Numerical control device

Abstract

Provided is a numerical control device capable of improving work efficiency. The numerical control device for controlling a machine tool having a manual handle has: a state determination unit that determines the state of the numerical control device or the machine tool; and a haptic control unit that generates haptic feedback in the manual handle according to the state of the numerical control device or the machine tool determined by the state determination unit.

Description

Technical Field

[0001] The present invention relates to a numerical control device. Background Art

[0002] Conventionally, in a machine tool that performs axis feed by a manual handle, a technique of generating sound and vibration according to a load is known (for example, refer to Patent Document 1). Patent Document 1 discloses a machine tool having a control unit that changes the types of sound and vibration of a notification unit according to the magnitude of the detected load of a load detection unit.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Patent Laid-Open No. 06-190691 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] However, such a machine tool and a numerical control device for controlling the machine tool cannot enable an operator to intuitively feel the state of the machine tool or the numerical control device, which impairs the work efficiency. Therefore, a numerical control device is desired that can enable an operator to intuitively feel the state of the machine tool or the numerical control device and can improve the work efficiency.

[0008] Means for Solving the Problems

[0009] The numerical control device of the present disclosure is a numerical control device that controls a machine tool having a manual handle, and includes: a state determination unit that determines the state of the numerical control device or the machine tool; and a tactile control unit that generates tactile feedback in the manual handle according to the state of the numerical control device or the machine tool determined by the state determination unit.

[0010] Advantages of the Invention

[0011] According to the present invention, work efficiency can be improved. Brief Description of the Drawings

[0012] Figure 1 It is a diagram showing the structure of the numerical control device and the machine tool of the present embodiment.

[0013] Figure 2 It is a diagram showing an example of the state of the numerical control device.

[0014] Figure 3 It is a diagram showing an example of the state of the numerical control device.

[0015] Figure 4 It is a diagram showing an example of the state of the numerical control device.

[0016] Figure 5 It is a diagram showing an example of the state of a machine tool.

[0017] Figure 6 It is a flowchart showing the process of the numerical control device. Detailed implementation mode

[0018] Hereinafter, an example of an implementation mode of the present invention will be described.

[0019] Figure 1 It is a diagram showing the structure of the numerical control device 1 and the machine tool 2. The numerical control device 1 and the machine tool 2 are connected by a bus (not shown) or the like, and the machine tool 2 operates according to the control of the numerical control device 1.

[0020] As Figure 1 shown, the numerical control device 1 has: a control unit 11, a storage unit 12, a servo amplifier 13, and a PLC (Programmable Logic Controller) 14.

[0021] The control unit 11 is a processor such as a CPU (Central Processing Unit), and functions as a manual handle control unit 111, an operation definition unit 112, a state determination unit 113, a selection unit 114, a parameter determination unit 115, and a tactile control unit 116 by executing a program stored in the storage unit 12.

[0022] The storage unit 12 is composed of a ROM (read only memory), a RAM (random access memory), a non-volatile memory, a hard disk drive, etc., and stores various data.

[0023] For example, the storage unit 12 stores operation definition data, parameters, etc. described later.

[0024] The servo amplifier 13 amplifies the axis movement command received from the control unit 11 and drives the servo motor 21 of the machine tool 2.

[0025] The PLC 14 receives M (auxiliary) function signals, S (spindle speed control) function signals, T (tool selection) function signals, etc. from the control unit 11 via the bus. And the PLC 14 processes these signals through a sequence program and outputs the processed output signals to the machine tool 2. The PLC 14 controls pneumatic equipment, hydraulic equipment, electromagnetic actuators, etc. in the machine tool 2 according to the output signals.

[0026] In addition, the PLC 14 receives various signals such as button signals, switch signals, and manual handle signals from the machine operation panel 22 of the machine tool 2, and performs sequential processing on the received various signals. Then, the PLC 14 sends the various signals after sequential processing to the control unit 11 via the bus.

[0027] The machine tool 2 is provided with a servo motor 21 and a machine operation panel 22. In addition, in this specification, other structures of the machine tool 2 are omitted for simplicity of description, but the machine tool 2 has the structure of a general machine tool.

[0028] The servo motor 21 drives the axis according to the axis movement command received from the servo amplifier 13.

[0029] The machine operation panel 22 is provided with buttons and switches 221 and a manual handle 222.

[0030] The buttons and switches 221 include mechanical buttons and switches. When a mechanical button or switch is pressed, the buttons and switches 221 output button signals and switch signals to the PLC 14.

[0031] The manual handle 222 moves one or more axes by manual operation. The manual handle 222 has: a pulse generation unit 2221, a driver 2222, an actuator 2223, and a handle unit 2224.

[0032] When the handle unit 2224 rotates in the + direction or - direction, the pulse generation unit 2221 outputs a pulse signal according to the rotation. This pulse signal is a two-phase pulse for discriminating the rotation direction, and is sent to the control unit 11 via the bus. Then, the manual handle control unit 111 of the control unit 11 sends an axis movement command of the machine tool 2 to the servo amplifier 13 according to this pulse signal.

[0033] The driver 2222 receives a control signal from the tactile control unit 117 of the control unit 11, and outputs a drive signal for generating tactile feedback to the actuator 2223.

[0034] The actuator 2223 is driven by the drive signal from the driver 2222 to generate tactile feedback. The actuator 2223 can be, for example, an electric motor, an electromagnetic actuator, a shape memory alloy, an electroactive polymer, a solenoid, an eccentric motor, a linear resonant actuator, or a piezoelectric actuator. In addition, the actuator 2223 can also be composed of multiple different actuators.

[0035] The handle unit 2224 is composed of a mechanical manual handle and is operated by an operator, for example.

[0036] The manual handle control unit 111 receives the pulse signal output from the pulse generation unit 2221. Then, the manual handle control unit 111 sends an axis movement command of the machine tool 2 to the servo amplifier 13 according to the pulse signal.

[0037] The operation definition unit 112 sets operation definition data that defines the haptic feedback generated in the manual handle 222. The operation definition data associates the state of the numerical control device 1 or the machine tool 2 with the category of haptic feedback. The operation definition data is stored in the storage unit 12.

[0038] The state determination unit 113 determines the state of the numerical control device 1 or the machine tool 2. Specifically, the state determination unit 113 determines the state of the numerical control device 1 based on the operation state of the numerical control device 1. In addition, the state determination unit 113 may also determine the state of the numerical control device 1 based on an external signal input to the numerical control device 1. In addition, the state determination unit 113 may also determine the state of the machine tool 2 based on the state of the numerical control device 1 and the mechanical information registered in the numerical control device. In addition, the state determination unit 113 may also determine the state of the machine tool 2 based on the state of the numerical control device 1 and a relational expression derived from machining theory or the like.

[0039] The selection unit 114 selects the category of haptic feedback based on the operation definition data and the state of the numerical control device 1 or the machine tool 2. Specific examples of the state of the numerical control device 1 or the machine tool 2 will be described later.

[0040] The parameter determination unit 115 determines the parameters related to the haptic feedback based on the category of haptic feedback selected by the selection unit 114. Here, the category of haptic feedback is associated with the parameters regarding the haptic feedback. The category of haptic feedback and the parameters related to the haptic feedback are determined based on the information stored in the storage unit 12 and the program execution state.

[0041] The parameters related to the haptic feedback include the magnitude, direction, frequency, duration, amplitude, intensity, density, etc. of the haptic feedback.

[0042] The haptic control unit 116 generates haptic feedback in the manual handle 222 based on the state of the numerical control device 1 or the machine tool 2 determined by the state determination unit 113. Specifically, the haptic control unit generates a control signal using the parameters determined by the parameter determination unit 115 based on the state of the numerical control device 1 or the machine tool 2 determined by the state determination unit 113, and notifies the control signal to the driver 2222. Thereby, the haptic control unit 116 generates haptic feedback in the manual handle 222.

[0043] Figure 2 is a diagram showing an example of the state of the numerical control device 1. In Figure 2 In the example shown, the numerical control device 1 moves the tool P and the workpiece M of the machine tool 2 according to the operation of the manual handle 222.

[0044] In the case where the machine tool 2 has a plurality of axes, the state determination unit 113 determines the state of the used axis among the plurality of axes as the operation state of the numerical control device 1. Further, the selection unit 114 selects the category of the haptic feedback associated with the state of the used axis.

[0045] For example, in the case where the weight of the mechanism, fixture, tool, and workpiece related to the used axis is heavy, or the risk level of the used axis is high, the category of the haptic feedback associated with the state of the used axis may also be the torque or resistance haptic generated in the manual handle 222. Further, the haptic control unit 117 may generate a haptic feedback of a large torque or a large resistance haptic in the case where the weight of the mechanism, fixture, tool, and workpiece related to the used axis is heavy, or the risk level of the used axis is high.

[0046] In addition, in the case where axis movement such as an emergency stop cannot be performed or the state before the servo system is ready is present, the category of the haptic feedback associated with the state of the used axis may also be the torque generated in the manual handle 222. Further, the haptic control unit 117 may generate a haptic feedback of a torque having a magnitude that makes it difficult to rotate the manual handle 222 in the case where axis movement such as an emergency stop cannot be performed or the state before the servo system is ready is present.

[0047] Figure 3 This is a diagram showing an example of the state of the numerical control device 1. In Figure 3 the example shown, the numerical control device 1 receives a signal output from the probe Q for measurement.

[0048] The machine tool 2 has a probe Q for measurement in order to measure the offset of the installed workpiece position. In this case, the signal output from the probe Q for measurement is input to the numerical control device 1 as an external signal. Further, the state determination unit 113 determines the state of the numerical control device 1 based on the external signal input to the numerical control device 1.

[0049] For example, when a contact signal (external signal) indicating that the probe Q is in contact with an object such as the workpiece R is input to the numerical control device 1, the state determination unit 113 determines the contact of the probe Q as the state of the numerical control device 1 based on the input contact signal.

[0050] The selection unit 114 selects the category of haptic feedback associated with the contact of the probe Q. For example, the category of haptic feedback associated with the contact of the probe Q may also be vibrotactile or resistive haptic generated in the manual handle 222. Further, when a contact signal (external signal) is input to the numerical control device 1, the haptic control unit 117 may also generate haptic feedback such as making the large vibrotactile generated in the manual handle 222 or the resistive haptic in the traveling direction of the manual handle 222 maximum.

[0051] Figure 4 FIG. is an example showing the state of the numerical control device 1. In Figure 4 In the example shown, the numerical control device 1 receives the signal output when the grid point or the limit switch S operates.

[0052] The machine tool 2 has a grid point indicating that the axis has returned to the reference point and a limit switch S indicating that the axis is at the movement limit. The signal output when the grid point or the limit switch S operates is input to the numerical control device 1 as an external signal. Further, the state determination unit 113 determines the state of the numerical control device 1 based on the external signal input to the numerical control device 1.

[0053] The selection unit 114 selects the category of haptic feedback associated with the operation of the grid point or the limit switch S. For example, the category of haptic feedback associated with the operation of the grid point or the limit switch may also be vibrotactile or resistive haptic generated in the manual handle 222. Further, when the grid point or the limit switch S operates, the haptic control unit 117 may also generate haptic feedback such as making the large vibrotactile or the resistive haptic in the traveling direction of the handle maximum.

[0054] Figure 5 FIG. is an example showing the state of the machine tool 2. In Figure 5 In the example shown, the machine tool 2 performs turning on the workpiece T with the cutting tool U. In such turning of the machine tool 2, the machining load can generally be estimated by calculation based on machining conditions such as the spindle speed.

[0055] The state determination unit 113 determines the estimated machining load as the state of the machine tool 2. The selection unit 114 selects the category of haptic feedback associated with the machining load. For example, the category of haptic feedback associated with the machining load may also be torque or resistive haptic generated in the manual handle 222. Further, the haptic control unit 117 may also generate haptic feedback such that the resistive haptic or torque of the manual handle 222 increases according to the magnitude of the machining load.

[0056] Figure 6 FIG. is a flowchart showing the process flow of the numerical control device 1.

[0057] In step S1, the motion definition unit 112 sets motion definition data that defines the haptic feedback generated in the manual handle 222.

[0058] In step S2, the state determination unit 113 determines the state of the numerical control device 1 or the machine tool 2.

[0059] In step S3, the selection unit 114 selects the category of haptic feedback based on the motion definition data and the state of the numerical control device 1 or the machine tool 2.

[0060] In step S4, the parameter determination unit 115 determines the parameters related to the haptic feedback based on the category of haptic feedback selected by the selection unit 114.

[0061] In step S5, the haptic control unit 116 generates a control signal using the parameters determined by the parameter determination unit 115 and notifies the control signal to the driver 2222.

[0062] In step S6, the driver 2222 receives the control signal from the haptic control unit 116 of the control unit 11 and outputs a drive signal for generating haptic feedback to the actuator 2223. Further, the actuator 2223 is driven by the drive signal from the driver 2222 to generate haptic feedback.

[0063] As described above, according to the present embodiment, the numerical control device 1 that controls the machine tool 2 having the manual handle 222 includes: a state determination unit 113 that determines the state of the numerical control device 1 or the machine tool 2; and a haptic control unit 116 that generates haptic feedback in the manual handle 222 based on the state of the numerical control device 1 or the machine tool 2 determined by the state determination unit 113. In this way, the numerical control device 1 generates haptic feedback in the manual handle 222 according to the state of the numerical control device 1 or the machine tool 2, whereby the operator can intuitively feel the state of the machine tool or the numerical control device, and the work efficiency can be improved.

[0064] In addition, the state determination unit 113 determines the state of the numerical control device 1 based on the operation state of the numerical control device 1. Thereby, the numerical control device 1 can enable the operator to intuitively feel the operation state of the numerical control device 1, and the work efficiency can be improved.

[0065] In addition, the state determination unit 113 determines the state of the numerical control device 1 based on the external signal input to the numerical control device 1. Thereby, the numerical control device 1 can enable the operator to intuitively feel the external signal input to the numerical control device 1, and the work efficiency can be improved.

[0066] In addition, the state determination unit 113 determines the state of the machine tool 2 based on the state of the numerical control device 1 and the machine information registered in the numerical control device 1. Thereby, the numerical control device 1 can enable the operator to intuitively feel the state of the numerical control device 1, and can improve the operation efficiency.

[0067] In addition, the numerical control device 1 further includes: an action definition unit 112 that sets action definition data for defining the haptic feedback output to the manual handle 222; a selection unit 114 that selects the category of haptic feedback according to the action definition data and the state of the numerical control device 1 or the machine tool 2; and a parameter determination unit 115 that determines parameters related to the haptic feedback according to the category of haptic feedback. The haptic control unit 116 uses the parameters to generate haptic feedback in the manual handle 222. Thereby, the numerical control device 1 can appropriately generate haptic feedback in the manual handle 222.

[0068] As described above, the embodiments of the present invention have been described, but the present invention is not limited to the described embodiments. In addition, the effects described in this embodiment are merely the most preferred effects produced by the present invention, and the effects of the present invention are not limited to the effects described in this embodiment.

[0069] Reference Signs

[0070] 1 Numerical control device

[0071] 2 Machine tool

[0072] 11 Control unit

[0073] 12 Storage unit

[0074] 13 Servo amplifier

[0075] 14 PLC

[0076] 22 Machine operation panel

[0077] 111 Manual handle control unit

[0078] 112 Action definition unit

[0079] 113 State determination unit

[0080] 114 Selection unit

[0081] 115 Parameter determination unit

[0082] 116 Haptic control unit

[0083] 221 Buttons and switches

[0084] 222 Manual handle

[0085] 2221 Pulse generation unit

[0086] 2222 Driver

[0087] 2223 Actuator

[0088] 2224 Handle part.

Claims

1. A numerical control device for controlling a machine tool having a manual handle, characterized in that, comprising: a state determination unit that determines the state of the numerical control device or the machine tool; a tactile control unit that generates tactile feedback in the manual handle according to the state of the numerical control device or the machine tool determined by the state determination unit; an action definition unit that sets action definition data for defining the tactile feedback output to the manual handle, the action definition data associating the state of the numerical control device or the machine tool with the category of tactile feedback; a selection unit that selects the category of the tactile feedback according to the action definition data and the state of the numerical control device or the machine tool, the category of the tactile feedback including at least any one of torque, vibrotactile, and drag tactile; and a parameter determination unit that determines parameters related to the tactile feedback according to the category of the tactile feedback, the tactile control unit uses the parameters to generate the tactile feedback in such a way that a physical quantity including at least any one of torque, vibrotactile, and drag tactile of the manual handle becomes larger.

2. The numerical control device according to claim 1, wherein the machine tool has a plurality of axes, the state determination unit determines the state of the used axes among the plurality of axes as the state of the numerical control device, the selection unit selects the category of the tactile feedback associated with the state of the used axes, the tactile control unit generates a tactile feedback with a large torque or a large drag tactile when the weight of the mechanism, fixture, tool, and workpiece related to the used axis is heavy or the risk level of the used axis is high.

3. The numerical control device according to claim 1, wherein the machine tool has a probe for measurement, and a signal output from the probe is input to the numerical control device as an external signal, the state determination unit determines the state of the numerical control device according to the external signal input to the numerical control device, the selection unit selects the category of the tactile feedback associated with the contact of the probe, the tactile control unit generates a tactile feedback with the largest vibrotactile or the largest drag tactile in the traveling direction of the manual handle generated in the manual handle.

4. The numerical control device according to claim 1, wherein when the machine tool has a limit switch indicating that the axis is at the movement limit, a signal output when the limit switch is operated is output to the numerical control device as an external signal, the state determination unit determines the state of the numerical control device according to the external signal input to the numerical control device, the selection unit selects the category of the tactile feedback associated with the operation of the limit switch, the tactile control unit generates a tactile feedback with the largest vibrotactile or the largest drag tactile in the traveling direction of the manual handle when the limit switch is operated.

5. The numerical control device according to claim 1, wherein In the case where the machine tool performs turning on a workpiece using a cutting tool, the machining load is estimated by calculation according to machining conditions, and the state determination unit determines the estimated load as the state of the machine tool. The selection unit selects the category of the haptic feedback associated with the machining load. The haptic control unit generates haptic feedback such that the resistance haptic or torque of the manual handle increases according to the magnitude of the machining load.

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