and the current position input button 78 in each row. When an arbitrary current position input button 78 is operated, the control device 41 inputs the coordinates of the current position (position display units 83X to 83Z) of the robot 13 to the coordinate input units 75X to 75Z in the row of the operated current position input button 78. Then, the control device 41 highlights and displays the entire row of the closest robot point RP. Thereby, it becomes easy to know which button is the current position input button 78 for inputting the current position to the closest robot point RP. The user can input the adjusted current position of the robot 13 to the coordinate input units 75X to 75Z of the target robot point RP by simply pressing the highlighted current position input button 78. The occurrence of input errors can be suppressed. Further, in the present embodiment, by displaying the coordinates of the current position in the position display units 83X to 83Z within the setting screen 71, the input can be performed while confirming the current position.

[0050] Incidentally, the correspondence between the terms in the present embodiment and the terms described in the claims will be described below. The operation panel 25 in the above embodiment is an example of a user interface. The point number 63 and the position 64 are examples of identification information. The X-axis coordinate 65X, the Y-axis coordinate 65Y, and the Z-axis coordinate 65Z are examples of coordinates. The X coordinate input unit 75X, the Y coordinate input unit 75Y, and the Z coordinate input unit 75Z are examples of coordinate input units.

[0051] As described above, the present embodiment described above has the following effects. A control device 41, which is an aspect of the present disclosure, associates a robot point RP with variables of an NC program 53 and moves the robot 13 to an arbitrary robot point RP by executing the NC program 53 (an example of the movement process of the present disclosure). The control device 41 highlights and displays the closest robot point RP in color in the list display of the robot points RP (FIG. 5, an example of the display process of the present disclosure). Thereby, the user can relatively easily find the robot point RP closest to the current position by checking the difference in the display modes of the robot points RP.

[0052] Moreover, the content of the present disclosure is not limited to the above-described embodiments, and can be implemented in various modes with various changes and improvements based on the knowledge of those skilled in the art. For example, the display content of the setting screen 71 shown in FIG. 4 is an example. For example, the control device 41 does not necessarily display at least one of the current position input button 78, deceleration distance input unit 79, deceleration override input unit 80, setting button 81, position display units 83X to 83Z, work point copy button 85, and proximity point button 91 on the setting screen 71. Moreover, the control device 41 does not necessarily display the robot points RP in the order of the point numbers 63. For example, the control device 41 may display the robot points RP in the registration order and highlight the closest robot point RP. Moreover, the control device 41 may display a sort button on the setting screen 71 and display the robot points RP rearranged in ascending order from the current position according to the operation of the sort button. In the above embodiment, the robot 13 is configured to move in the three axial directions of X, Y, and Z, but may also be configured to move in two axes such as X and Z, or may have a configuration having rotational axes such as A axis, B axis, and C axis. In this case, the control device 41 may display an input unit for inputting coordinates in each axial direction and highlight the robot point RP closest to the current position of the robot 13.

[0053] Further, the robot 13 of the present disclosure may be not only a loader but also other robots capable of transporting the workpiece W, such as an articulated robot or a linear motor. Further, the machine tool of the present disclosure is not limited to a lathe, and for example, machine tools with various configurations such as machining centers, milling machines, boring machines, and grinding devices can be adopted.

[0054] Note that the content of the present disclosure is not limited to the subordinate relationship described in the claims. For example, regarding the technical idea of changing "the machine tool according to claim 2" to "the machine tool according to any one of claims 1 to 3" in claim 4, this specification also discloses it. Also, for example, regarding the technical idea of changing "the machine tool according to claim 1 or claim 2" to "the machine tool according to any one of claims 1 to 4" in claim 5, this specification also discloses it. Also, for example, regarding the technical idea of changing "the machine tool according to claim 1 or claim 2" to "the machine tool according to any one of claims 1 to 5" in claim 6, this specification also discloses it. Also, for example, regarding the technical idea of changing "the machine tool according to claim 1 or claim 2" to "the machine tool according to any one of claims 1 to 6" in claim 7, this specification also discloses it.

Description of Reference Numerals

[0055] 10 Machine tool, 13 Robot, 25 Operation panel (user interface), 41 Control device, 56 Point data, 63 Point number (identification information), 64 Position (identification information), 65X X-axis coordinate (coordinate), 65Y Y-axis coordinate (coordinate), 65Z Z-axis coordinate (coordinate), 75X X-coordinate input unit (coordinate input unit), 75Y Y-coordinate input unit (coordinate input unit), 75Z Z-coordinate input unit (coordinate input unit), 78 Current position input button, 91 Proximity point button, RP Robot point, W Workpiece.

Claims

1. a user interface, a robot for transporting workpieces, a control device for controlling the movement of the robot, comprising, the control device performs a movement process of moving the robot based on the coordinates of the robot point that associates the position and coordinates where the robot moves, a current position change process of controlling the robot based on an operation input to the user interface and changing the current position of the robot, a display process of, when displaying a list of the robot points on the user interface, displaying the robot point close to the current position of the robot in a different display from the other robot points among the plurality of robot points to be displayed, A machine tool that executes the above.

2. The control device In the movement process, moves the robot based on the coordinates of the robot point registered in the point data, In the display process, displays a list of the plurality of robot points registered in the point data, divides the plurality of robot points registered in the point data into a plurality of pages and displays them, and based on the fact that the proximity point button of the user interface has been operated, displays the page on which the robot point close to the current position of the robot is displayed on the user interface. The machine tool according to Claim 1.

3. The control device Based on the operation of the proximity point button, a page on which the robot point close to the current position of the robot is displayed is displayed on the user interface, the robot point close to the current position of the robot is displayed at the top of the list, and the robot point close to the current position of the robot is displayed in a color different from that of the other robot points. The machine tool according to claim 2.

4. The control device Based on the operation of the proximity point button, after displaying on the user interface a page on which the robot point closest to the current position of the robot is displayed, if the proximity point button is operated again, a page on which the robot point closer to the current position than the robot point closest to the current position of the robot is displayed is displayed on the user interface. The machine tool according to claim 2.

5. The control device In the display process, among the plurality of robot points, the robot point closest to the current position of the robot is displayed in a different manner from the other robot points. When the current position of the robot is changed by the current position change process and the robot point closest to the current position of the robot is changed, the robot point closest to the changed current position of the robot is displayed in a different manner from the other robot points. The machine tool according to claim 1 or claim 2.

6. The control device In the display process, for each of the plurality of robot points displayed in the list, the identification information of the robot point, a coordinate input unit for inputting the coordinates of the robot point, and a current position input button are displayed in association with each other. When any one of the plurality of current position input buttons is operated, the coordinates of the current position of the robot are input into the coordinate input unit associated with the operated current position input button. The identification information of the robot point close to the current position of the robot, the coordinate input unit, and the current position input button are displayed differently from the identification information of the other robot points, the coordinate input unit, and the current position input button. The machine tool according to claim 1 or claim 2.

7. The control device When receiving an operation to display a list of the robot points from the user interface, the robot point close to the current position of the robot is displayed in the list, and the robot point close to the current position of the robot is displayed differently from the other robot points. The machine tool according to claim 1 or claim 2.

Images