Machine tool

Abstract

Provided is a machine tool which, when setting coordinates related to movement of a robot, enables easy envisioning of positions of the coordinates being set.　This machine tool comprises: a display device; a robot that transports a workpiece; and a control device that controls the movement of the robot. The control device executes: a detection process for, when the upper limit position which becomes one side of a prescribed target position and a lower limit position which becomes the other side of the target position in the moving direction of the robot are set and the robot is moved to the target position, detecting that the robot has moved to the target position, on the basis of the lower limit position, the upper limit position, and the current position of the robot; and a display process for displaying, on the display device, an auxiliary diagram which indicates the structure of the machine tool and a coordinate input unit to which coordinates of the upper limit position and the lower limit position are inputted, and displaying the upper limit position and the lower limit position on the auxiliary diagram on the basis of the coordinates inputted to the coordinate input unit.

Description

machine tools

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

[0002] Patent Document 1 listed below describes an information processing device that displays the state of an articulated robot based on position and orientation data. When an operation input that changes part of the position and orientation data is performed via a keyboard, the information processing device of Patent Document 1 changes the displayed state of the articulated robot according to the changed position and orientation data.

[0003] Japanese Patent Application Laid-Open No. 2016-209969

[0004] A robot equipped in a machine tool transfers workpieces between multiple devices. Furthermore, various devices, such as a work spindle device, a turret device, a tool spindle device, a reversing device, and an inspection device, are installed on the machine tool depending on the functions and performance required of the machine tool. Not only the types of devices installed, but also the number and layout of devices vary depending on the functions and performance required of the machine tool. Therefore, the robot's destination position varies depending on the configuration of the machine tool. When a user sets coordinates for robot movement, there is a problem in that it is difficult to visualize the position on the machine tool where the coordinates are set just by looking at the set coordinates.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a machine tool that makes it easy to imagine the position of the coordinates being set when setting coordinates related to the movement of a robot.

[0006] In order to solve the above problems, this specification discloses a machine tool comprising a display device, a robot that transports a workpiece, and a control device that controls the movement of the robot, wherein the control device sets an upper limit position that is on one side of a predetermined target position in the movement direction of the robot, and a lower limit position that is on the other side of the target position, and when moving the robot to the target position, the control device executes a detection process that detects that the robot has moved to the target position based on the current position of the robot, the upper limit position, and the lower limit position, a coordinate input unit that inputs coordinates of each of the upper limit position and the lower limit position, and a display process that displays an auxiliary diagram showing the configuration of the machine tool on the display device and displays the upper limit position and the lower limit position on the auxiliary diagram based on the coordinates input to the coordinate input unit.

[0007] According to the machine tool disclosed herein, the control device detects the movement of the robot to a target position at upper and lower limit positions, and displays an auxiliary diagram showing the configuration of the machine tool on a screen displaying a coordinate input unit for inputting the coordinates of the upper and lower limit positions. The control device then displays the upper and lower limit positions within the auxiliary diagram. This allows the user to confirm, when setting the upper and lower limit positions, the positional relationship between the upper and lower limit positions whose coordinates have been input and the devices that make up the machine tool, using the auxiliary diagram. Therefore, the auxiliary diagram makes it easy to visualize where the upper and lower limit positions whose coordinates have been input correspond to on the machine tool.

[0008] FIG. 1 is a front view of a machine tool according to the present embodiment. FIG. 2 is a block diagram of the machine tool. FIG. 3 is a diagram showing data registered in point data. FIG. 4 is a diagram showing data registered in detection range data. FIG. 5 is a diagram showing a first setting screen for setting a position switch. FIG. 6 is an enlarged view of the auxiliary view of the first setting screen. FIG. 7 is an auxiliary view after an upper limit position icon and a lower limit position icon have been moved. FIG. 8 is a diagram showing a second setting screen for setting a robot point. FIG. 9 is an enlarged view of the auxiliary view of the second setting screen. FIG. 10 is an auxiliary view after a point icon has been moved.

[0009] An embodiment of a machine tool according to the present disclosure will be described in detail below 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 according to this embodiment can be equipped with optional devices, such as an entrance device 15, an exit device 17, and a workpiece stage (hereinafter referred to as the "stage") 18, in addition to a main body device 11 and a robot 13. FIG. 1 also shows some of the devices and equipment (e.g., a rail base 26) installed within each device in a see-through manner. In the following description, the direction of the machine tool 10 viewed from the front as shown in FIG. 1 will be used as a reference, and the left-right direction, which is the machine width direction and parallel to an installation surface 19 of the device, will be referred to as the X-axis direction. The front-rear direction, which is parallel to the installation surface 19 of the device and perpendicular to the left-right direction, will be referred to as the Y-axis direction. The up-down direction perpendicular to the X-axis and Y-axis directions will be referred to as the Z-axis direction.

[0010] The machine tool 10 is arranged, in order from right to left in the X-axis direction, with an entrance device 15 for carrying in the workpiece W, a main body 11, a table 18 on which the workpiece W is placed so that the machined workpiece W can be checked, and an exit device 17 from which the workpiece W is discharged. The main body 11 includes, for example, a turret device 21 (see FIG. 2) and a workpiece spindle device 22 (see FIG. 2) therein, and machines the workpiece W chucked on the workpiece spindle device 22 with a cutting tool (such as a cutting tool or a rotary tool) of the turret device 21. A sliding door 24 and an operation panel 25 are provided in front of the main body 11. A machining space in which the turret device 21 and the workpiece spindle device 22 are arranged is provided behind the sliding door 24. The operation panel 25 includes, for example, a touch panel 20 (see FIG. 2) and operation switches 23 (see FIG. 2), and displays information about the machine tool 10, accepts operational instructions, and the like. In particular, in this embodiment, machine tool 10 displays an auxiliary diagram, which will be described later, on touch panel 20 to accept changes to the coordinates of the upper and lower limit positions (upper limit value 71, lower limit value 72) (see FIG. 5).

[0011] The robot 13 transfers the workpiece W between the entrance device 15, the workpiece spindle device 22 of the main body device 11, the table 18, and the exit device 17. The robot 13 is, for example, a gantry-type workpiece transport device (which may also be called a loader) and moves a 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 slides the movable part 27 in the X-axis direction by, for example, engaging a pinion fixed to the output shaft of a travel motor 28 (see FIG. 2) built into the movable part 27 with teeth of a travel rack provided on the rail base 26. The robot 13 also includes an elevator device (e.g., a motor and a rack mechanism) 29 (see FIG. 2) that moves the movable part 27 up and down. Driving the elevator device 29 moves the movable part 27 in the Z-axis direction. For example, a pair of chuck mechanisms 31 (see FIG. 2) are attached to the lower end of the movable part 27. Each of the pair of chuck mechanisms 31 has claws for clamping the workpiece W and transfers the workpiece W to and from other devices. In the following description, the destination or position of the chuck mechanisms 31 of the movable part 27 may be simply referred to as the destination or position of the robot 13.

[0012] Furthermore, 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 be configured to include only one chuck mechanism 31, or three or more chuck mechanisms 31. Furthermore, for example, the axes along which the robot 13 (chuck mechanism 31) moves are not limited to the X-axis and Z-axis directions. The axes along which the robot 13 moves may be, for example, three axes: the X-axis, the Y-axis, and the Z-axis. Furthermore, the axes along which the robot 13 moves are not limited to slide axes (linear drive axes), but may also be the so-called A-axis, which rotates around the X-axis, the so-called B-axis, which rotates around the Y-axis, or the so-called C-axis, which rotates around the Z-axis. Therefore, a combination of various slide axes and rotation axes for moving the robot 13 can be used as the axes that accept changes in coordinates in the present disclosure.

[0013] The entrance device 15 also includes a transfer device 32 that grips the workpiece W and moves 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 a previous process (not shown), a user, or the like 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 for the robot 13 in FIG. 3 ). The exit device 17 also includes a receiving device 35 that grips the workpiece W and moves in the X-axis direction. The receiving device 35 receives the workpiece W from the robot 13 at the rightmost receiving position (the receiving position for the robot 13 in FIG. 3 ) moved rightward from the transfer position behind the door 36. After receiving the workpiece W at the receiving position, the receiving device 35 moves leftward and transfers the workpiece W to a device in a subsequent process (not shown) or the like at the transfer position behind the receiving door 36. The table 18 is provided on the left side of the main body 11, and a slide member 39 is exposed through an opening 38A in a fence 38. The temporarily placed workpiece W can be checked by pulling the slide member 39 downward and forward. The configuration of the machine tool 10 described above is an example. For example, the machine tool 10 may also be equipped with a measuring device that measures the outer diameter of the workpiece W after machining, a cleaning device that cleans the workpiece W, and the like. In this case, the auxiliary diagrams described below can be used to set target positions (robot points described below) for movement to each device, and upper and lower limit positions for detecting that movement.

[0014] (Control device 41) Next, the control device 41 provided in the main unit 11 will be described with reference to Fig. 2. As shown in Fig. 2, the machine tool 10 is provided with a plurality of drive circuits 43 that connect the control device 41 to each of the above-mentioned devices (robot 13, entrance device 15, exit device 17, stand 18, turret device 21, workpiece spindle device 22, and operation panel 25). The connection configuration shown in the block diagram of Fig. 2 is one example. For example, all of the drive circuits 43 connected to each device may be installed within the main unit 11.

[0015] 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 PLC 46 includes a CPU 51 and a storage device 52. The storage devices 48 and 52 include, for example, RAM, ROM, flash memory, etc. The configuration of the storage devices 48 and 52 is not limited to the above-described configuration, and may include an HDD or SSD, an external storage device such as a USB memory, or a storage medium such as a DVD-RAM, or a combination of these.

[0016] The storage device 48 stores a plurality of NC programs 53 that numerically control the operations of the robot 13, turret device 21, workpiece spindle device 22, etc. in machining the workpiece W. In this embodiment, the NC program 53 that controls the robot 13 will be particularly described. Therefore, in the following description, when an NC program 53 is mentioned, it means the NC program 53 that controls the robot 13.

[0017] The control device 41 is electrically connected to each of the above-mentioned devices via a drive circuit 43 and is capable of controlling each device. For example, if the drive circuit 43 is connected to the operation panel 25, the drive circuit 43 is an amplifier circuit that amplifies signals input from the operation panel 25. For example, if the drive circuit 43 is connected to a motor such as the spindle motor (not shown) of the work spindle device 22 or the travel motor 28 of the robot 13, the drive circuit 43 is a driver circuit (servo amplifier) ​​that changes the power (e.g., three-phase AC current) supplied to each motor (e.g., servo motor) based on instruction signals (e.g., movement amount, destination position, movement speed, target torque) from the control device 41. The numerical control device 45 executes an NC program 53 in the CPU 47 and outputs instruction signals to the drive circuit 43 (driver circuit) in accordance with numerical commands described in the NC program 53 to control the drive circuit 43. The drive circuit 43 (driver circuit) executes feedback control to change the current of the three-phase AC based on, for example, encoder information from the encoders attached to each servo motor and instruction signals from the control device 41, and notifies the numerical control device 45 of the completion of processing, etc. In this way, the control device 41 slides the robot 13 (chuck mechanism 31) along the X-axis and Z-axis to a desired position based on the numerical control by the numerical control device 45. Note that the drive source for sliding each device is not limited to a servo motor, and other drive sources such as a stepping motor or a linear motor can also be used.

[0018] The PLC 46 is a programmable logic controller. The storage device 52 stores a ladder program 58 for constructing a ladder circuit that processes various signals. The PLC 46 executes the ladder program 58 on the CPU 51 and performs sequence processing based on the ladder program 58 to, for example, output signals to drive various elements such as lamps and relays provided in the machine tool 10, and input signals from elements such as limit switches and sensors. The PLC 46 is also connected to the numerical control device 45 via, for example, a communication bus 59, enabling communication with the numerical control device 45. The PLC 46 inputs and outputs signals to and from the numerical control device 45 using a device 61 constructed based on the ladder program 58. The device 61 is, for example, a storage area constructed on the storage device 52 and is referenced when the CPU 51 executes the ladder program 58. Specifically, device 61 is a device that stores signal values ​​of external I / O (sensors, etc.) equipped in machine tool 10, a device (G device or F device) that stores signal values ​​for communication with numerical control device 45, a device that realizes a keep relay that stores setting values, etc. In this way, PLC 46 relays signals (input / output) between external I / O equipped in machine tool 10 and numerical control device 45.

[0019] In addition to the NC program 53, the storage device 48 also stores a display control program 55 for changing the display content of the operation panel 25, point data 56, detection range data 57, and various other data (not shown) necessary for 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 and the like to display screens (first setting screen 81 in FIG. 5 and second setting screen 111 in FIG. 8) that accept changes to the coordinate values ​​registered in the point data 56 and the upper limit values ​​71 and lower limit values ​​72 (see FIG. 4) registered in the detection range data 57. The storage destination of the display control program 55, point data 56, and detection range data 57 is not limited to the storage device 48, but may also be another storage device, for example, the storage device 52 of the PLC 46, an external storage connected to the machine tool 10, or a network storage.

[0020] (Point Data 56) Next, the point data 56 will be described. FIG. 3 shows data registered in the point data 56. As shown in FIG. 3, the point data 56 stores data related to a robot point RP. The point data 56 stores a point number 63, a position 64, an X-axis coordinate 65, a Z-axis coordinate 66, a PSW number 67X for the X-axis coordinate, and a PSW number 67Z for the Z-axis coordinate, all associated with one another. The point data 56 is a database that associates information such as the point number 63 as a single record and stores a record for each robot point RP. Note that the point data 56 may be data that is not associated with the PSW number 67X for the X-axis coordinate and the PSW number 67Z for the Z-axis coordinate (the upper and lower limit positions of the position switch). Therefore, the robot point data and the position switch (upper and lower limit positions) data may be independent data.

[0021] Each record corresponds to a robot point RP to which the robot 13 (chuck mechanism 31) moves. The robot point RP is, for example, information associating a destination position 64 to which the robot 13 is to be moved with the coordinates of the position 64 (X-axis coordinate 65, Z-axis coordinate 66). The robot point RP is not limited to information associating a position with coordinates, but may be other information associating coordinates with information identifying the coordinates, such as information associating a point number 63 (number) with coordinates (X-axis coordinate 65, Z-axis coordinate 66). The position 64 is an example of a target position in the present disclosure. The target position in the present disclosure is not limited to the position 64 of the robot point RP, but may be a position set by other setting data.

[0022] The point number 63 is an identification number that identifies the position 64, i.e., a number that can identify the robot point RP, and a unique number is assigned to each position 64. For example, in the example shown in FIG. 3, the point numbers 63 are assigned in ascending order from top to bottom in FIG. 3, namely P01, P02, P03, .... The control device 41 is capable of registering, for example, 50 robot points RP, numbered P01 to P50, with point numbers 63. Note that the information that identifies the position 64 (robot point RP) is not limited to numbers, and may also be letters such as the alphabet, or a combination of letters. The same applies to the PSW number 69, which will be described later.

[0023] Position 64 is the position and name of the robot point RP indicated by point number 63. Position 64 may be, for example, a home position (P01) that is the initial position of the robot 13, or a receiving position (P02) where the workpiece W is received from the entrance device 15 to the robot 13, where the workpiece W is transferred. Alternatively, position 64 may be a stopping position where the robot 13 stops to change its direction of movement, such as an M / C (short for machine) entry position (P03) where the robot 13 changes direction when entering a processing chamber located in the center of the main body device 11, or a rotation position where the orientation of the chuck mechanism 31 is changed. Therefore, position 64 can be any of various destination positions of the robot 13. Position 64 may also be an unnamed point, such as "point 6," where the specific name of the destination of the robot 13 has not been determined. Furthermore, as described above, when the robot 13 moves along the A-axis, B-axis, or the like, position 64 is the position when the robot 13 moves in the rotational direction.

[0024] The X-axis coordinate 65 is the X-axis coordinate of the robot point RP indicated by point number 63. The Z-axis coordinate 66 is the Z-axis coordinate of the robot point RP indicated by point number 63. The coordinates are absolute coordinates relative to a predetermined origin position of the machine tool 10 (origin position 90 in FIG. 6 ), for example. The coordinate units may be, for example, mm. By changing the X-axis coordinate 65 and the Z-axis coordinate 66, 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 an operator at the manufacturer of the machine tool 10 when the machine tool 10 is installed, and is then adjusted by the user according to the position of the robot 13, the shape of the workpiece W, etc.

[0025] Here, the destination of the robot 13 varies depending on the type of workpiece W and the configuration of optional devices. Therefore, the coordinates of the destination set in the NC program 53 vary depending on the type of workpiece W and the configuration of optional devices. On the other hand, if the destinations 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 entrance device 15 and the stand 18), it is effective to manage the robot points RP on the machine tool 10 side. For example, by associating the robot point RP with a variable indicating the destination of the NC program 53, it is possible to change the coordinates of various NC programs 53 collectively by changing the coordinates of the robot point RP managed by the machine tool 10 on the operation panel 25 without directly changing the coordinates of the NC program 53.

[0026] The control device 41 displays a setting screen (see the second setting screen 111 in FIG. 8 ) for changing the X-axis coordinate 65 and the Z-axis coordinate 66 based on a predetermined operation on the touch panel 20, and accepts changes to the coordinates of each robot point RP. The coordinates of each robot point RP are associated with variables in the NC program 53. Therefore, the user can change the coordinates of the robot point RP in the NC program 53 by appropriately changing the coordinates of the robot point RP they want to use. For example, when executing the NC program 53, the numerical control device 45 of the control device 41 sets the coordinates of the robot point RP associated with a variable included in the NC program 53 according to the definition of the variable (the rule for substituting the coordinates of the robot point RP into the variable), and then executes the NC program. For example, the numerical control device 45 sets the X-axis coordinate 65 of a predetermined point number 63 to a predetermined variable and executes a G-code using the variable as an argument (an example of a movement process disclosed herein). As a result, when the same NC program 53 or similar NC programs 53 are used to machine workpieces W that have similar shapes, such as workpieces W that only differ in length, changes in the workpiece W can be accommodated simply by adjusting the coordinates of the robot point RP. This change is also applied to multiple NC programs 53 that use the same variables. In other words, the coordinates set in multiple NC programs 53 can be changed collectively using the robot point RP.

[0027] Therefore, in the NC program 53 of this embodiment, different variables are set depending on the workpiece W to be machined. The robot point RP is associated with the variables. The control device 41 can register multiple robot points RP, and when executing the NC program 53, the coordinates of the robot point RP associated with the variables set in the NC program 53 are set as variables and the NC program 53 is executed. This allows the user to change the coordinates set in the NC program 53 by changing the coordinates of the robot point RP. The X and Z coordinates registered as the robot point RP can be reflected in the NC program 53 and can be reflected in the actual movement of the robot 13.

[0028] (Regarding the detection range data 57) The PSW numbers 67X and 67Z shown in FIG. 3 are position switch numbers and correspond to the PSW number 69 (see FIG. 4) of the detection range data 57. The PSW numbers 67X, 67Z, and 69 are numbers used for the position switch function. The position switch function, for example, detects whether a moving object is present within a detection range extending from a specified upper limit position to a specified lower limit position. For example, if the upper limit position is a position closer to (on one side of) an arbitrary target position in the direction of movement of the object, and the lower limit position is a position further from (on the other side of) the target position, the detection range is set as the range from the upper limit position to the lower limit position. Note that if the movement direction of the robot 13 is reversed, the positional relationship between the upper limit position and the lower limit position will be reversed. In this embodiment, the detection range is set with a predetermined robot point RP as the target position, and the movement of the robot 13 to the predetermined robot point RP (target position) is detected using the detection range. For example, the position switch function provided by FANUC Corporation can be used as the position switch function.

[0029] 4 shows data registered in the detection range data 57. As shown in FIG. 4, the detection range data 57 stores data related to the position switch function. The detection range data 57 stores a PSW number 69, an upper limit value 71, a lower limit value 72, an axis direction 73, and a comment 74, all of which are associated with one another. The detection range data 57 is a database that associates information such as the PSW number 69 as a single record and stores a record for each detection range.

[0030] The PSW number 69 is an identification number that identifies the detection range (a combination of an upper limit value 71 and a lower limit value 72), and a unique number is set for each detection range. For example, in the example shown in FIG. 4, the PSW numbers 69 are set in ascending order of SW01, SW02, SW03, ... from top to bottom in FIG. 4. The upper limit value 71 is the coordinate of the upper limit position. The lower limit value 72 is the coordinate of the lower limit position. The upper limit value 71 and the lower limit value 72 are absolute coordinates relative to a predetermined origin position 90 (see FIG. 6) of the machine tool 10, similar to the X-axis coordinate 65 and the Z-axis coordinate 66, for example. The coordinate units may be, for example, mm.

[0031] The axis direction 73 is information about the axis direction in which the detection range is set, and is either the X-axis or the Z-axis. The detection range is defined as a coordinate range from an upper limit value 71 to a lower limit value 72 in the axis direction 73 for any combination (record). The detection range may be defined not only using the two ends of the range between the upper limit value 71 and the lower limit value 72, but also by, for example, the center coordinate of the detection range and the width of the range relative to that center coordinate. The comment 74 is text information describing the detection range. As described above, the PSW number 69 of the detection range data 57 indicates the PSW numbers 67X and 67Z of the point data 56 shown in FIG. 3 . In other words, one record of the point data 56 corresponds to one or two records of the detection range data 57.

[0032] For example, the numerical control device 45 monitors the encoder information of the X-axis travel motor 28. When the robot 13 is outside the detection range of a given PSW number 69, the numerical control device 45 outputs a low-level detection signal for that PSW number 69. When the robot 13 is within the detection range, the numerical control device 45 outputs a high-level detection signal for that PSW number 69. By monitoring this detection signal, it is possible to detect whether the robot 13 is within a predetermined detection range in the X-axis direction. Similarly, a detection range can be set for the Z-axis direction, and it is possible to determine whether the robot 13 has moved within the detection range. The user then sets, for example, upper and lower limits 71 and 72 in the X-axis and Z-axis directions that include a predetermined robot point RP within the detection range. The control device 41 can detect that the robot 13 has moved to the predetermined robot point RP by confirming that both the X-axis and Z-axis detection signals have reached a high level (e.g., by checking the AND signal between the two signals).

[0033] As an example, let us consider "P01" (origin position) of point number 63 of robot point RP. In this case, the detection range from upper limit 71 to lower limit 72 of "SW01," which is PSW number 67X of "P01," is set to a range (0 to -100 in FIG. 4) that includes the X-axis coordinate 65 of "P01" (0 in FIG. 3). The numerical controller 45 monitors the encoder information of the travel motor 28 in the X-axis direction, and outputs a low-level detection signal while the robot 13 is outside the detection range from upper limit 71 to lower limit 72 of "SW01," which is PSW number 69 shown in FIG. 4, and outputs a high-level detection signal while the robot 13 is within the detection range.

[0034] Similarly, the detection range from the upper limit 71 to the lower limit 72 of "SW02," which is the PSW number 67Z of "P01," is set to a range (0 to -100 in FIG. 4) that includes the Z-axis coordinate 66 of "P02" (0 in FIG. 3). The numerical control device 45 monitors the encoder information of the Z-axis elevator 29, and outputs a low-level detection signal while the robot 13 is outside the detection range from the upper limit 71 to the lower limit 72 of "SW02." It also outputs a high-level detection signal while the robot 13 is within the detection range. The control device 41 then determines whether the robot 13 has moved to the original robot point RP (P01) by confirming that both the X-axis and Z-axis detection signals are high. After confirming the completion of the movement, the control device 41 can begin control for moving to the next robot point RP.

[0035] The above-described examples of use and implementation of the position switch function are merely examples. For example, the method of detecting the position of the robot 13 is not limited to monitoring the motor encoder information. For example, the position of the robot 13 may be detected using sensors, relays, switches, etc. Furthermore, for example, when moving from one robot point RP to another, if only the X-axis coordinate 65 is changed without changing the Z-axis coordinate 66, a detection range may be set only in the X-axis direction. In other words, it is not necessary to set a detection range for a movement direction in which the coordinates do not change. In other words, only one detection range (one PSW number 69) may be associated with one robot point RP (e.g., points 7 and 8 in Figure 3).

[0036] The data configurations of the point data 56 shown in FIG. 3 and the detection range data 57 shown in FIG. 4 are merely examples. For example, as described above, the detection range data 57 and the point data 56 do not need to be associated with each other. Therefore, the point data 56 (FIG. 3) may not include the data for the PSW numbers 67X and 67Z. One or more PSW numbers 69 may be associated with one robot point RP. One or more robot points RP may be associated with one PSW number 69. The detection range data 57 does not need to include information on the axis direction 73. The detection range data 57 does not need to include information on the comment 74.

[0037] (Regarding the setting screen for the upper limit value 71 and the lower limit value 72) Here, by setting the upper limit value 71 and the lower limit value 72 of the position switch function described above, movement to any robot point RP can be detected. The robot 13 included in the machine tool 10 transfers the workpiece W between multiple devices. The machine tool 10 of this embodiment is provided with a workpiece spindle device 22, a turret device 21, an entrance device 15, an exit device 17, and a table 18. However, various devices are installed in the machine tool 10 depending on the functions and performance required of the machine tool 10. For example, a tool spindle device having a tool spindle that rotates a cutting tool, a reversing device that reverses the workpiece, an inspection device that inspects the dimensions of the workpiece, etc. may be installed. In addition, the arrangement of devices, the number of spindles, and the number of processing devices may also be changed depending on the functions and performance required of the machine tool 10.

[0038] For this reason, the destination of robot 13 will be various positions depending on the configuration of machine tool 10. When setting upper limit value 71 and lower limit value 72 of the position switch function, or X-axis coordinate 65 and Z-axis coordinate 66 of robot point RP, the user has a problem in that it is difficult to imagine at what position on machine tool 10 the coordinates are being set just by looking at the set coordinates. Therefore, in machine tool 10 of this embodiment, an auxiliary diagram is displayed on the setting screen on which each coordinate is set, making it easier to imagine the position of the coordinates being set.

[0039] 5 shows a first setting screen 81 for setting an upper limit value 71 and a lower limit value 72 for the position switch function. The control device 41 executes the display control program 55 based on a predetermined operation input to the operation panel 25, and displays the first setting screen 81 shown in FIG. 5 on the touch panel 20. In the following description, the control device 41 that executes the display control program 55 may be referred to simply by its device name. For example, the description "the control device 41 displays a PSW display field 83" means "the control device 41 executes the display control program 55 with the CPU 47 and controls the touch panel 20 via the drive circuit 43, thereby displaying the PSW display field 83."

[0040] As shown in FIG. 5 , the control device 41 displays a PSW display field 83, an auxiliary diagram 84, an upper limit input section 85, a lower limit input section 86, a robot position display section 87, an icon explanation section 88, a PS setting button 89, a cancel button 91, and a scroll button 92 on the first setting screen 81. The control device 41 displays the PSW display field 83, the auxiliary diagram 84, the upper limit input section 85, and the lower limit input section 86 as a set, arranged horizontally. The control device 41 also displays the above combinations arranged vertically for each PSW number 69 (PSW display field 83). In the example shown in FIG. 5 , the PSW display fields 83 for position switches SW4 to SW6 are displayed. The control device 41 scrolls the combinations of the PSW display field 83 and the auxiliary diagram 84 displayed on the first setting screen 81 vertically in response to an operation (such as a touch operation) of the scroll button 92, thereby changing the displayed combination.

[0041] The control device 41 reads data corresponding to each PSW number 69 to be displayed from the detection range data 57 of the storage device 48, and displays the PSW display field 83, auxiliary diagram 84, upper limit input field 85, and lower limit input field 86 based on the read data. For example, the control device 41 displays the text "04 Z-axis inlet device receiving position" in the PSW display field 83 for the position switch SW4, combining the information on the PSW number 69, axis direction 73, and comment 74 of the position switch SW4. The control device 41 also displays the upper limit value 71 of the position switch SW3 set in the detection range data 57 in the upper limit value input field 85. The control device 41 also displays the lower limit value 72 of the position switch SW3 set in the detection range data 57 in the lower limit value input field 86.

[0042] The control device 41 also displays the current position (XZ coordinates) of the robot 13 (chuck mechanism 31) in each of the X-axis and Z-axis directions on the robot position display unit 87. When the position of the robot 13 is changed by a user operation, the control device 41 updates the coordinates on the robot position display unit 87. The control device 41 also changes the position of the robot 13 displayed on an auxiliary diagram 84, which will be described later, in accordance with the change in the position of the robot 13.

[0043] The icon explanation unit 88 is a display unit that shows examples of icons to be displayed in the auxiliary diagram 84. Details of the icon explanation unit 88 will be described later. Furthermore, the control device 41 receives an upper limit value 71 for the position switch function in the upper limit value input unit 85 and receives a lower limit value 72 in the lower limit value input unit 86. When the PS setting button 89 is operated, the control device 41 sets the coordinates set in each upper limit value input unit 85 as the upper limit value 71 of the PSW number 69 indicated in the PSW display field 83 of the same row in the detection range data 57. Similarly, when the PS setting button 89 is operated, the control device 41 sets the coordinates set in each lower limit value input unit 86 as the lower limit value 72 of the PSW number 69 of the same row in the detection range data 57. Furthermore, when the cancel button 91 is operated, the control device 41 ends the display of the first setting screen 81 without reflecting the values ​​input in the upper limit value input unit 85 and the lower limit value input unit 86 in the detection range data 57.

[0044] For example, the control device 41 controls the movement of the robot 13 based on XZ coordinates set with a predetermined origin position 90 (see FIG. 6 ) set in the machine tool 10 as a reference. The XZ coordinates are set, for example, with the direction from the origin position 90 to the left as the negative X direction and the direction from the origin position 90 to the bottom as the negative Z direction. The definitions of the XZ coordinates are not limited to those described above. In this embodiment, when using the coordinate system described above to set both ends of the detection range of the position switch function, the larger coordinate (closer to the origin position 90) is set as the upper limit position and the smaller coordinate is set as the lower limit position. Therefore, when moving from the origin position 90 toward an arbitrary robot point RP, the front side (one side) in the movement direction is the upper limit position, and the end side (the other side) in the movement direction is the lower limit position. Furthermore, if the movement direction is reversed, the relationship between the upper limit position and the lower limit position relative to the movement direction is reversed.

[0045] FIG. 6 shows an enlarged view of the auxiliary diagram 84. As an example, FIG. 6 shows the auxiliary diagram 84 for the bottom position switch SW6 "Z-axis M / C entry position" of the three auxiliary diagrams 84 shown in FIG. 5. As shown in FIG. 6, the control device 41 displays the robot 13, workpiece spindle device 22, turret device 21, and table 18 as components of the machine tool 10 in the auxiliary diagram 84. The display of the robot 13, etc. may be a diagram showing each device in a schematic or abstract manner, or may be a photograph of the actual device. The characters and dashed-line boxes for the exit device 17, table 18, main device 11, and entrance device 15 shown in FIG. 6 are shown to make the explanation easier to understand, and need not be displayed in the actual auxiliary diagram 84.

[0046] The control device 41 displays the above-described configuration of the machine tool 10 in accordance with the actual configuration, coordinates, orientation, etc. of the machine tool 10. For example, an image showing the configuration of the machine tool 10 to be displayed in auxiliary diagram 84 is stored in the storage device 48. This image is one in which each device provided on the machine tool 10 is arranged in the same XZ coordinates and orientation as the actual device, based on the origin position 90 of the robot 13 set in the image. Therefore, for example, the coordinates and orientation of the workpiece spindle device 22 displayed in auxiliary diagram 84 are the same as the coordinates and orientation of the actual device shown in FIG.

[0047] The control device 41 reads out the image described above from the storage device 48, displays it on the auxiliary diagram 84, and sets the XZ coordinates. The control device 41 then displays an upper limit position icon 95 on the auxiliary diagram 84 at the coordinates (upper limit position) input into the upper limit value input section 85 of the first setting screen 81. The control device 41 also displays a lower limit position icon 96 on the auxiliary diagram 84 at the coordinates (lower limit position) input into the lower limit value input section 86. When displaying the first setting screen 81, the control device 41 displays the coordinates read out from the detection range data 57 on the upper limit value input section 85, etc., and displays the upper limit position icon 95, etc., at the coordinates displayed on the upper limit value input section 85, etc. When coordinates are input into the upper limit value input section 85, etc., and the coordinates are changed, the control device 41 displays the upper limit position icon 95, etc., at the changed coordinates.

[0048] 5, the control device 41 displays an upper limit position icon 95 at the Z coordinate (-100 in the illustrated example) of the upper limit value input section 85 of the positioning switch SW6. The control device 41 also displays a lower limit position icon 96 at the Z coordinate (-700 in the illustrated example) of the lower limit value input section 86 of the positioning switch SW6. This makes it possible to visually confirm the upper limit position and lower limit position before or after the change in the auxiliary diagram 84.

[0049] The upper limit value input section 85 and the lower limit value input section 86 of the position switch SW6 are Z-coordinate input sections. In this case, the control device 41 may use, for example, the X-axis coordinate 65 of the associated robot point RP as the X-coordinate for displaying the upper limit position icon 95 and the lower limit position icon 96. In the case shown in FIG. 5, the upper limit position icon 95 and the lower limit position icon 96 are displayed at the X-axis coordinate 65 (-1100 in FIG. 3) of the point number 63 "P03" associated with the position switch SW6 in the point data 56.

[0050] Furthermore, the same coordinates as those for the X coordinate are set for the Z coordinate when displaying the upper limit position icon 95 and the lower limit position icon 96 corresponding to the X coordinate upper limit value input section 85 and the lower limit value input section 86. Specifically, for example, in the case of the position switch SW5, the control device 41 sets the X coordinate input into the second upper limit value input section 85 from the top in FIG. 4 as the X coordinate of the upper limit position icon 95, and sets the X coordinate input into the lower limit value input section 86 as the X coordinate of the lower limit position icon 96. Then, the control device 41 sets the Z axis coordinate 66 (−300 in FIG. 3 ) of the point number 63 associated with the position switch SW5 in the point data 56 as "P03" as the Z coordinate of the upper limit position icon 95 and the lower limit position icon 96, and executes display.

[0051] The method for setting the coordinates for displaying the upper limit position icon 95 and the lower limit position icon 96 described above is one example. For example, the X coordinate for displaying the upper limit position icon 95 of the position switch SW6 may be the X coordinate (in FIG. 5, -1500 = (-1000 - 2000) / 2) that is the midpoint between the upper limit value 71 and the lower limit value 72 of the position switch SW5 associated with the same robot point RP (in this case, P03). Alternatively, values ​​set in advance by the user or the manufacturer may be used as the above coordinates.

[0052] The control device 41 also displays an upper limit guide icon 95A and a lower limit guide icon 96A in the auxiliary diagram 84. The control device 41 displays the upper limit guide icon 95A at an upper limit guide position serving as a guide for setting the upper limit position, and displays the lower limit guide icon 96A at a lower limit guide position serving as a guide for setting the lower limit position. The coordinates for displaying the upper limit guide icon 95A and the lower limit guide icon 96A (upper limit guide position, lower limit guide position) are set in the storage device 48, for example, by an operator at the manufacturer of the machine tool 10. The coordinates of the upper limit guide icon 95A, etc., can be the positions at both ends of a recommended range recommended as a detection range for setting the position switch function. As shown in FIG. 9 (described later), a guide range 123 (see FIG. 9) serving as a guide for setting an arbitrary robot point RP can be set depending on the configuration of the machine tool 10 and the target destination position. For example, the guide range 123 can be set to a range in which the robot 13 will not interfere with other devices when moving to that robot point RP, or a range in which it is easy to move from that robot point RP to the next robot point RP.

[0053] Furthermore, when moving to an arbitrary robot point RP, the detection range of the position switch function is preferably a range that can detect movement to that robot point RP. Therefore, the recommended detection range can be set to the range that defines both ends of the X-axis or Z-axis of the target range 123 of the robot point RP to be detected, or a range that includes the target range 123. The display coordinates of the upper limit guide icon 95A and the lower limit guide icon 96A can be the ends of the X-axis or Z-axis of this recommended detection range. For example, in the case of position switch SW6, the end of the target range 123 of point number 63 "P03" (machine-carrier entry position) associated with position switch SW6 shown in FIG. 9 (described later) on the origin position 90 side in the Z-axis direction becomes the coordinates (upper limit guide position) of the upper limit guide icon 95A. Furthermore, the end of the target range 123 farther from the origin position 90 in the Z-axis direction becomes the coordinates (lower limit guide position) of the lower limit guide icon 96A. The upper limit guide position and the lower limit guide position are not limited to the ends of the guide range 123 described above, but may be positions within the guide range 123 with some margin.

[0054] The coordinates of the upper limit guide icon 95A and the like are set for each PSW number 69. The control device 41 displays the upper limit guide icon 95A and the lower limit guide icon 96A in the auxiliary diagram 84 for each PSW number 69 (see FIG. 5). This allows a user setting the upper and lower limit values ​​to set the upper limit position and the like while looking at the upper limit guide icon 95A and the lower limit guide icon 96A. At a glance, names displayed in the PSW display field 83, such as "PSW06 Z-axis M / C entry position," may not always indicate which position within the machine tool 10 they refer to (that M / C refers to the machine and the position where the machine enters the machine). Alternatively, even with the same entrance device 15, the entrance device 15 may be installed on the right side of the machine tool 10 ( FIG. 1 ) or on the left side, depending on the transport direction of the workpiece W (direction of the production line). Therefore, even with the same device name, the location of the device may be mistaken. In addition, there are cases where it is better to write the name in the PSW display field 83 as a function name (such as the entrance device 15) or as an installation location such as an M / C. As a result, there is a possibility that a name that is not immediately recognizable to the user will be displayed in the PSW display field 83. In response to this, by simultaneously displaying an upper limit guide icon 95A or the like that serves as a guide and an upper limit position icon 95 or the like set by the user in the auxiliary diagram 84, the user can easily visualize the setting position. This reduces the workload of the setting work and prevents setting errors from occurring.

[0055] Furthermore, if the upper limit position icon 95 and the upper limit guide icon 95A, or the lower limit position icon 96 and the lower limit position icon 96A, are displayed on actual coordinates, the icons may overlap. On the other hand, for example, in the case of the position switch SW6 shown in FIG. 6 , the Z coordinate is set, so comparing the relative positions of the upper limit position icon 95, etc. and the upper limit guide icon 95A, etc. in the Z axis direction can provide useful information to the user. Therefore, as shown in FIG. 6 , for example, the upper limit position icon 95 and the upper limit guide icon 95A may be shifted in the X axis direction, and the lower limit position icon 96 and the lower limit guide icon 96A may be shifted in the X axis direction. For example, the control device 41 displays the upper limit position icon 95 at the upper limit value 71 set by the user, and displays the upper limit guide icon 95A at a position shifted a predetermined distance toward the origin position 90 from the upper limit guide position. Similarly, the control device 41 displays a lower limit position icon 96 at the lower limit value 72 set by the user, and displays a lower limit guideline icon 96A at a position shifted a predetermined distance from the lower limit guideline position toward the origin position 90. This makes it possible to prevent icons from overlapping, as shown in FIG. 6, and to display the guideline position in an easily visible manner.

[0056] Similarly, when setting the X-coordinate, each icon may be displayed at a position shifted in the Z-axis direction. For example, an X-coordinate is set for the position switch SW05. In this case, comparing the relative positions of the upper limit position icon 95, etc. and the upper limit guide icon 95A, etc. in the X-axis direction can provide useful information to the user. Therefore, similar to the Z-coordinate setting described above, for example, as shown in the auxiliary diagram 84 second from the top in FIG. 5 , the upper limit guide icon 95A may be shifted upward by a predetermined distance from the upper limit guide position, and the lower limit guide icon 96A may be shifted upward by a predetermined distance from the lower limit guide position. Note that the control device 41 does not need to execute the above-described shifting display process. Alternatively, the control device 41 may shift the upper limit position icon 95 or the lower limit position icon 96 from the set value, which is the opposite of the above-described shifting method, or may shift both the upper limit position icon 95, etc. and the upper limit guide icon 95A, etc.

[0057] 5 is a display unit that explains, in text and diagrams, the meaning of each icon, namely, the upper limit position icon 95, the lower limit position icon 96, the upper limit guideline icon 95A, and the lower limit guideline icon 96A. The control device 41 displays the icon explanation unit 88 above the input units such as the upper limit value input unit 85.

[0058] 5 , the control device 41 displays a PSW display field 83, an auxiliary diagram 84, an upper limit input section 85, and a lower limit input section 86, one line at a time, for each PSW number 69. For example, the control device 41 sets a display area 101 of a predetermined length in the vertical direction of the first setting screen 81 and displays the PSW display field 83, etc., for each display area 101. Therefore, the control device 41 of this embodiment displays the upper limit input section 85, etc., for the X-axis direction in a predetermined display area 101 (an example of a first display area in the present disclosure) of the first setting screen 81, and displays the upper limit input section 85, etc., for the Z-axis direction in another display area 101 (an example of a second display area in the present disclosure) of the first setting screen 81. This allows the upper limit position and the lower limit position to be set for each axis direction, and the positions can be confirmed in the auxiliary diagram 84. Furthermore, the X-axis and Z-axis directions can be displayed in different display areas, allowing the coordinates (upper limit position, lower limit position) of the different axes and the auxiliary diagram 84 to be confirmed together. For example, as shown in Figures 3 and 4, for one robot point RP, PSW numbers 69 (detection ranges) are set in order for each of the X-axis coordinate 65 and Z-axis coordinate 66, and the PSW numbers 69 are displayed in order from top to bottom on the first setting screen 81, so that the two PSW numbers 69 (detection ranges) corresponding to the XZ coordinates of one robot point RP can be viewed together, lined up one above the other.

[0059] 6, the control device 41 of this embodiment displays the robot 13, workpiece spindle device 22, and turret device 21 as components of the machine tool 10 in an auxiliary diagram 84. As a result, by checking the configuration of the machine tool 10 and the positions of the upper limit position icon 95 and the lower limit position icon 96 in the auxiliary diagram 84, it is possible to intuitively grasp the approximate positions of the set upper limit position and lower limit position on the machine tool 10. It is also possible to visually confirm whether the set upper limit position and lower limit position are positions that do not interfere with the workpiece spindle device 22 or the turret device 21. It is also possible to confirm whether the set upper limit position, etc. is a position where another device is located, i.e., a position where it cannot be set in the first place.

[0060] Furthermore, the control device 41 of this embodiment emphasizes the upper limit position icon 95, the lower limit position icon 96, the upper limit guideline icon 95A, and the lower limit guideline icon 96A more than the devices constituting the machine tool 10 (the turret device 21 and the workpiece spindle device 22). For example, the upper limit position icon 95 and the lower limit position icon 96 are displayed in blue, and the upper limit guideline icon 95A and the lower limit guideline icon 96A are displayed in red. Other devices (such as the turret device 21) are displayed in gray. This makes the upper limit position and upper limit guideline positions easier to recognize, thereby reducing the occurrence of setting errors. The method of emphasizing the icons is not limited to the above-described method of changing the color, and may include methods such as darkening the color or flashing. As shown in FIG. 6 , the upper limit guideline icon 95A and the lower limit guideline icon 96A may be connected by a line to indicate not only the guideline position but also the guideline range. In this case, the connecting line may be displayed in the same color (e.g., red) as the upper limit guideline icon 95A.

[0061] The control device 41 also displays the current position of the robot 13 in the auxiliary diagram 84. As shown in FIG. 6 , the control device 41 displays the rail base 26, lifting device 29, movable part 27, and chuck mechanism 31 of the robot 13 in the auxiliary diagram 84. When the coordinates of the movable part 27 are changed by a user operation, the control device 41 changes the coordinates of the robot 13 displayed in the robot position display area 87 in FIG. 5 and changes the position of the movable part 27 displayed in the auxiliary diagram 84. Note that FIG. 7 shows an example in which the position of the movable part 27 has been changed to within the exit device 17. This allows the user to set the upper limit position, etc. while checking the actual position of the robot 13 in the auxiliary diagram 84. For example, the user can move the robot 13 to the target position robot point RP or the upper limit position of the detection range, etc., and check for interference between the robot 13 and other components. After checking the actual device, the user can check the positional relationship between the robot 13's position and the upper limit position or lower limit position (set value) in the auxiliary diagram 84.

[0062] 5, the control device 41 may display an automatic setting button 82 on the first setting screen 81 for inputting the current position of the robot 13 into an upper limit value input section 85 and a lower limit value input section 86. The control device 41 displays the automatic setting button 82 for each PSW number 69 on the first setting screen 81. When the automatic setting button 82 is operated, the control device 41 sets the coordinates of the current position of the robot 13 in the upper limit value input section 85 and the lower limit value input section 86 of the row displaying the automatic setting button 82. This allows, for example, the robot 13 to be placed at a desired position, and after confirming the positional relationship between the current position of the robot 13 and the upper limit guide icon 95A, etc. in the auxiliary diagram 84, the current position can be set as the upper limit position, etc. Note that the control device 41 does not have to display the automatic setting button 82.

[0063] Furthermore, when the coordinates of the upper limit position input into the upper limit value input unit 85 are changed, the control device 41 changes the position of the upper limit position icon 95 in the auxiliary diagram 84 to match the changed coordinates. Furthermore, when the coordinates of the lower limit position input into the lower limit value input unit 86 are changed, the control device 41 changes the position of the lower limit position icon 96 in the auxiliary diagram 84 to match the changed coordinates. This allows the upper limit position and lower limit position set by the user to be quickly confirmed in the auxiliary diagram 84. Adjustments can be made while checking the positional relationship between the set upper limit position, etc. and the workpiece spindle device 22, etc. Furthermore, before reflecting the settings, the user can check in the auxiliary diagram 84 whether the set positions are appropriate.

[0064] In this case, the display manner of the upper limit position icon 95 and the lower limit position icon 96 may be changed depending on the set upper limit position and lower limit position. For example, a case where the upper limit position and the lower limit position of the Z coordinate are set as shown in FIG. 6 will be described. In this case, if the distance 103 (distance along the Z axis) between the Z coordinate of the upper limit position (upper limit position icon 95) input to the upper limit value input unit 85 and the upper limit guide icon 95A (upper limit guide position) is equal to or less than a predetermined reference distance, the control device 41 displays the upper limit position icon 95 (an example of a first icon of the present disclosure) shown in FIG. 6 in the auxiliary diagram 84. On the other hand, if the distance 103 between the Z coordinate of the upper limit position input to the upper limit value input unit 85 and the upper limit guide icon 95A is longer than the reference distance, the control device 41 displays the upper limit position as an upper limit position icon 195 (an example of a second icon of the present disclosure) that is more emphasized than the upper limit position icon 95 shown in FIG. 6, as shown in FIG. 7. Similarly, when the distance 104 (distance along the Z-axis) between the Z coordinate of the lower limit position (lower limit position icon 96) input to the lower limit value input unit 86 and the lower limit guide icon 96A is longer than the reference distance, the control device 41 displays the lower limit position as a lower limit position icon 196 that is more emphasized than the lower limit position icon 96 shown in FIG. 6, as shown in FIG. 7. This allows the user to confirm the set value by emphasizing the icon display when the upper limit position or lower limit position set by the user is significantly separated from the upper limit guide icon 95A or lower limit guide icon 96A that serves as a guide. This more reliably prevents setting errors from occurring.

[0065] The reference distance may be, for example, a distance confirmed by a manufacturer through a test operation or the like using the positions of the upper limit guideline icon 95A and the lower limit guideline icon 96A as references. The reference distance may be a different value for each PSW number 69, upper limit position, and lower limit position. Furthermore, highlighting may be achieved by changing the shape or color, blinking, or the like. The control device 41 may not necessarily perform the determination process or highlighting process using the reference distance. Furthermore, if the distances 103 and 104 are longer than the reference distances, the control device 41 may not necessarily perform the setting update process using the PS setting button 89.

[0066] As shown in point data 56 in FIG. 3 , each robot point RP is associated with a lower limit position and an upper limit position (PSW number 69) used when moving to the robot point RP. When an associated robot point RP exists between the coordinates of the upper limit position input in the upper limit value input unit 85 and the coordinates of the lower limit position input in the lower limit value input unit 86, the control device 41 displays the upper limit position, etc., using an upper limit position icon 95 or a lower limit position icon 96 (an example of a first icon in the present disclosure) shown in FIG. 6 . When one of the coordinates in the upper limit value input unit 85 or the lower limit value input unit 86 is changed, causing an associated robot point RP to no longer exist between the coordinates of the upper limit position and the coordinates of the lower limit position, the control device 41 may display the icon with the changed coordinates as a highlighted icon (an upper limit position icon 195 or a lower limit position icon 196, an example of a second icon in the present disclosure) shown in FIG. For example, in the case shown in FIGS. 6 and 7 , if the coordinates of the upper limit position icon 95 are changed and the Z-axis coordinate 66 of point number 63 “P03 M / C entry position” shown in FIG. 3 is no longer included between the upper limit position and the lower limit position in the Z-axis direction, the upper limit position icon 95 with the changed coordinates is displayed as an upper limit position icon 195.

[0067] Alternatively, for example, if the X coordinate of the lower limit position icon 96 of the "X-axis M / C entry position" second from the top in Fig. 5 is changed so that the X-axis coordinate 65 of point number 63 "P03 M / C entry position" shown in Fig. 3 is no longer included between the upper limit position and the lower limit position in the X-axis direction, the lower limit position icon 96 with changed coordinates is displayed as the lower limit position icon 196. In this way, if the robot point RP to be detected goes outside the detection range while the upper limit position and the lower limit position are being changed, the icon is highlighted to prompt the user to check the coordinates.

[0068] (Regarding the setting screen for the robot point RP) Next, the second setting screen 111, which is the setting screen for the robot point RP, will be described. As with the upper limit position of the position switch function, the robot point RP also has a problem in that it is difficult to imagine at what position on the machine tool 10 the coordinates are set just by looking at the name of the setting item. Therefore, on the second setting screen 111, the control device 41 executes the display of the auxiliary diagram 84, the display of the set coordinates, the display of the reference area, the highlighting, etc., in the same way as the first setting screen 81 described above. For this reason, in the following explanation, explanations of the same content as the first setting screen 81 described above will be omitted as appropriate.

[0069] FIG. 8 shows a second setting screen 111 for setting the X-axis coordinate 65 and Z-axis coordinate 66 of the robot point RP. As shown in FIG. 8 , the control device 41 displays an RP display field 113, an auxiliary diagram 114, an X-coordinate input section 115, a Z-coordinate input section 116, a robot position display section 117, an icon explanation section 118, an RP setting button 119, a cancel button 121, and a scroll button 112 on the second setting screen 111. The control device 41 arranges the above combinations horizontally and displays them in the order of point number 63 from top to bottom. In the example shown in FIG. 8 , the RP display fields 113 for points P02 to P04 of point number 63 are displayed. The robot position display field 117, the icon explanation section 118, and the scroll button 112 are similar to the robot position display section 87, the icon explanation section 88, and the scroll button 92 on the first setting screen 81.

[0070] The control device 41 reads data corresponding to each robot point RP to be displayed from the point data 56 in the storage device 48, and displays the setting values ​​and the like in the RP display field 113, auxiliary diagram 114, X coordinate input section 115, and Z coordinate input section 116. The RP display field 113 contains information such as the position 64. The robot point RP contains information on both the X and Z coordinates. Therefore, unlike the PSW display field 83, the RP display field 113 does not display information on the axis direction.

[0071] FIG. 9 shows an enlarged view of an auxiliary diagram 114. As an example, of the three auxiliary diagrams 114 in FIG. 8 , an enlarged view of the auxiliary diagram 114 displayed at point number 63, "P03 M / C entry position," is shown. The control device 41 displays a point icon 122 indicating the position of the robot point RP at the coordinates input to the X-coordinate input unit 115 and the Z-coordinate input unit 116 on the auxiliary diagram 114. More specifically, the control device 41 displays the X-axis coordinate 65 set in the point data 56 on each of the X-coordinate input units 115, and the Z-axis coordinate 66 on each of the Z-coordinate input units 116. The control device 41 determines the position of the point icon 122 displayed on the auxiliary diagram 114 as the position of the coordinates to be displayed. The control device 41 accepts a change in the X-axis coordinate 65 via the X-coordinate input unit 115, and accepts a change in the Z-axis coordinate 66 via the Z-coordinate input unit 116. When the coordinates are changed, the control device 41 displays a point icon 122 at the changed coordinates (an example of the robot point display process of the present disclosure). This allows the user to check the positions of the robot point RP before and after the change in the auxiliary diagram 114, and set appropriate coordinates. When the RP setting button 119 is operated, the control device 41 sets the coordinates set in each of the X coordinate input units 115 and Z coordinate input units 116 in the point data 56.

[0072] The control device 41 also displays the current position of the robot 13 in the auxiliary diagram 114, and when the position of the movable part 27 is changed by a user operation, changes the displayed position of the movable part 27. When the cancel button 121 is operated, the control device 41 ends the display of the second setting screen 111 without reflecting the value input to the X coordinate input unit 115, etc., in the point data 56.

[0073] The control device 41 also displays a guide range 123 in the auxiliary diagram 114, which serves as a guide for setting the robot point RP. Since the robot point RP is set by XZ coordinates, the guide range 123 is, for example, a rectangular range along the XZ axis direction. The coordinates and size of the guide range 123 are set in the storage device 48, for example, by an operator at the manufacturer of the machine tool 10, similar to the upper limit guide icon 95A. The guide range 123 can be set based on the configuration of the machine tool 10, the desired position to which the robot 13 is to be moved, the placement of the components at the destination, whether or not there is interference, and the like. The guide range 123 is set for each robot point RP. The control device 41 displays the guide range 123 in the auxiliary diagram 114 for each robot point RP (see FIG. 8 ). This allows the user to set the robot point RP while referring to the guide range 123. Displaying the guide range 123 in the auxiliary diagram 114 reduces the burden of the setting work and reduces the occurrence of setting errors.

[0074] 8, the control device 41 displays the RP display field 113, auxiliary diagram 114, X-coordinate input section 115, and Z-coordinate input section 116 for each robot point RP, one line at a time, in a predetermined display area 127. This allows the position set in the auxiliary diagram 114 for each robot point RP to be confirmed, and also allows multiple robot points RP to be confirmed on a single screen. Furthermore, the control device 41 displays the point icon 122 and target range 123, similar to the upper limit position icon 95, in a color that is more emphasized than the devices (turret device 21 and workpiece spindle device 22) that make up the machine tool 10. This makes it easier to see the position of the robot point RP and the target range.

[0075] The control device 41 also displays the point icon 122 in an emphasized manner according to its position relative to the target range 123. For example, as shown in FIG. 10 , when the coordinates input to the X-coordinate input unit 115 and the Z-coordinate input unit 116 are outside the target range 123, the control device 41 displays the position of the robot point RP using a point icon 122A that is emphasized more than the point icon 122 shown in FIG. 9 . This makes it possible to prompt the user to confirm the settings when the coordinates set by the user are outside the target range 123 by emphasizing the icon, thereby more reliably preventing setting errors. Note that the control device 41 may display an automatic setting button 129 on the second setting screen 111, similar to the automatic setting button 82 on the first setting screen 81, and input the coordinates of the current position of the robot 13 into the X-coordinate input unit 115 and the Z-coordinate input unit 116 in response to operation of the automatic setting button 129.

[0076] In the above embodiment, the touch panel 20 is an example of a display device. The turret device 21 is an example of a processing device. The workpiece spindle device 22 is an example of a workpiece holding device. The upper limit value input unit 85 and the lower limit value input unit 86 are examples of a coordinate input unit. The position of the upper limit position icon 95 is an example of an upper limit position. The position of the upper limit guideline icon 95A is an example of an upper limit guideline position. The position of the lower limit position icon 96 is an example of a lower limit position. The position of the lower limit guideline icon 96A is an example of a lower limit guideline position. The upper limit position icon 95 and the lower limit position icon 96 are examples of first icons. The display area 101 is an example of a first display area and a second display area. The auxiliary diagram 114 is an example of an auxiliary diagram for a robot point. The X coordinate input unit 115 and the Z coordinate input unit 116 are examples of a coordinate input unit for a robot point. The position of the point icon 122 is an example of the position of a robot point RP. The upper limit position icon 195 and the lower limit position icon 196 are examples of the second icon. The X-axis direction and the Z-axis direction are examples of the first axis direction and the second axis direction.

[0077] As described above, the present embodiment provides the following advantages. The control device 41, which is one aspect of the present disclosure, sets an upper limit position on one side of a predetermined target position (robot point RP) in the movement direction of the robot 13, and a lower limit position on the other side of the target position. When moving the robot 13 to the target position, the control device 41 detects that the robot 13 has moved to the target position based on the current position, upper limit position, and lower limit position of the robot 13 (an example of a detection process disclosed herein). The control device 41 displays an upper limit value input section 85, a lower limit value input section 86, and an auxiliary diagram 84 on the first setting screen 81, and also displays an upper limit position icon 95 and a lower limit position icon 96 on the auxiliary diagram 84 at the coordinate positions entered in the upper limit value input section 85, etc. (an example of a display process disclosed herein). As a result, when setting the upper limit position and the lower limit position, the positional relationship between the upper limit position and the lower limit position of the entered coordinates and the devices constituting the machine tool 10 can be confirmed using the auxiliary diagram 84. Therefore, the auxiliary diagram 84 makes it easy to visualize where the upper and lower limit positions whose coordinates have been input correspond to on the machine tool 10. This simplifies the setting work and reduces the occurrence of setting errors.

[0078] Furthermore, the present disclosure is not limited to the above-described embodiments and can be embodied in various forms with various modifications and improvements based on the knowledge of those skilled in the art. For example, the display contents of the first setting screen 81 shown in FIG. 5 and the second setting screen 111 shown in FIG. 8 are merely examples. For example, the control device 41 displays auxiliary views 84 for each of the X and Z axis directions on the first setting screen 81. However, the control device 41 may display the upper and lower limit positions for both the X and Z axes in a single auxiliary view 84. For example, the control device 41 may display the upper and lower limit positions of each of two PSW numbers 69 (e.g., SW5 and SW6) associated with the same robot point RP in a single auxiliary view 84. Furthermore, the control device 41 displays the upper and lower limit positions in the auxiliary view 84 and the robot point RP in the auxiliary view 114. However, the control device 41 may display the upper and lower limit positions, and the robot point RP in a single auxiliary view. For example, the control device 41 may display the upper limit position icon 95, the lower limit position icon 96, the upper limit guideline icon 95A, the lower limit guideline icon 96A, the point icon 122, and the guideline range 123 for the associated robot point RP and PSW number 69 in a single auxiliary diagram. Furthermore, the control device 41 does not need to change the position of the robot 13 displayed in the auxiliary diagrams 84 and 114 in response to a change in the position of the robot 13. Furthermore, while the robot 13 is configured to move in two axes (X and Z) in the above embodiment, it may also be configured to move in three axes (X, Y, Z, etc.) or have rotation axes (A, B, C, etc.). In this case, the control device 41 may display an input unit for inputting coordinates in each axis direction and an auxiliary diagram. For example, the control device 41 may display an upper limit value input unit 85, a lower limit value input unit 86, and an auxiliary diagram 84 for each of the X, Y, and Z axes. In this case, a drawing of the machine tool 10 cut along a plane parallel to the front-to-back and up-to-down directions may be used as the auxiliary diagram for the Y coordinate. Although not specifically mentioned in the above embodiment, the icons that display the positions are not limited to figures, but may be characters, symbols, images, or the like.

[0079] Furthermore, although the control device 41 is capable of setting both the coordinates of the upper and lower limit positions on the first setting screen 81 and the coordinates of the robot point RP on the second setting screen 111, it may be configured to be capable of setting only one of the coordinates. Alternatively, an auxiliary view may be displayed on only one of the setting screens. Furthermore, in the above embodiment, the touch panel 20 capable of displaying and inputting data is used as the display device of the present disclosure, but this is not limited to this. A device that only displays data, such as an LCD or an organic EL panel, may also be used as the display device of the present disclosure. Furthermore, the machine tool of the present disclosure is not limited to a lathe, and machine tools of various configurations, such as a machining center, a milling machine, and a drilling press, may be used.

[0080] The contents of the present disclosure are not limited to the dependency relationships described in the claims. For example, this specification also discloses the technical idea of ​​changing "the machine tool according to claim 1 or claim 2" in claim 5 to "the machine tool according to any one of claims 1 to 4." For example, this specification also discloses the technical idea of ​​changing "the machine tool according to claim 1 or claim 2" in claim 6 to "the machine tool according to any one of claims 1 to 5." For example, this specification also discloses the technical idea of ​​changing "the machine tool according to claim 1 or claim 2" in claim 7 to "the machine tool according to any one of claims 1 to 6." For example, this specification also discloses the technical idea of ​​changing "the machine tool according to claim 1 or claim 2" in claim 9 to "the machine tool according to any one of claims 1 to 8."

[0081] 10 Machine tool, 13 Robot, 20 Touch panel (display device), 21 Turret device (processing device), 22 Work spindle device (work holding device), 41 Control device, 85 Upper limit value input section (coordinate input section), 84 Auxiliary drawing, 86 Lower limit value input section (coordinate input section), 95 Upper limit position icon (upper limit position, first icon), 96 Lower limit position icon (lower limit position, first icon), 95A Upper limit guide icon (upper limit guide position), 96A Lower limit guide icon (lower limit guide position), 101 Display area (first display area, second display area), 103, 104 Distance, 114 Auxiliary drawing (auxiliary drawing for robot point), 115 X coordinate input section (robot point coordinate input section), 116 Z coordinate input section (robot point coordinate input section), 122 Point icon (position), 195 Upper limit position icon (second icon), 196 Lower limit position icon (second icon), RP Robot point (target position), W work.

Claims

1. A machine tool comprising: a display device; a robot for transporting a workpiece; and a control device for controlling movement of the robot, wherein the control device executes the following: a detection process for setting an upper limit position which is on one side of a predetermined target position in the movement direction of the robot, and a lower limit position which is on the other side of the target position, and when moving the robot to the target position, detecting that the robot has moved to the target position based on the current position of the robot, the upper limit position, and the lower limit position; and a display process for displaying on the display device a coordinate input unit for inputting the coordinates of each of the upper limit position and the lower limit position and an auxiliary diagram showing the configuration of the machine tool, and displaying the upper limit position and the lower limit position on the auxiliary diagram based on the coordinates inputted to the coordinate input unit.

2. The machine tool of claim 1, wherein the control device, in the display processing, displays on the auxiliary view an upper limit guide position which is a position serving as a guide for setting the upper limit position, and a lower limit guide position which is a position serving as a guide for setting the lower limit position.

3. The machine tool according to claim 2, wherein the control device, in the display processing, displays the coordinate input section and the auxiliary drawing side by side on the display device, and when the coordinate of the upper limit position inputted into the coordinate input section is changed, changes the position at which the upper limit position is displayed on the auxiliary drawing to match the changed coordinate, and when the coordinate of the lower limit position inputted into the coordinate input section is changed, changes the position at which the lower limit position is displayed on the auxiliary drawing to match the changed coordinate.

4. The machine tool described in claim 3, wherein, in the display processing, the control device displays the upper limit position on the auxiliary drawing with a first icon if the distance between the coordinate of the upper limit position inputted into the coordinate input unit and the upper limit target position is equal to or less than a predetermined reference distance, and displays the upper limit position on the auxiliary drawing with a second icon if the distance between the coordinate of the upper limit position inputted into the coordinate input unit and the upper limit target position is longer than the reference distance, and displays the second icon more emphasized than the first icon.

5. A machine tool as described in claim 1 or claim 2, wherein the robot is movable in a first axis direction and a second axis direction perpendicular to the first axis direction, and the control device, in the display processing, displays the coordinate input section, the auxiliary drawing, the upper limit position, and the lower limit position in a first display area of ​​the display device for the first axis direction, and displays the coordinate input section, the auxiliary drawing, the upper limit position, and the lower limit position in a second display area different from the first display area of ​​the display device for the second axis direction.

6. A machine tool as described in claim 1 or claim 2, further comprising: a work holding device that holds the work and rotates the work around the work spindle; and a processing device to which a tool for processing the work held by the work holding device can be attached, wherein the control device, in the display processing, displays the robot, the work holding device, and the processing device in the auxiliary view as configuration of the machine tool.

7. A machine tool as described in claim 1 or claim 2, wherein the control device executes a movement process for moving the robot based on the coordinates of a robot point associated with a position to which the robot moves, and in the detection process, sets the coordinates of the robot point as the target position, and when moving the robot to the robot point, detects that the robot has moved to the robot point based on the current position of the robot, the lower limit position, and the upper limit position, and executes a robot point display process for displaying on the display device a robot point coordinate input section for inputting the coordinates of the robot point and a robot point auxiliary diagram showing the configuration of the machine tool, and for displaying the position of the robot point on the robot point auxiliary diagram based on the coordinates inputted to the robot point coordinate input section.

8. The machine tool according to claim 7, wherein the robot point is associated with the lower limit position and the upper limit position used when moving to that robot point, and the control device, in the display processing, when an associated robot point exists between the coordinate of the upper limit position and the coordinate of the lower limit position inputted into the coordinate input unit, displays the upper limit position and the lower limit position in the auxiliary diagram with a first icon, and when one of the coordinates of the upper limit position and the lower limit position inputted into the coordinate input unit is changed and an associated robot point no longer exists between the coordinate of the upper limit position and the coordinate of the lower limit position, displays the position of the changed one coordinate in the auxiliary diagram with a second icon, and displays the second icon more emphasized than the first icon.

9. A machine tool as described in claim 1 or claim 2, wherein the control device, in the display processing, displays the current position of the robot on the auxiliary drawing, and when the position of the robot is changed, changes the position at which the robot is displayed on the auxiliary drawing to match the changed position.

10. A machine tool comprising a display device, a robot for transporting a workpiece, and a control device for controlling the movement of the robot, wherein the control device executes a movement process for moving the robot based on the coordinates of a robot point, the coordinates of which are associated with a position to which the robot moves, and a robot point display process for displaying on the display device a robot point coordinate input unit for inputting the coordinates of the robot point and a robot point auxiliary diagram showing the configuration of the machine tool, and for displaying the position of the robot point on the robot point auxiliary diagram based on the coordinates inputted to the robot point coordinate input unit.

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