Control System

Abstract

The control system (10) includes: a manual operation device (1) that generates an operation signal corresponding to the rotation of a dial (11) by an operator; a machine tool control device (4) and a machine tool control device (5) that are communicably connected to each other and respectively control a machine tool (6) and a robot (7) based on the operation signal; and operation object setting units (2, 3) that alternatively set the operation object of the manual operation device (1) as the machine tool (6) and the robot (7). The manual operation device (1) is connected to one of the control devices (4, 5) and inputs the operation signal to the one. When the operation object is set as the control object (6) or (7) of the other of the control devices (4, 5) by the operation object setting units (2, 3), one of the control devices (4, 5) sends the operation signal or a signal based on the operation signal to the other.

Description

Technical Field

[0001] The present disclosure relates to a control system. Background Art

[0002] Conventionally, a system in which a machine tool and a robot perform operations in coordination has been known (for example, refer to Patent Documents 1 and 2).

[0003] In addition, as an operating device for manually operating a robot during teaching or the like, a rotary dial type operating device has been known (for example, refer to Patent Documents 1 and 3). Patent Document 1 discloses generating a number of pulses corresponding to the amount of rotation of the dial and moving a loader by an amount of movement corresponding to the number of pulses.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2013 - 222381

[0007] Patent Document 2: Japanese Unexamined Patent Application Publication No. 2001 - 154717

[0008] Patent Document 3: Japanese Patent No. 5871373 Summary of the Invention

[0009] Problems to be Solved by the Invention

[0010] In a system in which a machine tool and a robot perform operations in coordination, teaching is generally performed for both the machine tool and the robot. When the machine tool and the robot are manually operated using different operating devices with different usage methods, the operator needs to learn the usage methods of the two operating devices. Therefore, it is desired to be able to operate both the machine tool and the robot using the same operating device.

[0011] Solutions to the Problems

[0012] One aspect of the present disclosure is a control system including: a manual operation device having a dial rotated by an operator and generating an operation signal corresponding to the rotation of the dial; a machine tool control device controlling a machine tool based on the operation signal; a robot control device communicably connected to the machine tool control device and controlling a robot based on the operation signal; and an operation object setting unit selectively setting an operation object of the manual operation device as the machine tool and the robot. The manual operation device is connected to one of the machine tool control device and the robot control device and inputs the operation signal to the one. When the operation object is set as a control object of the other of the machine tool control device and the robot control device by the operation object setting unit, the one of the machine tool control device and the robot control device sends the operation signal or a signal based on the operation signal to the other. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is an overall configuration diagram of a system including a machine tool, a robot, and a control system.

[0014] Figure 2 is a block diagram of the control system in one usage example.

[0015] Figure 3 is a front view of the manual operation device.

[0016] Figure 4 is a rear view of the manual operation device.

[0017] Figure 5 is a block diagram of a modified example of the control system.

[0018] Figure 6 is a block diagram of the control system in another usage example.

[0019] Figure 7 is a block diagram of another modified example of the control system. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, a control system 10 according to an embodiment will be described with reference to the drawings.

[0021] As Figure 1 shown, the control system 10 controls a machine tool 6 and a robot 7 that operate in coordination with each other.

[0022] The machine tool 6 processes a workpiece by the operation of a drive unit 6a (refer to Figure 2 ). The drive unit 6a is, for example, a rotation motor that rotates a tool and a feed motor that relatively moves the tool and the workpiece. The robot 7 is disposed outside the machine tool 6 and is driven by a drive unit 7a (refer to Figure 2A vertical articulated robot that performs operations such as supplying a workpiece to a machine tool 6 and removing the workpiece from the machine tool 6. The drive unit 7a is, for example, a servo motor provided at each joint. The robot 7 may also be a type of robot other than a vertical articulated robot.

[0023] As Figure 1 and Figure 2 shown, the control system 10 includes a portable manual operation device 1, operation object setting units 2 and 3 for setting the operation object of the manual operation device 1, a machine tool control device 4 for controlling the machine tool 6, and a robot control device 5 for controlling the robot 7.

[0024] The two control devices 4 and 5 are communicably connected to each other. For example, the two control devices 4 and 5 are connected to each other through a communication network such as Ethernet (registered trademark), and transmit and receive signals to and from each other by using a communication protocol such as FL-net.

[0025] The manual operation device 1 is a rotary dial type manual pulse generator for manually operating the machine tool 6 or the robot 7 as an operation object via the control devices 4 and 5. The control devices 4 and 5 each have a connector 4a and 5a for the manual operation device 1, and the manual operation device 1 is connected to either of the two control devices 4 and 5.

[0026] As Figure 3 and Figure 4 shown, the manual operation device 1 includes: a housing 1a held by the hand of an operator, and a cable 1b connecting the housing 1a to the connector 4a or 5a. In addition, the manual operation device 1 includes a pulse handle 11, an axis selection switch 12, a magnification selection switch 13, an enable switch 14, and an emergency stop switch 15, and the handle 11 and the switches 12, 13, 14, and 15 are provided on the housing 1a.

[0027] The pulse handle 11 is a rotary dial that can be rotated in two directions and is rotated by the operator, and is connected to a pulse generation unit (not shown) provided inside the housing 1a. The pulse generation unit generates pulses according to the rotation amount and rotation direction of the pulse handle 11. The greater the rotation amount, the greater the number of pulses generated. The operation of a specified operation part of the machine tool 6 or the robot 7 is controlled according to the pulses, and the operation amount, operation speed, and operation direction of the operation part are respectively specified by the rotation amount, rotation speed, and rotation direction of the pulse handle 11. The operation part of the machine tool 6 is, for example, the tip of a tool held by the spindle, and the operation part of the robot 7 is, for example, the tip of a tool connected to the tip of the arm.

[0028] The axis selection switch 12 switches the axis for operating the operating part among multiple axes. In one example, the axis can be switched among a total of six axes including three linear axes orthogonal to each other and three rotational axes. The operating part moves in the direction of the selected linear axis or rotates around the selected rotational axis.

[0029] The magnification selection switch 13 is a switch for switching the magnification of the movement amount of the operating part per pulse. In one example, the magnification can be switched among OFF (i.e., 0 times), 1 time, 10 times, 100 times, and 1000 times. The pulses generated by the rotation of the pulse handle 11 are multiplied by the magnification set by the magnification selection switch 13. Therefore, the larger the magnification, the larger the movement amount of the operating part per unit rotation amount of the pulse handle 11. When the magnification is set to OFF, the operating object cannot be operated regardless of the rotation operation of the pulse handle 11.

[0030] The enable switch 14 is a switch for switching the validity and invalidity of the operation of the manual operation device 1 on the operating object. The enable switch 14 is a push-button switch such as a 3-position switch and is set at a position pressed by the hand holding the housing 1a. Only when the enable switch 14 is pressed, the operation of the manual operation device 1 on the operating object is valid.

[0031] When the emergency stop switch 15 is operated, the emergency stop switch 15 generates an emergency stop signal for stopping the operating object. The emergency stop signal is sent to the machine tool control device 4 or the robot control device 5 that controls the operating object, and the machine tool control device 4 or the robot control device 5 stops the movement of the operating object in response to the emergency stop signal.

[0032] The manual operation device 1 generates an operation signal and inputs the operation signal to the control device 4 or 5 connected to the manual operation device 1. The operation signal includes the pulses generated by the rotation of the pulse handle 11 and the signals indicating the states of the switches 12, 13, 14, and 15.

[0033] The operation object setting units 2 and 3 are operated by the operator, and according to the operator's operation, the operation object of the manual operation device 1 is alternately set to the machine tool 6 and the robot 7. For example, the operation object setting units 2 and 3 are touch buttons on the setting screen of the operation panel displayed on the control devices 4 and 5, or hardware keys provided on the operation panel. In the case where the robot control device 5 has a portable operation panel 5c connected to the control device main body 5b, the operation object setting unit 3 can also be provided on the operation panel 5c.

[0034] The operation object setting units 2 and 3 are external devices connected to the control devices 4 and 5, such as a programmable logic controller (PLC) or a changeover switch, and can externally input a signal indicating the set operation object to the outside of the control devices 4 and 5.

[0035] The operation object is set by either of the two operation object setting units 2 and 3, and cannot be set by the two operation object setting units 2 and 3 simultaneously. For example, when the manual operation device 1 is connected to the machine tool control device 4, only the operation object setting unit 2 on the machine tool control device 4 side functions. When the manual operation device 1 is connected to the robot control device 5, only the operation object setting unit 3 on the robot control device 5 side functions. In addition, during the operation of the operation pulse handle 11, the operation object cannot be changed by the operation object setting units 2 and 3.

[0036] As Figure 2 shown, the machine tool control device 4 includes a receiving unit 41, a signal processing unit 42, a target position calculation unit 43, a drive instruction conversion unit 44, and a transmitting unit 45. The machine tool control device 4 includes a processor and a storage device, and the signal processing unit 42, the target position calculation unit 43, and the drive instruction conversion unit 44 are implemented by the processor.

[0037] The receiving unit 41 is connected to the connector 4a and receives an operation signal from the manual operation device 1 via the connector 4a.

[0038] The signal processing unit 42 is connected to the operation object setting unit 2, the receiving unit 41, and the transmitting unit 45. The signal processing unit 42 transmits the operation signal received from the manual operation device 1 via the connector 4a to either the target position calculation unit 43 or the transmitting unit 45 according to the operation object set by the operation object setting unit 2. Specifically, when the operation object is set to the machine tool 6, the signal processing unit 42 transmits the operation signal to the target position calculation unit 43. When the operation object is set to the robot 7, the signal processing unit 42 transmits the operation signal to the transmitting unit 45. The transmitting unit 45 is connected to the receiving unit 51 of the robot control device 5 through a communication network and transmits the transmitted operation signal to the receiving unit 51 at a fixed cycle.

[0039] In addition, the signal processing unit 42 transmits the operation signal received from the robot control device 5 via the receiving unit 41 to the target position calculation unit 43.

[0040] The target position calculation unit 43 calculates the target position of the operating part of the machine tool 6 based on the operation signal. Specifically, the movement amount per pulse of the operating part of the machine tool 6 is preset for each axis. The target position calculation unit 43 samples the number of pulses generated by the pulse generation unit at a specified time interval, multiplies the sampled number of pulses by the magnification set by the magnification selection switch 13 to calculate the number of pulses, and calculates the target position when the operating part moves from the current position along the linear axis selected by the axis selection switch 12 or rotates around the rotary axis selected by the axis selection switch 12 by an amount corresponding to the calculated number of pulses.

[0041] Based on the target position calculated by the target position calculation unit 43, the drive instruction conversion unit 44 calculates a drive instruction signal for causing the operating part to move to the target position by the drive unit 6a, and sends the drive instruction signal to the drive unit 6a. The drive unit 6a operates according to the drive instruction signal, so that the operating part moves to the target position along the selected linear axis or rotates around the selected rotary axis according to the rotation amount and rotation direction of the pulse handle 11.

[0042] The robot control device 5 includes a receiving unit 51, a signal processing unit 52, a target position calculation unit 53, a drive instruction conversion unit 54, and a sending unit 55. The robot control device 5 includes a processor and a memory, and the signal processing unit 52, the target position calculation unit 53, and the drive instruction conversion unit 54 are implemented by the processor.

[0043] The receiving unit 51 is connected to the connector 5a and receives the operation signal from the manual operation device 1 via the connector 5a.

[0044] The signal processing unit 52 is connected to the operation object setting unit 3, the receiving unit 51, and the sending unit 55. According to the operation object set by the operation object setting unit 3, the signal processing unit 52 transmits the operation signal received from the manual operation device 1 via the connector 5a to either the target position calculation unit 53 or the sending unit 55. Specifically, when the operation object is set to the robot 7, the signal processing unit 52 transmits the operation signal to the target position calculation unit 53, and when the operation object is set to the machine tool 6, the signal processing unit 52 transmits the operation signal to the sending unit 55. The sending unit 55 is connected to the receiving unit 41 of the machine tool control device 4 through a communication network and sends the transmitted operation signal to the receiving unit 41 at a fixed cycle.

[0045] In addition, the signal processing unit 52 transmits the operation signal received from the machine tool control device 4 via the receiving unit 51 to the target position calculation unit 53.

[0046] The target position calculation unit 53 calculates the target position of the operating part of the robot 7 based on the operation signal. Specifically, for each axis, the amount of movement per pulse of the operating part of the robot 7 is preset. The target position calculation unit 53 samples the number of pulses generated by the pulse generation unit at a specified time interval, and calculates the number of pulses by multiplying the sampled number of pulses by the magnification set by the magnification selection switch 13. The target position calculation unit 53 calculates the target position when the operating part moves from the current position along the linear axis selected by the axis selection switch 12 or rotates around the rotational axis selected by the axis selection switch 12 by an amount of movement corresponding to the calculated number of pulses.

[0047] The drive instruction conversion unit 54 calculates a drive instruction signal for causing the operating part to move to the target position by the drive unit 7a based on the target position calculated by the target position calculation unit 53, and sends the drive instruction signal to the drive unit 7a. The drive unit 7a operates according to the drive instruction signal, so that the operating part moves to the target position along the selected linear axis or rotates around the selected rotational axis, according to the rotation amount and rotation direction of the pulse handle 11.

[0048] Next, the operation of the control system 10 will be described.

[0049] The operator connects the manual operation device 1 to the robot control device 5 by connecting the cable 1b to the connector 5a.

[0050] When the operator wants to manually perform a jog operation on the robot 7, the operator sets the operation target to the robot 7 by operating the operation target setting unit 3, selects the desired magnification and the desired axis by operating the switches 12 and 13, and presses the enable switch 14 with the hand holding the housing 1a. The operation signal indicating the selected operation target, magnification, axis, and the pressing of the enable switch 14 is sent from the manual operation device 1 to the robot control device 5.

[0051] Next, the operator rotates the pulse handle 11 in the desired direction by the desired rotation amount. The operation signal including the pulses generated by the rotation of the pulse handle 11 is sent from the manual operation device 1 to the robot control device 5.

[0052] In the robot control device 5, an operation signal is input from the receiving unit 51 to the signal processing unit 52. Since the operation target is set to the robot 7 that is the control target of the robot control device 5, the operation signal is transmitted from the signal processing unit 52 to the target position calculation unit 53. Then, in the target position calculation unit 53, the target position of the operation part of the robot 7 is calculated based on the operation signal. In the drive instruction conversion unit 54, a drive instruction signal for moving the operation part of the robot 7 to the target position is calculated. The drive instruction signal is sent from the robot control device 5 to the drive unit 7a of the robot 7. The drive unit 7a operates according to the drive instruction signal, and the operation part of the robot 7 moves to the target position in the direction along the selected linear motion axis or rotates to the target position around the selected rotation axis.

[0053] When the operator wants to manually jog the machine tool 6, the operator sets the operation target to the machine tool 6 by operating the operation target setting unit 3. Next, similar to the jog operation of the robot 7, the operator selects the desired magnification and the desired axis by operating the switches 12 and 13, and presses the enable switch 14 to rotate the pulse handle 11 by the desired rotation amount in the desired direction. The operation signal indicating the selected operation target, magnification, axis, and the pressing of the enable switch 14 is sent from the manual operation device 1 to the robot control device 5, and the operation signal including the pulse is sent from the manual operation device 1 to the robot control device 5.

[0054] In the robot control device 5, an operation signal is input from the receiving unit 51 to the signal processing unit 52. Since the operation target is set to the machine tool 6 that is the control target of the machine tool control device 4, the operation signal is transmitted from the signal processing unit 52 to the sending unit 55 and sent from the sending unit 55 to the machine tool control device 4. In the machine tool control device 4, the operation signal is transmitted from the receiving unit 41 to the target position calculation unit 43 via the signal processing unit 42. Then, in the target position calculation unit 43, the target position of the operation part of the machine tool 6 is calculated based on the operation signal. In the drive instruction conversion unit 44, a drive instruction signal for moving the operation part of the machine tool 6 to the target position is calculated. The drive instruction signal is sent from the machine tool control device 4 to the drive unit 6a of the machine tool 6. The drive unit 6a operates according to the drive instruction signal, and the operation part of the machine tool 6 moves to the target position in the direction along the selected linear motion axis or rotates to the target position around the selected rotation axis.

[0055] Thus, according to the control system 10, when the operation target is set to the robot 7, the robot control device 5 connected to the manual operation device 1 controls the robot 7 based on the operation signal input from the manual operation device 1. In addition, when the operation target is set to the machine tool 6, the robot control device 5 connected to the manual operation device 1 sends the operation signal input from the manual operation device 1 to the machine tool control device 4, and the machine tool control device 4 controls the machine tool 6 based on the operation signal received from the robot control device 5. Thereby, it is possible to perform jogging operations on both the machine tool 6 and the robot 7 using one manual operation device 1 connected to the robot control device 5.

[0056] In addition, in the case where there is a manual operation device dedicated to the machine tool 6 and a manual operation device dedicated to the robot 7, the operator needs to learn the usage methods of both manual operation devices. In particular, for an operator who has been dealing with the robot 7 so far, re-learning the operation method of the machine tool 6 is a great burden. Similarly, for an operator who has been dealing with the machine tool 6 so far, re-learning the operation method of the robot 7 is a great burden. According to the present embodiment, by learning the usage method of one manual operation device 1, the operator can easily master the method of jogging operations on both the machine tool 6 and the robot 7.

[0057] In the present embodiment, when the operation target is set to the machine tool 6, the robot control device 5 sends the operation signal input from the manual operation device 1 connected to the robot control device 5 to the machine tool control device 4. Instead, a signal based on the target position may be sent to the machine tool control device 4.

[0058] For example, the robot control device 5 can calculate the target position of the operation part of the machine tool 6 based on the operation signal and send the target position to the machine tool control device 4. That is, as Figure 5 shown, the target position calculation unit 43 may also be provided in the robot control device 5.

[0059] In Figure 5 this configuration, when the operation target is set to the machine tool 6, the signal processing unit 52 transmits the operation signal to the target position calculation unit 43, and the target position calculation unit 43 sends the information on the target position of the operation part of the machine tool 6 calculated to the sending unit 55. The information on the target position is sent from the sending unit 55 to the drive instruction conversion unit 44 via the receiving unit 41 and the signal processing unit 42.

[0060] In the present embodiment, although the case where the manual operation device 1 is connected to the robot control device 5 has been described, as Figure 6 shown, the manual operation device 1 may also be connected to the machine tool controller 4 by connecting the cable 1b to the connector 4a.

[0061] In Figure 6 In the usage example, when the operation target is set to the machine tool 6, the operation signal input from the manual operation device 1 to the signal processing unit 42 via the receiving unit 41 is transmitted from the signal processing unit 42 to the target position calculation unit 43, and the machine tool 6 is controlled based on the operation signal.

[0062] On the other hand, when the operation target is set to the robot 7, the operation signal input from the manual operation device 1 to the signal processing unit 42 via the receiving unit 41 is transmitted from the signal processing unit 42 to the transmitting unit 45, and is transmitted from the transmitting unit 45 to the robot control device 5. And in the robot control device 5, the operation signal is transmitted from the receiving unit 51 to the target position calculation unit 53 via the signal processing unit 52, and the robot 7 is controlled based on the operation signal.

[0063] In Figure 6 In the configuration of, when the operation target is set to the robot 7, the machine tool control device 4 sends the operation signal input from the manual operation device 1 connected to the machine tool control device 4 to the robot control device 5, but instead, a signal based on the target position can also be sent to the robot control device 5.

[0064] For example, the machine tool control device 4 can calculate the target position of the operation part of the robot 7 based on the operation signal and send the target position to the robot control device 5. That is, as Figure 7 shown, the target position calculation unit 53 can also be provided in the machine tool control device 4.

[0065] In Figure 7 In the configuration of, when the operation target is set to the robot 7, the signal processing unit 42 transmits the operation signal to the target position calculation unit 53, and the target position calculation unit 53 sends the calculated target position information of the operation part of the robot 7 to the transmitting unit 45. The information of the target position is transmitted from the transmitting unit 45 to the drive instruction conversion unit 54 via the receiving unit 51 and the signal processing unit 52.

[0066] In the present embodiment, the manual operation device 1 can be connected to the machine tool control device 4 and the robot control device 5, but instead, the manual operation device 1 can also be connected to only one of the machine tool control device 4 and the robot control device 5.

[0067] That is, as Figure 5 shown, the machine tool control device 4 may not have the connector 4a, or as Figure 7 shown, the robot controller 5 may not have the connector 5a.

[0068] In the present embodiment, the emergency stop switch 15 can not only stop the operation of the operation target, but also stop the operations of both the machine tool 6 and the robot 7. For example, when the emergency stop switch 15 is operated, an emergency stop signal can be sent from the manual operation device 1 to the two controllers 4 and 5.

[0069] In the present embodiment, the operation target setting units 2 and 3 are provided in the two control devices 4 and 5. Instead, however, they may be provided in only either one of the control devices 4 and 5.

[0070] In addition, in the present embodiment, the operation target setting units 2 and 3 are provided outside the manual operation device 1. Instead, however, they may be provided on the manual operation device 1. For example, the operation target setting unit may be a hardware key provided on the housing 1a.

[0071] In the present embodiment, when the operation of the operation target is switched to valid by the enable switch 14, the control devices 4 and 5 may also prohibit the operation of the machine tool 6 or the robot 7 that is not the operation target.

[0072] According to this configuration, it is possible to prevent, for example, another operator from operating the machine tool 6 or the robot 7 that is not the operation target while the operator is operating the operation target.

[0073] An enable switch is also provided on the portable operation panel 5c for the robot 7, and this enable switch is used to switch the validity of the operation of the robot 7 performed by the portable operation panel 5c. When the operation target is set to the machine tool 6, the robot control device 5 may stop the operation of the robot 7 regardless of whether the enable switch of the portable operation panel 5c is pressed.

[0074] According to this configuration, when the operator is operating the machine tool 6 using the manual operation device 1, it is possible to prevent another operator from operating the robot 7 using the portable operation panel 5c and causing it to move.

[0075] In addition, when the enable switch 14 is pressed, the robot control device 5 may prohibit the operation of the robot 7 by the portable operation panel 5c regardless of whether the enable switch of the portable operation panel 5c is pressed.

[0076] According to this configuration, it is possible to prevent two operators from operating the robot 7 simultaneously using the manual operation device 1 and the portable operation panel 5c, respectively.

[0077] In the present embodiment, an indicator unit may be provided that indicates which one of the machine tool 6 and the robot 7 is set as the operation target. For example, the indicator unit is an LED lamp 16 provided on the housing 1a (see Figure 3) It lights up or extinguishes according to the operation target, or emits light in different colors. The operator can confirm the current operation target based on the lighting and extinguishing of the lamp 16 of the manual operation device 1 at hand, or based on the light emission color of the lamp 16.

[0078] In this embodiment, at least one of the machine tool control device 4 and the robot control device 5 may also have a notification unit that notifies the operation target set by the operation target setting unit 2 or 3 and the axis selected by the axis selection switch 12. For example, the notification unit is the screen 4c of the operation panel 4b of the machine tool control device 4 (refer to Figure 1 .) and the screen 5d of the portable operation panel 5c (refer to Figure 1 .), and graphically displays the operation target and the selected axis.

[0079] The operator holding the manual operation device 1 and other workers can confirm the current operation target and the selected axis based on the notification of the notification unit.

[0080] In this embodiment, at least one of the control devices 4 and 5 may have a function of simulating the action of the operation target based on the operation signal. In this case, the control devices 4 and 5 perform simulation before the action of the operation target based on the operation signal, and stop the action of the operation target based on the operation signal when interference between the machine tool 6 and the robot 7 is predicted through the simulation. Thereby, interference between the machine tool 6 and the robot 7 can be prevented.

[0081] For example, in the storage devices of the respective control devices 4 and 5, three-dimensional models and three-dimensional positions of the machine tool 6 and the robot 7 are stored. The control device 4 or 5 connected to the manual operation device 1 configures the three-dimensional models of the machine tool 6 and the robot 7 in a three-dimensional virtual space based on the three-dimensional positions stored in the storage device, and moves the operation part of the three-dimensional model of the operation target to the target position in the virtual space, and determines whether the three-dimensional models of the machine tool 6 and the robot 7 interfere with each other. These processes are executed by the processor of the control device 4 or 5.

[0082] Description of reference numerals:

[0083] 1: Manual operation device

[0084] 2, 3: Operation target setting unit

[0085] 4: Machine tool control device

[0086] 5: Robot control device

[0087] 4c, 5d: Notification unit

[0088] 6: Machine tool

[0089] 7: Robot

[0090] 10: Control system

[0091] 11: Pulse handle (dial)

[0092] 14: Enable switch

[0093] 15: Emergency stop switch

[0094] 16: Indication part

Claims

1. A control system, characterized in that, Comprising: A machine tool control device that controls a machine tool; A robot control device that is communicably connected to the machine tool control device and controls a robot; A manual operation device that has a dial rotated by an operator, and when the dial is rotated, generates an operation signal for operating the machine tool and the robot; and An operation object setting unit that selectively sets the operation object of the manual operation device as the machine tool and the robot, The manual operation device is connected to one of the machine tool control device and the robot control device, and inputs the operation signal to the one, When the operation object is set as the control object of the other of the machine tool control device and the robot control device by the operation object setting unit, the one of the machine tool control device and the robot control device sends the operation signal or a signal based on the operation signal to the other.

2. The control system according to claim 1, characterized in that: The robot control device sends the operation signal input from the manual operation device connected to the robot control device to the machine tool control device, The machine tool control device calculates the target position of the machine tool based on the operation signal received from the robot control device, and moves the machine tool to the target position.

3. The control system according to claim 1, characterized in that: The robot control device calculates the target position of the machine tool based on the operation signal input from the manual operation device connected to the robot control device, and sends the target position to the machine tool control device, The machine tool control device moves the machine tool to the target position received from the robot control device.

4. The control system according to any one of claims 1-3, characterized in that: The machine tool control device sends the operation signal input from the manual operation device connected to the machine tool control device to the robot control device, The robot control device calculates the target position of the robot based on the operation signal received from the machine tool control device, and moves the robot to the target position.

5. The control system according to any one of claims 1-3, characterized in that: The machine tool control device calculates the target position of the robot based on the operation signal input from the manual operation device connected to the machine tool control device, and sends the target position to the robot control device, The robot control device moves the robot to the target position received from the machine tool control device.

6. The control system according to any one of claims 1-3, characterized in that: The manual operation device has an emergency stop switch for stopping the operations of both the machine tool and the robot.

7. The control system according to any one of claims 1-3, characterized in that: The operation object setting unit is provided in the manual operation device or outside the manual operation device.

8. The control system according to claim 7, wherein: the operation object setting unit is provided in at least one of the operation panel of the machine tool control device and the operation panel of the robot control device.

9. The control system according to any one of claims 1-3, wherein: the manual operation device is provided with an enable switch, and the enable switch switches the validity of the operation on the operation object by the manual operation device. When the operation on the operation object is switched to valid by the enable switch, the machine tool control device and the robot control device prohibit the actions of the machine tool or the robot that are not the operation object.

10. The control system according to any one of claims 1-3, wherein: the manual operation device has an indication unit, and the indication unit indicates the operation object set by the operation object setting unit.

11. The control system according to any one of claims 1-3, wherein: at least one of the machine tool control device and the robot control device has a notification unit, and the notification unit notifies the operator of the operation object set by the operation object setting unit.

12. The control system according to any one of claims 1-3, wherein: at least one of the machine tool control device and the robot control device simulates the action of the operation object based on the operation signal, and stops the action of the operation object based on the operation signal when interference between the machine tool and the robot is predicted.

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