WO2023119405A1

WO2023119405A1 - Machine tool

Info

Publication number: WO2023119405A1
Application number: PCT/JP2021/047259
Authority: WO
Inventors: 雄基伊藤; 良彦澤端; 修平野口
Original assignee: 株式会社Fuji
Priority date: 2021-12-21
Filing date: 2021-12-21
Publication date: 2023-06-29

Abstract

Provided is a machine tool comprising a head with a plurality of gripping parts, and capable of reducing occurrence of erroneous operations of the gripping parts.　A machine tool comprises: a head having a first gripping part and a second gripping part for gripping a workpiece; a display operation device that displays a first instruction button for instructing an action of the first gripping part and a second instruction button for instructing an action of the second gripping part, and accepts operation inputs with respect to the first instruction button and the second instruction button; and a control device that controls the actions of the first gripping unit and the second gripping unit in accordance with the operation inputs with respect to the first instruction button and the second instruction button displayed on the display operation device. The first gripping part is provided with a first identification member for identifying the first gripping part, and the control device causes the display operation device to display first identification information indicating the first identification member, in association with the first instruction button.

Description

Machine Tools

The present disclosure relates to a machine tool having a head with a plurality of grips.

Conventionally, various proposals have been made for machine tools that have a plurality of grips on one head. For example, the machine tool disclosed in Patent Document 1 below includes three loader chucks in one loader head. In the machine tool disclosed in Patent Document 1, the work held by the first loader chuck is transferred to the first spindle chuck, and the work held by the second loader chuck is transferred to the second spindle chuck.

JP 2019-217578 A

The purpose of using multiple gripping parts changes according to the content and order of each process for processing the workpiece. For example, the user operates the touch panel of the machine tool to operate the gripping portion of the head in order to confirm the operation of the head. At this time, if one head is provided with a plurality of grips, the user may not know which grip will operate when which button on the touch panel is operated, and there is a risk of erroneous operation.

The present disclosure has been made in view of the above problems, and an object thereof is to provide a machine tool having a head with a plurality of gripping portions, which can suppress the occurrence of erroneous operation of the gripping portions.

In order to solve the above problems, the present specification provides a head having a first gripping section and a second gripping section for gripping a workpiece, a first instruction button for instructing the operation of the first gripping section, and the second gripping section. a display operation device for displaying a second instruction button for instructing an operation of a unit and receiving an operation input with respect to the first instruction button and the second instruction button; a control device for controlling the operations of the first gripping portion and the second gripping portion according to an operation input to the 2 instruction button, wherein the first gripping portion includes a first gripping portion for identifying the first gripping portion; A machine tool is disclosed in which a first identification member is provided, and the control device causes the display operation device to display first identification information suggesting the first identification member in association with the first instruction button.

According to the machine tool of the present disclosure, of the first gripping portion and the second gripping portion provided on the head, the first gripping portion is provided with the first identification member. Then, the control device causes the first identification information suggesting the first identification member to be displayed in association with the first instruction button for operating the first grip. As a result, by confirming the first identification member provided on the real head and the first identification information displayed on the display operation device, it is possible to confirm that the first instruction button is a button for operating the first grip portion. can be recognized. As a result, even if both the first and second instruction buttons are displayed on the display operation device, it is possible to suppress the occurrence of erroneous operations of the first and second grips.

The perspective view which looked at the machine tool concerning a present Example from the front side. A block diagram of a machine tool. The figure which shows the state which removed the apparatus cover of the machine tool of FIG. Right side view of the machine tool in the state of FIG. FIG. 4 is a plan view of the head on the side of the first gripping portion; The top view of the 2nd holding part side of a head. FIG. 4 is a side view of the head along a direction parallel to the Y direction; Side view of the rear side of the head. FIG. 4 is a diagram showing operation screens of the first and second grips; The figure which shows a use point confirmation screen. The figure which shows a turning attitude|position confirmation screen. The figure which shows a coordinate setting screen. The schematic diagram which shows the identification member of another example. The figure which shows the head of another example.

An embodiment embodying the machine tool of the present disclosure will be described in detail below with reference to the drawings. FIG. 1 shows a perspective view of a machine tool 1 of this embodiment viewed from the front side. FIG. 2 shows a block diagram of the machine tool 1. As shown in FIG. FIG. 3 shows the machine tool 1 with the device cover 2 (see FIG. 1) removed. In the following description, as shown in FIG. 1, with the machine tool 1 viewed from the front as a reference, the right direction in the machine width direction and horizontal direction to the installation surface of the device is the Z direction. The forward direction parallel to and perpendicular to the Z direction will be referred to as the Y direction, and the Z direction and the upward direction perpendicular to the Y direction will be referred to as the X direction. Further, in the following description, the letter "L" is generally added to the reference numerals for the devices arranged on the left side of the machine tool 1, and the letter "R" is added to the reference numerals for the devices arranged on the right side.

(Configuration of machine tool 1)
As shown in FIGS. 1 and 2, a machine tool 1 has a front surface covered with a device cover 2, and a movable operation panel 3 is arranged in front of the machine. The device cover 2 is provided with a left front door 5L on the left side of the machine tool 1 and a right front door 5R on the right side. The left and right

front doors

5L and 5R are slide doors, for example, and opening the doors allows access to the processing space behind the doors.

As shown in FIGS. 2 and 3, the machine tool 1 includes, in addition to the operation panel 3, a left processing device 11L, a right processing device 11R, a work conveying device 14, and a control device 15. Behind the left front door 5L, there are provided machining spaces for the left processing device 11L and the left processing device 11L. The left processing device 11L is, for example, a turret-type lathe, and includes a left spindle device 12L and a left turret 13L. The left spindle device 12L has, for example, a plurality of claws (not shown) for chucking a work, grips the work with the plurality of claws, and rotates the work around an axis parallel to the Z direction. The left turret 13L has a tool post to which a plurality of tools (rotary tools and cutting tools) can be attached, and performs tool indexing. The left turret 13L performs machining (cutting, drilling, etc.) on the workpiece gripped by the left spindle device 12L with the indexed tool. The user checks the machining state of the workpiece and replaces the deteriorated tool through the left front door 5L.

Further, behind the right front door 5R, a right processing device 11R and a processing space for the right processing device 11R are provided. The right processing device 11R has the same configuration as the left processing device 11L. Therefore, in the description of the right processing device 11R, the description of the same content as that of the left processing device 11L will be omitted. The right processing device 11R includes a right spindle device 12R and a right turret 13R. The main shaft of the right main spindle device 12R is parallel to the Z direction and faces (faces) the main shaft of the left main spindle device 12L of the left processing device 11L in the left-right direction. Therefore, the left and

right processing devices

11L and 11R are so-called opposing two-spindle lathes arranged symmetrically. The right machining device 11R uses the tool of the right turret 13R to machine the workpiece gripped by the right spindle device 12R. The right processing device 11R does not have to have the same configuration as the left processing device 11L. For example, at least one of the left processing device 11L and the right processing device 11R may be another type of processing device such as a machining center.

Also, the machine tool 1 has the functions of both an NC lathe and a machining center. 4 is a right side view of the machine tool 1 in the state of FIG. 3. FIG. As shown in FIGS. 2 to 4, at the center of the machine tool 1, there is provided a tool spindle device 21 for executing machining that is difficult with the left and

right machining devices

11L and 11R, which are lathes. The machine tool 1 includes a multitasking machine having left and

right processing devices

11L and 11R and a tool spindle device 21 on one bed 22 .

The left and

right spindle devices

12L and 12R are slidable in a direction parallel to the Z direction by means of a ball screw mechanism (not shown) or the like along the inclined surface 23 on the bed 22 of the slant bed structure. Both the left and

right turrets

13L and 13R and the tool spindle device 21 are movable in the longitudinal direction and the vertical direction of the machine body perpendicular to the main axis (Z direction). In particular, while the moving directions of the tool spindle device 21 are the horizontal Y direction and the vertical X direction, the moving directions of the left and

right turrets

13L and 13R are the Y direction and the YL direction which is tilted 45 degrees from the X direction. It is in the XL direction.

In addition, an automatic tool changer 25 is provided in the front upper part of the machine tool 1 . The tool spindle device 21 is provided at the center of the machine tool 1 in the Z direction, and is capable of exchanging tools T (spindle head tools) with an automatic tool changer 25 . As shown in FIG. 4, the automatic tool changer 25 has a tool magazine 25B mounted on top of a changer main body 25A standing upright on the installation surface. The automatic tool changer 25 includes a shift device for moving the tool T inside the changer main body 25A, and a tool changer 25C for changing the tool T on the tool spindle device 21 side. An oval roller chain extending in the Z direction is stretched over the tool magazine 25B, and a tool T is detachably attached thereto. The indexing position of the tool magazine 25B is set at the center in the Z direction. The tool T positioned at the index position is conveyed to the tool changing position in the tool spindle device 21 by the shift device of the changing device main body 25A, and is changed.

The machine tool 1 can process the workpiece W (see FIG. 4) at the same time with the left and

right processing devices

11L and 11R, and can also exchange tools in the tool spindle device 21. The machine tool 1 includes, for example, separate shutters (not shown) arranged on both left and right sides of the tool spindle device 21 in the Z direction. The machine tool 1 can individually move the two separation shutters in the Y direction by a drive mechanism. FIG. 3 shows the state in which this separation shutter is accommodated. The machine tool 1 separates the machining space of each of the left machining device 11L and the right machining device 11R and the tool changing space of the tool spindle device 21 by two separation shutters. This makes it possible to prevent each device from being affected by coolant and chips. Also, by closing only one of the separation shutters, the space including the tool exchange space can be used as the processing space for the left processing device 11L or the like.

As shown in FIG. 3, the work transfer device 14 includes left and

right processing devices

11L and 11R, an entrance device for carrying in the work W, an exit device for discharging the work W, and a temporary table for placing the work W for inspection. etc., and the delivery of the workpiece W is executed. The details of the work conveying device 14 will be described later. Further, as shown in FIGS. 1 and 2, the operation panel 3 is provided on the front surface of the device cover 2 and has a touch panel 3A and an operation section 3B. A rail 6 extending parallel to the Z direction is provided on the lower right side of the front surface of the device cover 2 . The operation panel 3 is attached to a holding member 7 attached to a rail 6, and is movable along the rail 6 together with the holding member 7 from the center to the right end of the front surface of the device in the Z direction. Further, the operation panel 3 is rotatable in the left-right direction around a rotation axis parallel to the X direction while being held by the holding member 7 .

As the touch panel 3A of the operation panel 3, various types of touch panels such as a capacitive touch panel and a resistive touch panel can be adopted. The operation unit 3B includes, for example, operation switches, push buttons, dials, display lamps, and the like. The operation panel 3 receives an operation input from the user on the touch panel 3A and the operation unit 3B, and outputs a signal corresponding to the received operation input to the control device 15 . Further, the operation panel 3 changes the display contents of the touch panel 3A and the lighting state of the display lamps of the operation unit 3B based on the control of the control device 15 .

Also, a pendant 8 for operating the machine tool 1 can be suspended below the center of the device cover 2 . The pendant 8 is electrically connected to the machine tool 1 via a cable, for example, and includes a touch panel 8A and an operation section 8B (operation switches, etc.). The pendant 8 receives an operation input from the user on the touch panel 8A and the operation section 8B, and outputs a signal corresponding to the received operation input to the control device 15 . Also, the pendant 8 changes the display contents of the touch panel 8A based on the control of the control device 15 .

The operation panel 3 and the pendant 8 are examples of the display operation device of the present disclosure. Note that the display operation device of the present disclosure is not limited to a configuration including a touch panel. may be provided with an operation switch for selecting . That is, the display operation device may have a configuration in which the user operates hard keys provided separately from the display screen while viewing the display screen. Moreover, the machine tool 1 may be configured to include only one of the operation panel 3 and the pendant 8 .

Also, as shown in FIG. 2, the control device 15 of the machine tool 1 is a processing device mainly composed of a computer including a CPU 15A and a storage unit 15B. The storage unit 15B includes, for example, RAM, ROM, flash memory, and the like. The control device 15 is electrically connected to each device (the left processing device 11L, the work transfer device 14, etc.) and is capable of controlling each device. Various control programs 16 are stored in the storage unit 15B. The control program 16 includes, for example, an NC program for controlling the operation of each of the left and

right processing devices

11L and 11R in processing a workpiece, a program for controlling the operation of the work transfer device 14, a ladder circuit for processing various signals, program, etc.

The control device 15 displays, for example, instruction buttons or the like for instructing the operation of the work conveying device 14 on the

touch panels

3A and 8A, and controls the operation of the work conveying device 14 according to the operation input for the displayed instruction buttons or the like. Therefore, by operating the operation panel 3 and the pendant 8, the user can control the operation of the work transfer device 14 and perform teaching and checking of the machining operation.

Image data 17 and usage point data 18 are stored in the storage unit 15B. The image data 17 is image data to be displayed on the

touch panels

3A and 8A, and is, for example, image data of an operation screen (such as an operation screen 71 shown in FIG. 9, which will be described later) for receiving operation instructions for the work conveying device 14, and the like. The control device 15 reads an image corresponding to an operation input to the operation panel 3 or the pendant 8 from the image data 17 and displays it on the

touch panels

3A and 8A. The use point data 18 is data of XYZ coordinate information of a position (hereinafter sometimes referred to as a use point) at which the head 51 (see FIG. 4) of the workpiece transfer device 14 works and point information related to the use point. The control device 15 sets the coordinate information and point information of the point-of-use data 18 according to the teaching by the operation panel 3 or the pendant 8, and uses the point-of-use data 18 for controlling the work conveying device 14 in subsequent machining operations. Details of usage points will be described later.

(Regarding Work Transfer Device 14)
Next, the details of the work transfer device 14 will be described. As shown in FIGS. 1, 3, and 4, the workpiece transfer device 14 is, for example, a gantry-type transfer device, and is provided so as to protrude upward from the device cover 2. Inside the machine body, the gripped workpiece W can be moved in three XYZ directions. The tool magazine 25B of the automatic tool changer 25 is arranged so as to protrude forward from the left and right

front doors

5L and 5R on the front of the machine body, and is covered with the magazine cover 2A of the device cover 2. As shown in FIG.

The machine tool 1 has a tower-shaped frame structure 31 in which beams are connected to the front, rear, left, and right pillars erected to match the width of the bed 22 . Each device on the bed 22 such as the tool spindle device 21 , the automatic tool changer 25 and the work transfer device 14 are covered by the device cover 2 supported by the frame structure 31 . The work conveying device 14 has a rail base 32 and a traveling table 33 . The rail stand 32 is provided on the frame structure 31 and in front of the apparatus. Two running rails 34 parallel to the Z direction and one running rack 35 are provided on the rail base 32 . The travel table 33 is slidable along the travel rails 34 . A traveling motor 37 is fixed to the traveling table 33 . The travel table 33 can move in the Z direction by meshing a pinion fixed to the rotation shaft of the travel motor 37 with the travel rack 35 .

A slide table 39 is provided on the upper surface of the traveling table 33 so as to be slidable in the Y direction. A rack for moving in the Y direction is provided on the side surface of the slide table 39 . A forward/backward motor 41 is fixed to the traveling table 33 . A pinion fixed to the rotating shaft of the front/rear motor 41 is meshed with the rack of the slide base 39 . Thereby, the slide table 39 moves in the front-rear direction according to the driving of the front-rear motor 41 . The slide base 39 protrudes forward from the frame structure 31, and is provided with an elevating arm 43 that moves up and down at its tip.

A support column 45 having a lifting rail is fixed to the front end of the slide table 39 in a posture parallel to the X direction. A lifting arm 43 is provided in front of the support column 45 . The lifting arm 43 is movable in the X direction along the lifting rail of the support column 45 . A lifting motor 47 is provided at the top of the support column 45 . A pulley is fixed to the rotating shaft of the lifting motor 47 . A belt is stretched between the pulley of the lifting motor 47 and a pulley pivotally supported at the bottom of the support column 45 . The lift arm 43 is connected to the belt, and its position in the X direction is changed according to the drive of the lift motor 47 . The lifting arm 43 is, for example, a substantially quadrangular prism member extending in a direction parallel to the X direction. A head 51 for gripping the work W is provided at the lower end portion 43A of the lifting arm 43 .

The head 51 is attached to the rear side surface of the lower end portion 43A and arranged at a position on the rear side with respect to the lifting arm 43 . The head 51 has two gripping portions, a first gripping portion 52 and a second gripping portion 53 . FIG. 5 shows a plan view of the head 51 on the first grip portion 52 side. FIG. 6 shows a plan view of the second grip portion 53 side. FIG. 7 shows a side surface of the head 51 along a direction parallel to the Y direction. FIG. 8 shows the rear side of the head 51 .

As shown in FIGS. 5 to 8, the head 51 includes a base portion 55, a support member 56, a first claw member 57 and a second claw member 58. The base portion 55 is attached to the rear of the lower end portion 43A of the lifting arm 43 . The support member 56 is a plate-like member having a substantially square shape in a plan view of the first gripping portion 52 and having a predetermined thickness in the thickness direction (the direction perpendicular to the paper surface of FIG. 5). The support member 56 is attached to the rear side of the base portion 55 . The base portion 55 and the support member 56 are rotatably attached to the lower end portion 43A of the lifting arm 43 . The control device 15 rotates the head 51 around a rotation axis L1 (see FIGS. 4 and 5) parallel to the Y direction, for example, by driving a turning motor (not shown) provided at the lower end portion 43A. Let As a result, the base portion 55 and the support member 56 rotate in the rotation direction 61 (see FIGS. 4 and 5).

The head 51 has a first gripping portion 52 and a second gripping portion 53 on two surfaces facing each other in the thickness direction of the support member 56 . Therefore, the head 51 rotates in the rotational direction 61 to change the positions of the first and second

gripping portions

52 and 53 with respect to the position of the lifting arm 43 (lower end portion 43A). In this embodiment, the second grip portion 53 has the same configuration as the first grip portion 52 . Therefore, in the following description, the first gripping portion 52 will be mainly described, and the description of the second gripping portion 53 will be omitted as appropriate. For convenience of explanation, the surface on the side of the first gripping portion 52 is referred to as the first surface, and the surface on the side of the second gripping portion 53 is referred to as the second surface.

As shown in FIG. 5, three first claw members 57 are attached to the first surface 56A of the support member 56. As shown in FIG. Each of the three first claw members 57 has, for example, the same shape, and is attached at a position shifted in the circumferential direction by 120 degrees around a predetermined reference position 63 . The three first pawl members 57 slide in the radial direction indicated by arrows 65 in FIG. Thereby, the control device 15 drives the hydraulic cylinder to close the three first claw members 57 to clamp the work W, or open the three first claw members 57 to release the clamping.

Similarly, as shown in FIG. 6, three second claw members 58 are attached to the second surface 56B of the support member 56. As shown in FIG. The three second claw members 58 are opened and closed under the control of the control device 15 . Each of the three second claw members 58 is attached at a position facing each of the three first claw members 57 on the rear surface (first surface 56A) in the thickness direction of the support member 56 . In other words, each of the three second pawl members 58 is positioned at each of the three first pawl members 57 when the head 51 is rotated 180 degrees in the rotational direction 61 .

The head 51 rotates, for example, in one direction of rotation 61 by 90 degrees in accordance with the driving of the turning motor. The head 51 has two turning positions including a 180-degree reversed position in which the first and

second surfaces

56A and 56B of the support member 56 shown in FIGS. 4 and 5 are parallel to the X direction and the Y direction. position) and a turning position where the first and

second surfaces

56A and 56B are parallel to the X direction and the Z direction (two turning positions including a position reversed by 180 degrees). . For example, when the head 51 transfers the work W between the left and

right spindle devices

12L and 12R, the first and

second surfaces

56A and 56B are parallel to the X direction and the Y direction. For example, when the head 51 transfers the work W between an entrance device for carrying in the work W and a table device for placing the work W for inspection or the like, the first and

second surfaces

56A and 56B are X-shaped. and parallel to the Z direction. Note that the above-described rotation angle and turning position of the head 51 are examples. For example, the head 51 may be configured to rotate at intervals of 180 degrees, or may be configured to rotate at an arbitrary rotation angle.

In addition, the base 55 has a substantially rectangular parallelepiped shape elongated in a direction parallel to the first surface 56A of the support member 56 and perpendicular to the rotation axis L1. As shown in FIG. 5, a first nameplate 67 is attached to the first surface 55A of the base 55. As shown in FIG. The first nameplate 67 is, for example, a rectangular metal plate elongated in the longitudinal direction (the X direction in FIG. 5) of the base 55, and is attached to the first surface 55A with a screwing member 67A such as a bolt. The first nameplate 67 is attached to the center of the base portion 55 in the longitudinal direction of the base portion 55 and arranged on the rotation axis L1. Similarly, as shown in FIG. 6, a second nameplate 68 is fixed to the second surface 55B of the base 55 by a screwing member 68A.

As described above, the head 51 has the first and second

gripping portions

52 and 53 that grip the workpiece W. The first grip portion 52 includes, for example, a first surface 55A of the base portion 55, a first surface 56A of the support member 56, and three first claw members 57. As shown in FIG. In addition, the second grip portion 53 includes, for example, a second surface 55B of the base portion 55, a second surface 56B of the support member 56, and three second claw members 58. As shown in FIG. And the 1st and 2nd holding

parts

52 and 53 have comprised the same structure. Therefore, when the user tries to make the head 51 work, there is a possibility that the first and

second grips

52 and 53 are erroneously operated. Therefore, the first and second

gripping portions

52 and 53 are provided with first and

second nameplates

67 and 68 as identification members for mutually identifying the first and second

gripping portions

52 and 53 .

For example, the characters "LOADER" are engraved on the first nameplate 67 by press processing or laser processing. The letters "LOADER" mean that the first gripper 52 is mainly used to deliver the workpiece W to the left and

right spindle devices

12L and 12R. The second nameplate 68 is inscribed with, for example, "UNLOADER". The characters "UNLOADER" mean that the second gripper 53 is mainly used to receive the work W from the left and

right spindle devices

12L, 12R. As described above, since the first and second

gripping portions

52 and 53 have the same structure, the first gripping portion 52 can also be used as an "UNLOADER".

Furthermore, in the head 51, the first and

second nameplates

67, 68 are colored differently from each other so that the first and

second grips

52, 53 can be more easily and reliably identified. For example, the first nameplate 67 is colored red (hereinafter sometimes referred to as the first color), and the second nameplate 68 is colored green (hereinafter sometimes referred to as the second color). The first and

second nameplates

67 and 68 are colored, for example, by subjecting a metal plate to alumite treatment. The method of coloring the first and

second nameplates

67 and 68 is not limited to the alumite treatment, and other methods such as plating or ink spraying may be used.

The first nameplate 67 is an example of the first identification member of the present disclosure. Therefore, the first gripping portion provided with the first identification member of the present disclosure is, for example, a surface of the head that holds a work, and can be said to be a portion that rotates together with the held work. Note that the first gripping portion is not limited to the concept described above, and may be a portion that holds a work. For example, if the head 51 does not rotate, the first gripping portion 52 may be a base portion (fixed portion) provided with the first claw member 57 .

(Display processing)
Next, display processing by the control device 15 will be described. As described above, the head 51 of this embodiment includes the first and second

gripping portions

52 and 53 having the same structure, the first gripping portion 52 having the first nameplate 67 and the second gripping portion 53 having the second nameplate. 68. The control device 15 displays the identification information so that it is easy to identify which grip is operated by the instruction button for instructing the operation of each of the first and

second grips

52 and 53 . In the following description, the case of displaying on the touch panel 3A of the operation panel 3 will be described. It should be noted that display processing can be similarly performed on the touch panel 8A of the pendant 8 as well. That is, even when the first and

second grip portions

52 and 53 are operated by the pendant 8, the occurrence of erroneous operations can be suppressed by performing the identification display described below.

FIG. 9 is a screen displayed on the touch panel 8A, and shows an operation screen 71 for operating the first and

second grip parts

52 and 53. FIG. For example, the control device 15 displays the operation screen 71 on the touch panel 3A in response to a predetermined operation input on the touch panel 3A. As shown in FIG. 9 , the control device 15 displays three display columns of a first gripping portion operating portion 72, a second gripping portion operating portion 73, and a head operating portion 74, which are rectangular display columns, on the operation screen 71. . The second gripping portion operating portion 73 has the same configuration as the first gripping portion operating portion 72 . Therefore, in the following description, the first gripping portion operating portion 72 will be mainly described, and the description of the second gripping portion operating portion 73 will be omitted as appropriate.

The first gripping portion operation portion 72 is an operation portion for operating the first gripping portion 52 . The control device 15 displays the letters "loader chuck" indicating that it is the operation part of the first gripping part 52 above the first gripping part operation part 72, that is, the chuck for the above-described "LOADER". display a letter suggesting The control device 15 also displays a chuck display field 72A, a clamp instruction button 72B, an unclamp instruction button 72C, and an auxiliary button 72D on the first gripping section operation section 72. FIG. Similarly, the control device 15 causes the second gripping portion operating portion 73 for operating the second gripping portion 53 to display the characters "unloader chuck", the chuck display field 73A, the clamping instruction button 73B, the unclamping instruction button 73C, Display the auxiliary button 73D.

The chuck display field 72A displays information indicating whether or not the first gripping portion 52 is gripping the workpiece W, and information indicating the processing stage of the gripped workpiece W. column. In the example shown in FIG. 9, the chuck display field 72A indicates that the first gripping unit 52 is not gripping the workpiece W, and the second gripping unit 53 is gripping the workpiece W for quality check. It is displayed in the display column 73A.

The clamp instruction button 72B is a button that instructs the first gripping section 52 to clamp the work W. The unclamping instruction button 72C is a button for instructing the first gripping section 52 to release the clamping of the workpiece W. As shown in FIG. The control device 15 executes control to close the first claw member 57 of the first gripping portion 52 based on a touch operation on the clamp instruction button 72B, and closes the first claw member 57 based on a touch operation on the unclamp instruction button 72C. Execute the open control. Then, the control device 15 displays the background portion of the characters and buttons in the first gripping portion operating portion 72 in the same first color (for example, red) as the first nameplate 67 of the first gripping portion 52 (see FIG. 9). (see dotted hatching). In addition, the control device 15 displays the background portion of the characters and buttons in the second gripping portion operation portion 73 in the same second color (for example, green) as the second nameplate 68 of the second gripping portion 53 (see FIG. 9). (see diagonal hatching in ).

Therefore, the first nameplate 67, which is an example of the first identification member of this embodiment, is a member of the first color. The control device 15 causes the first color to be displayed as the first identification information at a position adjacent to the clamp instruction button 72B and the unclamp instruction button 72C (an example of the first instruction button of the present disclosure) (at the position serving as the background image). . According to this, by matching the color of the first nameplate 67 provided on the actual head 51 with the color displayed on the touch panel 8A, the clamp instruction button 73B or the like can be used as an instruction button for operating the first grip portion 52. The user can be made to recognize that there is As a result, it is possible to suppress the occurrence of erroneous operation of each instruction button.

In addition, the second grip portion 53 is also provided with a second nameplate 68 for identifying the second grip portion 53 . The second nameplate 68 is a member of a second color (for example, green) different from the first color of the first nameplate 67 . Then, the control device 15 sets the second color indicating the second nameplate 68 (an example of the second identification information of the present disclosure) to the clamp instruction button 73B or the unclamp instruction button 73C (an example of the second instruction button of the present disclosure). ) and displayed on the touch panel 8A. Thus, by giving different colors to each of the first and

second nameplates

67 and 68 and also giving colors to the portions associated with the instruction buttons of each grip, the occurrence of erroneous operation of the instruction buttons can be more reliably prevented. can be suppressed to

Further, the control device 15 displays the first color in the first gripping portion operating portion 72 surrounding all of the clamp instruction button 72B and the unclamp instruction button 72C, and all of the clamp instruction button 73B and the unclamp instruction button 73C are displayed. The second color is displayed in the surrounding second gripping portion operating portion 73 . As a result, the area provided with the clamp instruction button 72B and the like and the area provided with the clamp instruction button 73B and the like can be more clearly distinguished. It is possible to more reliably suppress the occurrence of erroneous operations by the user.

In addition, the control device 15 also displays the use points of the first and

second grip parts

52 and 53 so that they can be easily identified in the process of displaying the use points at which the head 51 works. The usage point referred to here is, for example, a position at which the movement of the head 51 is temporarily stopped and the first and

second claw members

57 and 58 are opened and closed to transfer the workpiece W. More specifically, the use point is a point at which the work W is transferred from the head 51 to the left spindle device 12L, a point at which the work W is transferred from the inlet device to the head 51, and a point at which the work W is transferred from the head 51 to the quality check table. points, etc. An XYZ coordinate position based on the origin position set in the machine tool 1 is set for each use point. The user teaches the machine tool 1 the state of the head 51 at each point of use by teaching the XYZ coordinates of each point of use and the turning position (orientation) of the head 51 at that point of use. The control device 15 displays characters such as the first color, the second color, and the loader chuck on the screen for confirming the use point, thereby determining which of the first and second

gripping portions

52 and 53 is the use point. Display in an easy-to-understand manner. In the following description, for convenience of explanation, the point of use at which the first gripping portion 52 works will be referred to as the first point of use, and the point of use at which the second gripping portion 53 will work will be referred to as the second point of use.

More specifically, when the auxiliary button 72D of the first gripping portion operating portion 72 or the auxiliary button 73D of the second gripping portion operating portion 73 is touch-operated, the control device 15 displays the use point confirmation screen 81 shown in FIG. Display on 3A. As shown in FIG. 10 , the control device 15 displays a first points-to-use field 82 , a second points-to-use field 83 , and a point information list 84 on a points-to-use confirmation screen 81 . Identification symbols 84B such as P1, P2, .

The first use point column 82 is a display column for displaying the use point at which the first grip part 52 performs work. The control device 15 displays the characters "LL: loader chuck" suggesting that it is the display column of the first grip portion 52 and the first use points 82A (P1, P3, P6, etc. in the drawing). Further, the control device 15 displays the background portion of the characters in the first usage point column 82 in the first color. In addition, the control device 15 displays a second points-to-use column 83 below the first points-to-use column 82 . The control device 15 displays the characters "LU: unloader chuck" indicating the display field of the second gripping portion 53 and the second use points 83A of the second gripping portion 53 (P2, P4, P5, . . . ) is displayed in the second usage point column 83, and the background portion is displayed in the second color.

Also, the control device 15 displays a point information list 84 to the right of the first and second

use point columns

82 and 83 . The control device 15 displays in the point information list 84 point information 84A and identification symbols 84B relating to the first and second use points 82A and 83A. For example, the control device 15 accepts summary information of the first and second points of

use

82A, 83A as point information 84A from the user on the touch panel 3A, and associates the information with the identification symbols 84B of the first and second points of

use

82A, 83A. It is stored in the usage point data 18 (see FIG. 2). As shown in FIG. 10, for example, the user inputs, as point information 84A, the name of the device that transfers the workpiece W to/from the head 51 at each point of use (such as "entrance device" in FIG. 10).

When displaying the point usage confirmation screen 81 , the control device 15 reads the point information 84 A from the point usage data 18 and displays it in the point information list 84 . The control device 15 displays the point information 84A side by side with the identification symbol 84B in the point information list 84, and displays the point information 84A in ascending order of the identification symbol 84B. The control device 15 sequentially changes the point information 84A displayed in the point information list 84 up and down according to the operation of the up/down button 86 displayed on the right side of the point information list 84 .

Therefore, the control device 15 displays the first use point 82A, the second use point 83A, and the point information 84A on the touch panel 3A. Then, the control device 15 displays the characters “LL: loader chuck” and the first color (an example of the first identification information of the present disclosure) in association with the first use point 82A. As a result, while checking the point information 84A, it is possible to check which of the first and

second grip parts

52 and 53 is being used at which use point on one screen. At the time of this confirmation, it becomes easy to recognize which of the usage points of the first and second

gripping portions

52 and 53 is indicated, and confusion of usage points can be suppressed in teaching work and the like. In particular, as shown in FIG. 10, by displaying the entire first point-to-use column 82 in a first color and displaying the second point-to-use column 83 in another second color, it is possible to avoid confusion of points to be used. The occurrence can be suppressed more reliably. Which of the first and

second grip parts

52 and 53 is used can be displayed in an easy-to-understand manner for the user. Note that the control device 15 returns the display of the touch panel 3A to the operation screen 71 of FIG.

Next, the head operating section 74 in FIG. 9 will be described. As shown in FIG. 9, the control device 15 displays four turning

instruction buttons

74A, 74B, 74C, 74D and an auxiliary button 74E on the head operation section 74. As shown in FIG. The four turning instruction buttons 74A to 74D are buttons for rotating the head 51 to each of the four turning positions, and characters of turning positions 1 to 4 are displayed. As described above, the control device 15 rotates the head 51 about the rotation axis L1 (see FIG. 4) in the rotation direction 61 at intervals of 90 degrees to one of the four turning positions. The turning

instruction buttons

74A, 74B, 74C, 74D correspond to these four turning positions. When any one of the turning instruction buttons 74A to 74D is touch-operated, the control device 15 rotates the head 51 to the turning position corresponding to the touch-operated turning instruction button 74A to 74D.

Further, when the auxiliary button 74E is touch-operated, the control device 15 displays the turning posture confirmation screen 91 shown in FIG. 11 on the touch panel 3A. The control device 15 displays four

posture display fields

92A, 92B, 92C, and 92D and a point information list 93 on the turning posture confirmation screen 91. FIG. Each of the four posture display fields 92A-92D corresponds in this order to the four turning positions 1-4 of the turning instruction buttons 74A-74D shown in FIG. The control device 15 displays the characters of the turning positions 1 to 4, the use point information 94 indicating the use points for performing work at the turning positions, and the head image 95 showing the attitude of the head 51 at the turning positions. 92D. The attitude display fields 92A to 92D have the same configuration. Therefore, in the following description, the attitude display field 92A will be mainly described, and the description of the other attitude display fields 92B to 92D will be omitted as appropriate.

The control device 15 displays the Z-axis 96 on the left side of the

attitude display columns

92A and 92C, and displays the X-axis 97 below the

attitude display columns

92C and 92D. The Z-axis 96 indicates that the vertical direction of the head image 95 displayed on the screen is the vertical direction of the machine tool 1 . The X-axis 97 indicates that the left-right direction of the displayed head image 95 is the left-right direction of the machine tool 1 . For example, the attitude display field 92A corresponds to turning position 1 (turning instruction button 74A). At the turning position 1, the first and

second surfaces

56A and 56B (see FIGS. 5 and 6) of the support member 56 are parallel to the X direction and the Y direction, and the first gripping portion 52 (LL in FIG. 11) is rotated. is the left side, and the second grip portion 53 (LU in FIG. 11) is the right side. The control device 15 displays an image (a side view seen from the Y direction) in which the head 51 is at the turning position 1 described above in the head image 95 of the attitude display field 92A, and "LL" is displayed on the left side of the head image 95. characters 98 are displayed, and characters 98 of "LU" are displayed on the right side. The control device 15 also displays first nameplate information 99A at a position corresponding to the first nameplate 67 in the head image 95 and second nameplate information 99B at a position corresponding to the second nameplate 68 . The first nameplate information 99A is, for example, an image simulating the rectangular first nameplate 67 of the first color. The second nameplate information 99B is an image simulating the rectangular second nameplate 68 in the second color. Similarly, each of the other posture display columns 92B to 92D displays a head image 95, characters 98, first nameplate information 99A, and second nameplate information 99B indicating the posture of the head 51 at turning

positions

2, 3, and 4. It is

In addition, the control device 15 displays point information 84A in the point information list 93 of FIG. Change the point information 84A. Also, the control device 15 returns the display of the touch panel 3A to the operation screen 71 of FIG.

As described above, the control device 15 displays the first point of use 82A and the head image 95 showing the attitude of the head 51 performing work at the first point of use 82A on the turning attitude confirmation screen 91. Furthermore, the control device 15 causes the head image 95 to display characters 98 suggesting the first nameplate 67 and first nameplate information 99A. According to this, the user can recognize which turning positions 1 to 4 the head 51 is at which point of use by comparing the attitude display fields 92A to 92D. By looking at the characters 98 and the first nameplate information 99A, the user can quickly and accurately recognize which direction the first gripping portion 52 and the second gripping portion 53 face at the point of use. For example, when executing teaching, it is possible to correctly recognize the orientation of the head 51 at the point of use to be taught, and to suppress the occurrence of erroneous operations.

FIG. 12 shows the coordinate setting screen 103 for setting the coordinates of points to be used. The control device 15 arranges and displays the identification symbol 84B of the used point, the point information 84A, the coordinate input field 105 for inputting XYZ coordinates, and the execution button 106 in one line. The control device 15 also displays a current position field 107 displaying the current XYZ coordinates of the head 51 above the coordinate input field 105 . A coordinate input field 105 is a field for inputting the XYZ coordinates of each use point. The execution button 106 is a field for inputting the XYZ coordinates displayed in the position field 107 into the coordinate input field 105 arranged in the same row as the execution button 106 . For example, when performing the teaching work, the user first displays the point-of-use confirmation screen 81 in FIG. to confirm. Further, the user causes the turning posture confirmation screen 91 of FIG. 11 to be displayed, and confirms the posture of the head 51 at the use point. The user moves the head 51 to the point of use and operates the head operation section 74 on the operation screen 71 of FIG. At this time, as shown in FIGS. 10 and 11, characters and colors are displayed to make it easier to determine the correspondence between the first and

second grip parts

52 and 53 and the displayed usage points and postures. It is possible to prevent the user from arranging the head 51 in an erroneous posture. While adjusting the position of the head 51 , the user opens and closes the first gripping portion 52 or the second gripping portion 53 to arrange the head 51 at an appropriate position. Also at this time, by displaying characters and colors on the first gripping portion operating portion 72 and the second gripping portion operating portion 73, it is possible to suppress the occurrence of erroneous operation of the instruction buttons (such as the clamp instruction button 73B).

With the head 51 placed at an appropriate position, the user operates the up/down button 109 on the coordinate setting screen 103 shown in FIG. 12 to display the teaching target point information 84A and the like. By touching the execution button 106 displayed on the same line as the point information 84A to be taught, the user can set the XYZ coordinates displayed in the current position column 107, that is, the XYZ coordinates of the desired adjusted position. , the XYZ coordinates (coordinate input field 105) of the use point to be taught can be input and registered. The user can perform teaching smoothly without making an erroneous operation.

(Structure of head 51)
Here, as described above, the first gripping portion 52 has a plurality of first claw members 57 that clamp the workpiece W. As shown in FIG. As shown in FIG. 5 , the first nameplate 67 is provided at a position that can be visually recognized from the outside even when the work W is gripped by the plurality of first claw members 57 . More specifically, the first nameplate 67 is located at a position where it is not hidden by the first claw member 57 or the workpiece W when the first claw member 57 chucks the workpiece W having the maximum diameter that can be gripped by the first gripping portion 52 . (first surface 55A). Thereby, the user can visually check the first nameplate 67 even when the work W is gripped by the first gripping portion 52 . Therefore, even when operating the first gripping portion 52 and the second gripping portion 53 with the workpiece W chucked, the user can operate the first nameplate 67 and the display of the touch panel 3A in association with each other.

Also, the head 51 is rotatably attached to the elevating arm 43, and changes the positions of the first gripping portion 52 and the second gripping portion 53 according to the rotation angle. The second grip portion 53 has the same structure as the first grip portion 52 and is provided at a position rotated 180 degrees from the position of the first grip portion 52 in the rotation direction 61 . The second nameplate 68 of the second grip portion 53 is provided at a position rotated 180 degrees from the position of the first nameplate 67 in the rotational direction 61 . According to this, by arranging the first nameplate 67 and the second nameplate 68 at overlapping positions in the rotation direction 61 of the head 51 , when the head 51 is rotated, the user can change the first and

second nameplates

67 and 68 . Confirmation becomes easy.

Also, the touch panel 3A is attached to the front surface of the machine tool 1. The first and second

gripping parts

52 and 53 are attached to the rear side of the lifting arm 43 . The first nameplate 67 is provided on the front end portion (base portion 55 ) of the first grip portion 52 . According to this, the first nameplate 67 is arranged on the front end portion of the first grip portion 52, that is, on the side of the user who operates the touch panel 3A. Even with the configuration in which the head 51 is arranged behind the lifting arm 43 , the user can easily confirm the first nameplate 67 from the front of the lifting arm 43 . The text "loader chuck" of the first gripping portion operating portion 72 in FIG. The nameplate information 99A is an example of first identification information. The letters "unloader chuck" of the second gripping portion operating portion 73 in FIG. The second nameplate information 99B is an example of second identification information.

By the way, the operation panel 3 and the pendant 8 are examples of the display operation device. The lifting arm 43 is an example of an arm. The first claw member 57 is an example of a claw member. The first nameplate 67 is an example of a first identification member. The second nameplate 68 is an example of a second identification member. The clamp instruction button 72B and the unclamp instruction button 72C are examples of first instruction buttons. The clamp instruction button 73B and the unclamp instruction button 73C are examples of second instruction buttons.

As described above, the present embodiment described above has the following effects.
In one aspect of the present embodiment, the first gripper 52 is attached with a first nameplate 67 engraved with the letters "LOADER" and colored in a first color for identifying the first gripper 52 . The control device 15 displays, as the first identification information suggesting the first nameplate 67, the letters "loader chuck" and the color red on the first gripping portion operating portion 72 in association with the clamp instruction button 72B and the like. According to this, by confirming the first nameplate 67 provided on the actual head 51 and the first identification information such as characters and colors displayed on the touch panel 3A, the clamp instruction button 72B and the unclamp instruction button 72C can be operated. It can be recognized that it is a button for operating the first grip part 52 . As a result, even if both the clamp instruction button 72B and the like and the clamp instruction button 73B and the like are displayed on the touch panel 3A, erroneous operations of the first and

second grip portions

52 and 53 can be suppressed. Furthermore, by displaying the identification information in colors such as the first color and the second color, the identification can be made easier than with characters. In particular, by using complementary colors such as red and green, the occurrence of erroneous operations can be further suppressed.

In addition, the machine tool 1 of this embodiment is a so-called opposing two-spindle lathe having the same structure. Accordingly, the first and second

gripping portions

52 and 53 of the head 51 have the same structure, and the front and back of the head 51 are provided with gripping portions, respectively. As a result, it is possible to reduce the time required for transferring the work W, and to complement the work such as performing one of the work of the first and second

gripping portions

52 and 53 instead of the other, thereby performing efficient machining work. can run. On the other hand, since there is a possibility that the user may operate erroneously by using the same structure, the first nameplate 67 is provided and the identification information of the first nameplate 67 is displayed on the touch panel 3A. As a result, it is possible to improve the working efficiency of the machine tool 1 and suppress the occurrence of erroneous operations by the user.

(Separate identification member)
In the above embodiment, the first and

second nameplates

67, 68 are employed as the first and second identification members of the present disclosure, and the first and

second nameplates

67, 68 are attached to the first and

second grips

52, 53. Although attached to each, it is not limited to this. FIG. 13 is a schematic diagram showing another example of the first and second identification members. In the following description of FIGS. 13 and 14, the same reference numerals are assigned to the same configurations as in the above embodiment, and the description thereof will be omitted as appropriate. For example, as shown in FIG. 13, first and

second nameplates

67 and 68 may be provided on the front surface of the lower end portion 43A. Also, the first and

second nameplates

67 and 68 are held by the rotating member 111 . The rotating member 111 rotatably holds the first and

second nameplates

67 and 68 with respect to the lower end portion 43A, and rotates the first and

second nameplates

67 and 68 at the same rotational positions as the first and second

gripping portions

52 and 53, respectively. 2 Rotate the

nameplates

67 and 68 . That is, the rotating member 111 rotates in synchronization with the head 51 (see arrow in FIG. 13). According to this, the user can check the first and

second nameplates

67 and 68 from the front side of the lifting arm 43 , that is, from the front side of the machine tool 1 . Therefore, it is possible to reduce the burden of checking the first and second identification members by the user.

(Another head)
Moreover, in the above embodiment, the first and second

gripping portions

52 and 53 are attached at positions rotated by 180 degrees, but the present invention is not limited to this. FIG. 14 shows a work transfer device 121 of another example. The work conveying device 121, like the work conveying device 14 of the above embodiment, moves the head 123 to an arbitrary position in the front-rear direction, the left-right direction, and the up-down direction with respect to the rail table 32. FIG. The head 123 is provided with first and

second grips

124 and 125 . The second grip portion 125 has the same configuration as the first grip portion 124 and is attached at a position shifted from the first grip portion 124 by 90 degrees. The head 123 has a turning motor, and turns the first and second

gripping portions

124 and 125 around a predetermined rotation axis in accordance with the driving of the turning motor, thereby exchanging the positions of the two gripping portions. Even in the first and

second grips

124 and 125 that are in such a 90-degree displaced relationship, there is a possibility that an erroneous operation by the user will occur. Therefore, for example, first and second nameplates 67 and 68 (see FIGS. 5 and 6) are provided on the first and

second grips

124 and 125, respectively, to suppress the occurrence of erroneous operations in the same manner as in the above embodiment. can be Therefore, the attachment position, rotation angle, rotation direction, turning position, etc. of the first and second gripping portions of the present disclosure are not particularly limited.

It goes without saying that the present disclosure is not limited to the above embodiments, and that various improvements and modifications are possible without departing from the scope of the present disclosure.
For example, in the above embodiment, the second grip portion 53 has the same structure as the first grip portion 52, but may have a different structure. For example, the number of second claw members 58 may be greater than the number of first claw members 57 . Even in such a case, the rotation of the head 51 may cause the user to confuse the grip, so displaying the identification information is extremely effective.
Also, the first and

second nameplates

67, 68 may be configured to include either letters such as "LOADER" or colors. Therefore, the first identification member of the present disclosure may be a member on which only letters are written or a member that is colored only. Further, when displaying the first color as the first identification information, it is not necessary to display the entire inside of the first gripping portion operating portion 72 in the first color (for example, red). For example, only the frame of the first gripping portion operating portion 72 may be displayed in red, only buttons and characters may be displayed in red, or a red striped pattern may be displayed. Further, the first identification member is not limited to letters and colors, and may be a member provided with a symbol such as a star or a triangle mark that enables identification of the first and second

gripping portions

52 and 53 . In this case, by displaying a star mark or a triangular mark on the first gripping portion operation portion 72 shown in FIG. 9, it is possible to suppress the occurrence of erroneous operations. Similarly, a star mark may be displayed in the first use point column 82 of FIG. 10, and a star mark may be displayed as the first nameplate information 99A of the turning posture confirmation screen 91 of FIG. Also, the first identification member may be an electrical member such as an LED light. In this case, by unifying the first color of the LED light attached to the first grip portion 52 and the first color of the touch panel 3A, it is possible to suppress the occurrence of erroneous operations by the user.
Also, only one of the first and

second nameplates

67 and 68 may be attached to the head 51 . Therefore, the head 51 may have an identification member on only one of the gripping portions as an identification member for identifying the first and second

gripping portions

52 and 53 . In this case, only the first identification information may be displayed on the touch panel 3A without displaying the second identification information. For example, the first gripping portion operating portion 72 of the operation screen 71 may be displayed in a first color, and the second gripping portion operating portion 73 may be displayed in a colorless manner. By the user confirming the first color, it is possible to suppress the occurrence of erroneous operations.

The control device 15 may not display the first identification information (characters or first color) for the use points shown in FIGS. 10 and 11 . That is, it is not necessary to use the first identification information for the usage points.
The point information 84A is not limited to the name of the device used as the point of use, and may be the work name (work loading point) or the like.
The first nameplate 67 may be attached at a position hidden by the work W clamped by the first claw members 57, or at a place not visible from the outside.
The position of the first nameplate 67 on the first grip portion 52 and the position of the second nameplate 68 on the second grip portion 53 may be different. That is, the second nameplate 68 does not have to be located at a position obtained by rotating the first nameplate 67 by 180 degrees in the direction of rotation 61 .
The head 51 may have three or more gripping portions. In this case, nameplates of different colors may be provided on the grips, and each color may be displayed on the background of each instruction button on the operation screen 71 .
Although the head 51 is configured to rotate with respect to the elevating arm 43, it may be configured not to rotate. For example, the first and second

gripping portions

52 and 53 may be configured such that their positions are fixed on one surface as in the conventional technology (Japanese Patent Application Laid-Open No. 2019-217578).

Also, the display screens shown in FIGS. 9 to 12 are examples. For example, in the above embodiment, the first color is displayed in the background so as to surround the clamp instruction button 72B and the unclamp instruction button 72C, but the present invention is not limited to this. For example, only the frame of the first gripping portion operating portion 72 may be displayed in the first color. Also, the frames and characters of the clamp instruction button 72B and the unclamp instruction button 72C may be displayed in the first color. In addition, in the above embodiment, the clamp instruction button 72B and the unclamp instruction button 72C are illustrated as the first instruction buttons of the present disclosure, but the number of the first instruction buttons may be one, or three or more. . Also, the first instruction button may be a button that instructs an instruction other than clamping/unclamping, for example, an instruction to turn the first claw member 57 .
In the above embodiment, the operation panel 3 is used as the display operation device, and the operation screen 71 and the like are displayed. .
Further, the left and

right processing devices

11L and 11R are not limited to lathes with two opposing axes, and may be lathes with two parallel axes. Also, various configurations such as a horizontal lathe, a front lathe, a vertical lathe, a machining center, a milling machine, and a drilling machine can be adopted as the left and

right processing devices

11L and 11R.

1 machine tool, 3 operation panel (display operation device), 8 pendant (display operation device), 43 elevating arm (arm), 52, 124 first gripping portion, 53, 125 second gripping portion, 51, 123 head, 57 First claw member (claw member), 67 first nameplate (first identification member), 68 second nameplate (second identification member), 72B clamp instruction button (first instruction button), 72C unclamp instruction button (first Instruction button), 73B Clamp instruction button (second instruction button), 73C Unclamp instruction button (second instruction button), 82A First use point, 83A Second use point, 84A Point information, W Work, 95 Head image, 99A First nameplate information (first identification information), 99B Second nameplate information (second identification information).

Claims

a head having a first gripping portion and a second gripping portion for gripping a workpiece;
Display of a first instruction button for instructing the operation of the first grip portion and a second instruction button for instructing the operation of the second grip portion, and a display for receiving an operation input to the first instruction button and the second instruction button. an operating device;
a control device for controlling operations of the first gripping portion and the second gripping portion in accordance with operation inputs to the first instruction button and the second instruction button displayed on the display operation device;
with
The first gripping part is
A first identification member for identifying the first grip is provided,
The control device is
The machine tool causes the display operation device to display first identification information suggesting the first identification member in association with the first instruction button.
The first identification member is
a member of a first color;
The control device is
2. The machine tool according to claim 1, wherein said display operating device displays said first color as said first identification information at a position adjacent to said first instruction button.
The second gripping part is
A second identification member for identifying the second grip is provided,
The second identification member is
A member of a second color different from the first color,
The control device is
Second identification information suggesting the second identification member is displayed on the display operation device in association with the second instruction button, and the second color is displayed at a position adjacent to the second instruction button for the second identification. 3. The machine tool according to claim 2, which is displayed as information.
The control device is
causing the display operation device to display a plurality of first instruction buttons and a plurality of second instruction buttons, and displaying the first color in a portion surrounding all of the plurality of first instruction buttons; 4. The machine tool according to claim 3, wherein the second color is displayed in a portion surrounding all of the second instruction buttons.
The control device is
a first point of use where the first grip portion works, a second point of use where the second grip portion works, and point information related to the first point of use and the second point of use are displayed by the display operation; 5. The machine tool according to any one of claims 1 to 4, which is caused to display on a device and to display said first identification information in association with said first point of use.
further comprising an arm that supports the head,
The head is
The positions of the first gripping portion and the second gripping portion can be changed with respect to the position of the arm,
The control device is
causing the display operation device to display a first use point at which the first gripping section performs work and a head image indicating the posture of the head performing work at the first use point; 6. The machine tool according to any one of claims 1 to 5, wherein identification information is displayed.
The first gripping part is
Having a plurality of claw members that sandwich the work,
The first identification member is
7. The machine tool according to any one of claims 1 to 6, which is provided at a position visible from the outside even when the work is gripped by the plurality of claw members.
further comprising an arm that supports the head,
The head is
rotatably attached to the arm and changing the positions of the first gripping portion and the second gripping portion according to the rotation angle;
The second gripping part is
A second identification member having the same structure as the first gripping portion, provided at a position rotated 180 degrees from the position of the first gripping portion in the rotation direction of the head, and for identifying the second gripping portion. has
The second identification member is
The machine tool according to any one of claims 1 to 7, which is provided at a position rotated 180 degrees from the position of the first identification member in the rotational direction of the head.
further comprising an arm that supports the head,
The display operation device is
mounted on the front face of said machine tool,
The first gripping portion and the second gripping portion are
attached to the rear side of the arm,
The first identification member is
The machine tool according to any one of claims 1 to 8, provided at the front end of the first gripper.