Numerical control device

Abstract

Provided is a numerical control device capable of improving the operability of a machine tool. The numerical control device controls a machine tool having a manual handle that moves an axis by manual operation, and the numerical control device includes: a control mode determination unit that determines the control mode of the machine tool; a tactile control unit that generates tactile feedback on the manual handle based on the control mode determined by the control mode determination unit; and a manual handle control unit that controls the machine tool of the numerical control device by a rotation operation of the manual handle that generates the tactile feedback.

Description

Technical Field

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

[0002] Currently, a technique for generating sound and vibration according to a load is known in a machine tool that performs axis feed by a manual handle (for example, refer to Patent Document 1). Patent Document 1 discloses a machine tool including a control unit that changes the type of sound or vibration of a reporting unit according to the magnitude of the load detected by 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] Such a manual handle only has a function of notifying a numerical control device of pulses corresponding to the rotation amount of the handle. Therefore, the manual handle is not used in operations other than the manual handle mode, and operations other than the manual handle mode are performed by buttons on a mechanical operation panel or the like. Thus, it is necessary to switch the operation target between the operation using the manual handle and the operation using the mechanical operation panel. In addition, buttons, switches, etc. need to be provided on the mechanical operation panel as needed. Therefore, a numerical control device that can improve the operability of a machine tool is desired.

[0008] Means for Solving the Problems

[0009] The numerical control device of the present invention controls a machine tool having a manual handle for moving an axis by manual operation, and the numerical control device includes: a control mode determination unit that determines a control mode of the machine tool; a tactile control unit that generates tactile feedback in the manual handle based on the control mode determined by the control mode determination unit; and a manual handle control unit that performs machine tool control of the numerical control device by a rotation operation of the manual handle that generates the tactile feedback.

[0010] Advantages of the Invention

[0011] According to the present invention, the operability of a machine tool can be improved. Brief Description of the Drawings

[0012] Figure 1 Shows the structure of the numerical control device and the machine tool of the present embodiment.

[0013] Figure 2 Shows an example when the control mode is the jog mode.

[0014] Figure 3 An example when the control mode is the automatic operation mode is shown.

[0015] Figure 4 It is a flowchart showing the processing flow of the numerical control device. Detailed implementation mode

[0016] Hereinafter, an example of an embodiment of the present invention will be described.

[0017] Figure 1 The structures of the numerical control device 1 and the machine tool 2 are shown. 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.

[0018] As Figure 1 shown, the numerical control device 1 includes a control unit 11, a storage unit 12, a servo amplifier 13, and a PLC (Programmable Logic Controller) 14.

[0019] 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 control mode 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.

[0020] 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.

[0021] For example, the storage unit 12 stores operation definition data, parameters, etc. described later.

[0022] 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.

[0023] 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. Then, 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 through the output signals.

[0024] 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 sequence processing on the received various signals. Then, the PLC 14 sends the various signals that have undergone sequence processing to the control unit 11 via the bus.

[0025] The machine tool 2 is equipped with a servo motor 21 and a machine operation panel 22. In this specification, other structures of the machine tool 2 are omitted for the sake of simplicity, but the machine tool 2 has the structure of a general machine tool.

[0026] The servo motor 21 drives the axis according to the axis movement command received from the servo amplifier 13.

[0027] The machine operation panel 22 is equipped with buttons and switches 221 and a manual handle 222.

[0028] 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.

[0029] The manual handle 222 moves one or more axes through manual operation. The manual handle 222 is equipped with a pulse generation unit 2221, a driver 2222, an actuator 2223, and a handle unit 2224.

[0030] If the handle unit 2224 is rotated 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 based on this pulse signal.

[0031] The driver 2222 receives a control signal from the tactile control unit 116 of the control unit 11, and outputs a drive signal for generating tactile feedback to the actuator 2223.

[0032] The actuator 2223 is driven by the drive signal from the driver 2222 to generate tactile feedback. The actuator 2223 can be, for example, a motor, an electromagnetic actuator, a shape memory alloy, an electroactive polymer, a solenoid, an eccentric motor, a linear resonance actuator, or a piezoelectric actuator. In addition, the actuator 2223 can also be composed of multiple different actuators.

[0033] The handle unit 2224 is composed of a mechanical manual handle and is operated by an operator, for example.

[0034] The manual handle control unit 111 performs machine tool control of the numerical control device 1 through the rotational operation of the manual handle 222 that generates tactile feedback based on the control mode determined by the control mode determination unit 113.

[0035] Specifically, the manual handle control unit 111 receives a pulse signal output from the pulse generation unit 2221 according to the rotation operation of the manual handle 222. Then, the manual handle control unit 111 sends a movement command for the axis of the machine tool 2 to the servo amplifier 13 based on the control mode and the pulse signal. Thus, the numerical control device 1 can perform the machine tool control of the numerical control device 1 by rotating the manual handle 222 without using the manual buttons of the machine tool 2 and the like.

[0036] The motion definition unit 112 sets motion definition data that defines the haptic feedback generated on the manual handle 222.

[0037] The motion definition data associates, for example, the control mode of the machine tool 2, the motion of the machine tool 2, and the category of haptic feedback. The motion definition data is stored in the storage unit 12.

[0038] Here, the control mode of the machine tool 2 includes, for example, the manual handle mode, the jog feed mode, the incremental mode, and the automatic operation mode. The control mode of the machine tool 2 is set by operating the machine operation panel 22.

[0039] The manual handle mode is a mode in which the axis can be moved by manually rotating the manual handle 222 by the operator at present.

[0040] The jog feed mode is a mode in which the axis can be moved in the -(negative) direction and the +(positive) direction when the manual handle 222 is rotated to a specific position.

[0041] The incremental mode is a mode in which the axis can be moved from the current position or the moved position by a predetermined movement amount when the manual handle 222 is rotated to a specific position.

[0042] The automatic operation mode is a mode in which the program can be automatically run when the manual handle 222 is rotated to a specific position.

[0043] The numerical control device 1 of the present embodiment realizes these control modes through the haptic feedback in the manual handle 222.

[0044] The motion of the machine tool 2 includes, for example, moving the axis in the -(negative) direction, moving the axis in the +(positive) direction, moving the axis by a predetermined movement amount, and automatically running the program.

[0045] The category of haptic feedback includes, for example, resistive haptic such as a pawl and vibrotactile.

[0046] The control mode determination unit 113 determines the control mode of the machine tool 2. Specifically, the control mode determination unit 113 determines whether the control mode of the machine tool 2 has changed from the previous control mode.

[0047] The selection unit 114 selects the category of haptic feedback based on the action definition data and the control mode. For example, when the control mode is the jog mode, the selection unit 114 selects a resistance haptic such as a pawl associated with the control mode in the action definition data as the category of haptic feedback.

[0048] 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 related to the haptic feedback. The category of haptic feedback and the parameters related to the haptic feedback are stored in the storage unit 12.

[0049] The parameters related to the haptic feedback include the size, direction, frequency, duration, amplitude, intensity, density, etc. of the haptic feedback.

[0050] The haptic control unit 116 generates haptic feedback on the manual handle 222 based on the control mode determined by the control mode determination unit 113. Specifically, based on the control mode, the haptic control unit uses the parameters determined by the parameter determination unit 115 to generate a control signal and notifies the control signal to the driver 2222. Thereby, the haptic control unit 116 generates haptic feedback on the manual handle 222.

[0051] Figure 2 An example when the control mode is the jog mode is shown. As Figure 2 shown, in the manual handle mode, no haptic feedback is generated on the manual handle 222, and the axis can be moved by manually rotating the manual handle 222.

[0052] In addition, in the jog mode, the haptic control unit 116 generates a resistance haptic like a pawl through haptic feedback at positions A, B, and C of the manual handle 222. For example, as Figure 2 shown in the exemplary control signal M, the haptic control unit 116 generates haptic feedback such that the resistance haptic decreases at positions A, B, and C. In addition, the haptic control unit 116 generates haptic feedback at positions other than positions A, B, and C in such a way that the resistance haptic is greater than that at positions A, B, and C.

[0053] Moreover, when the manual handle control unit 111 rotates the manual handle 222 to position A, it controls the axis to move the axis in the -(negative) direction. In addition, when the manual handle control unit 111 rotates the manual handle 222 to position B, it controls the axis so that the axis does not move. In addition, the manual handle control unit 111 controls the axis at position C to move the axis in the +(negative) direction.

[0054] In this way, the machine tool control of the numerical control device 1 is performed by the rotation operation of the manual handle 222 that generates haptic feedback, and thus the jog mode can be realized without buttons or the like.

[0055] Figure 3 This shows an example when the control mode is the automatic operation mode. As Figure 3 shown, when the control mode changes from the manual handle mode to the automatic operation mode, the tactile control unit 116 generates a pawl-like resistance tactile sensation through tactile feedback at positions A, B, and C of the manual handle 222.

[0056] For example, as Figure 3 shown by the exemplary control signal N, the tactile control unit 116 generates tactile feedback to reduce the resistance tactile sensation at positions A, B, and C. In addition, the tactile control unit 116 generates tactile feedback at positions other than positions A, B, and C to make the resistance tactile sensation greater than that at positions A, B, and C.

[0057] When the manual handle 222 is moved from position B → position A → position B, the manual handle control unit 111 starts the automatic operation. When the manual handle 222 is moved from position A → position B, the manual handle control unit 111 maintains the automatic operation. In addition, when the manual handle 222 is moved from position B → position C, the manual handle control unit 111 stops the automatic operation. When the manual handle 222 is moved from position C → position B, the manual handle control unit 111 maintains the stop of the automatic operation.

[0058] In this way, the machine tool control of the numerical control device 1 is performed by the rotational operation of the manual handle 222 that generates tactile feedback, so that the automatic operation mode can be realized without the need for buttons or the like.

[0059] In the above embodiment, the tactile control unit 116 generates tactile feedback in such a way that the resistance tactile sensation decreases at specific positions of the manual handle 222, but it may also generate tactile feedback in such a way that the resistance tactile sensation increases at specific positions. In addition, the tactile control unit 116 may generate other types of tactile feedback that allow the user to recognize the specific positions of the manual handle 222 instead of the above tactile feedback method.

[0060] Figure 4 This is a flowchart showing the processing flow of the numerical control device 1.

[0061] In step S1, the motion definition unit 112 sets motion definition data that defines the tactile feedback generated at the manual handle 222.

[0062] In step S2, the control mode determination unit 113 determines whether the control mode of the machine tool 2 has changed from the previous control mode. If the control mode has changed (Yes), the process proceeds to step S3. If the control mode has not changed (No), the process moves to step S6.

[0063] In step S3, the selection unit 114 selects the category of haptic feedback based on the action definition data and the control mode.

[0064] 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.

[0065] 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.

[0066] 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. Then, the actuator 2223 is driven by the drive signal from the driver 2222 to generate haptic feedback.

[0067] In step S7, the manual handle control unit 111 performs the machine tool control of the numerical control device 1 through the rotation operation of the manual handle that generates haptic feedback as a resistance feeling.

[0068] As described above, according to the present embodiment, the numerical control device 1 controls the machine tool 2 having the manual handle 222, wherein the manual handle 222 moves the axis by manual operation. The numerical control device 1 includes: a control mode determination unit 113 that determines the control mode of the machine tool 2; a haptic control unit 116 that generates haptic feedback on the manual handle based on the control mode; and a manual handle control unit 111 that performs the machine tool control of the numerical control device 1 through the rotation operation of the manual handle that generates haptic feedback.

[0069] Thereby, the numerical control device 1 performs the machine tool control of the numerical control device 1 through the rotation operation of the manual handle 222 that generates haptic feedback as a resistance feeling, and can realize the action based on the control mode without buttons or the like. Therefore, the numerical control device 1 can improve the operability of the machine tool 2 without the conventional buttons or the like.

[0070] In addition, the numerical control device 1 further includes: an action definition unit 112 that sets action definition data for defining the haptic feedback generated on the manual handle 222; a selection unit 114 that selects the category of haptic feedback based on the action definition data and the control mode; and a parameter determination unit 115 that determines the parameters related to the haptic feedback based on the category of haptic feedback selected by the selection unit 114. The haptic control unit 116 generates haptic feedback on the manual handle 222 using the parameters. Thereby, the numerical control device 1 can appropriately generate haptic feedback on the manual handle 222.

[0071] In addition, the control modes include a manual handle mode, a jog feed mode, an incremental mode, and an automatic operation mode. Thus, the numerical control device 1 can implement operations based on multiple control modes, and the operability of the machine tool 2 can be improved.

[0072] The embodiments of the present invention have been described above, but the present invention is not limited to the above 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.

[0073] Description of Reference Numerals

[0074] 1 Numerical control device

[0075] 2 Machine tool

[0076] 11 Control unit

[0077] 12 Storage unit

[0078] 13 Servo amplifier

[0079] 14 PLC

[0080] 21 Servo motor

[0081] 22 Machine operation panel

[0082] 111 Manual handle control unit

[0083] 112 Action definition unit

[0084] 113 Control mode determination unit

[0085] 114 Selection unit

[0086] 115 Parameter determination unit

[0087] 116 Tactile control unit

[0088] 221 Buttons and switches

[0089] 222 Manual handle

[0090] 2221 Pulse generation unit

[0091] 2222 Driver

[0092] 2223 Actuator

[0093] 2224 Handle part.

Claims

1. A numerical control device for controlling a machine tool, the machine tool having a manual handle for moving an axis by manual operation, characterized in that: The numerical control device includes: A control mode determination unit that determines the control mode of the machine tool; A haptic control unit that generates haptic feedback on the manual handle based on the control mode determined by the control mode determination unit; A manual handle control unit that controls the machine tool of the numerical control device by a rotation operation of the manual handle that generates the haptic feedback; An action definition unit that sets action definition data for defining the haptic feedback generated on the manual handle; A selection unit that selects a category of the haptic feedback according to the action definition data and the control mode; And A parameter determination unit that determines parameters related to the haptic feedback based on the category of the haptic feedback selected by the selection unit, The category of the haptic feedback is resistive haptics, The haptic control unit generates the haptic feedback in which the resistive haptics decreases or increases at a specific position of the manual handle using the parameters.

2. The numerical control device according to claim 1, characterized in that: The control mode includes a manual handle mode, a jog feed mode, an incremental mode, and an automatic operation mode.

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