CN111123847B

CN111123847B - Movable device

Info

Publication number: CN111123847B
Application number: CN201910977602.5A
Authority: CN
Inventors: 川合贵博
Original assignee: Brother Industries Ltd
Current assignee: Brother Industries Ltd
Priority date: 2018-10-31
Filing date: 2019-10-15
Publication date: 2023-03-28
Anticipated expiration: 2039-10-15
Also published as: CN111123847A; JP7070336B2; JP2020071640A

Abstract

The invention relates to a movable device, which is easy to switch the multiplying factor value according to the using state of the movable device. The transport device includes a movement motor, an arm motor, a main body, an arm, a mechanical switch, and a touch panel. The main body and the arm are driven by a movement motor and an arm motor, respectively. The mechanical switch and the touch panel are arranged at different positions from each other. The CPU of the conveying device acquires a movement program. The movement program shows the movement speeds of the main body and the arm. The CPU sets a magnification value in accordance with an operation of any one of the mechanical switch and the touch panel. The CPU controls the movement motor and the arm motor in accordance with the movement program and the magnification value.

Description

Movable device

Technical Field

The present invention relates to a movable device.

Background

Japanese patent laying-open No. 127054 in 2014 discloses a numerical controller capable of controlling a machine tool. The numerical controller controls the drive unit to rotate the spindle of the machine tool at a predetermined speed. The machine tool has a magnification switch. The magnification switch changes the speed controlled by the driving unit by changing the magnification value according to the state of the switch. The numerical controller switches the magnification value that changes based on a preset speed, in accordance with the state of the magnification switch. The numerical controller controls the drive unit so that the spindle rotates at a speed that changes in accordance with the magnification value.

For example, when teaching a machine tool, teaching is sometimes facilitated when an operator switches a magnification value at a position close to the main axis. In the numerical controller, when switching the magnification value, the operator needs to move to a place where the magnification switch is provided and operate the magnification switch each time. Therefore, the numerical controller may take time to switch the magnification value.

Disclosure of Invention

The invention provides a movable device which can easily switch the multiplying factor value according to the using state of the movable device.

The movable device according to claim 1 is characterized in that the movable device includes: a drive section; a moving part which moves under the drive of the driving part; a setting unit that sets a moving speed of the moving unit; a plurality of operation units provided at different positions, respectively; a magnification setting unit that sets a magnification value for changing the speed based on a set speed that is the moving speed set by the setting unit, in response to an operation of any one of the plurality of operation units; and a control unit that controls the drive unit to move the moving unit at a magnification speed corresponding to the set speed and the magnification value set by the magnification setting unit.

In the above-described aspect, since the plurality of operation units are provided, the operator can operate different operation units according to the usage status of the movable device when switching the magnification value. Therefore, the movable device can easily switch the magnification value according to the use condition of the movable device.

Preferably, the plurality of operation units of the movable device according to claim 2 include a first operation unit and a second operation unit, the first operation unit being displaceable to the first state and the second state in accordance with an operation, the magnification setting unit sets a value corresponding to the operation of the first operation unit as the magnification value when the first operation unit is in the first state, and sets a value corresponding to the operation of the second operation unit as the magnification value when the first operation unit is in the second state. When the magnification value set by the operation of the first operation unit and the magnification value set by the operation of the second operation unit are different values, the movable unit may move at a speed unexpected by the operator when the movable device drives the driving unit. In the above-described aspect, when the first operation unit is in the first state, the movable device does not change the magnification value even if the operator operates the second operation unit. Therefore, the movable device can suppress the movement of the moving portion at a speed unexpected by the operator.

Preferably, the first operation unit of the movable device according to claim 3 is a mechanical switch capable of switching between a first position and a third position via a second position, the first operation unit is in the first state when the first operation unit is located at a position different from the first position, the first operation unit is in the second state when the first operation unit is located at the first position, the magnification setting unit sets a value corresponding to the operation of the second operation unit as the magnification value when the mechanical switch is located at the first position, the magnification setting unit sets a value at which the magnification speed is 0 as the magnification value when the mechanical switch is located at the second position, and the magnification setting unit sets a value corresponding to the third position as the magnification value when the mechanical switch is located at the third position. The first operation portion passes through the second position when switching between the first position and the third position. When the operator switches the first operation unit from one of the first state and the second state to the other state, the magnification value temporarily becomes a value at which the movement speed is 0. Therefore, the movable device is temporarily stopped when the state of the first operation unit is switched, and safety is improved.

Drawings

Fig. 1 is a perspective view of the machine tool 1 viewed from diagonally right ahead.

Fig. 2 is a front view of the mechanical switch 21.

Fig. 3 is a block diagram showing an electrical configuration of the transport apparatus 10.

Fig. 4 is a conceptual diagram of the magnification value table 60.

Fig. 5 is a flowchart of the main process.

Fig. 6 is a flowchart of the main process connected to fig. 5.

Fig. 7 is a diagram showing a magnification value setting screen 90.

Fig. 8 is a schematic diagram illustrating an example of the conveying operation performed by the conveying device 10.

Detailed Description

The following describes embodiments of the present invention. In the following description, the left and right, front and back, and up and down shown by arrows in the drawings are used. The left-right direction, the front-back direction, and the up-down direction of the machine tool 1 shown in fig. 1 are the X-axis direction, the Y-axis direction, and the Z-axis direction of the machine tool 1, respectively.

The structure of the machine tool 1 is explained with reference to fig. 1. The machine tool 1 is a vertical machine tool in which a spindle extends in the Z-axis direction. The machine tool 1 includes a base 2, a machine tool body 3, a motor, and a cover 5. The base part 2 is an iron base and has a table on the upper surface. The work table fixes a cutting object. The machine tool body 3 is provided above the base portion 2. The machine tool body 3 has a spindle, and the spindle is rotated by driving of a motor to perform cutting or the like on a cutting target. The cover 5 is fixed to the upper portion of the base portion 2, and surrounds the periphery of the machine tool body 3.

The cover 5 has an opening 511, a wall 512, and a door 6 on the right sidewall 5A. The opening 511 is provided on the rear side of the right side wall 5A, and is formed in a substantially rectangular shape in right view. The wall portion 512 is provided on the front side of the opening 511 in parallel with the opening 511, and is formed in a substantially rectangular shape in right view. The door 6 is movable in the front-rear direction along the inner surface of the wall 512, and opens and closes the opening 511 (see fig. 8 (b) and 8 (c)). The opening and closing mechanism of the door 6 includes rails (not shown) provided above and below the opening 511 of the right side wall 5A, sliding members provided above and below the door 6, and the like. The rails extend in the front-rear direction. The sliding member provided on the door 6 side slides along the rail, so that the door 6 moves in the front-rear direction.

The configuration of the conveying apparatus 10 is explained with reference to fig. 1. The conveyor 10 is provided outside the right side wall 5A of the cover 5. The conveying device 10 conveys the cutting object and opens and closes the door 6. The transport apparatus 10 includes a main body 11, an arm 12, a moving mechanism 14, and the like. The body portion 11 is formed in a substantially rectangular parallelepiped shape that is long in the vertical direction. The arm 12 is provided above the main body 11, and exchanges a cutting target held on the upper surface of a table (not shown).

The moving mechanism 14 is provided on the right side surface of the base portion 2 and moves the main body portion 11 in the front-rear direction. The movement mechanism 14 includes a housing 15, a movement motor 16 (see fig. 3), a ball screw 17, a pair of travel shafts, i.e., a travel shaft 18A and a travel shaft 18B. The frame portion 15 is formed in a substantially rectangular shape in a right view, and is fixed to the right side surface of the base portion 2. The moving motor 16 is fixed to the rear of the housing portion 15. An output shaft of the moving motor 16 projects forward in the housing portion 15. The ball screw 17 is disposed to extend in the front-rear direction in the housing portion 15 and is attached to a lower portion of the main body portion 11. The ball screw 17 is connected coaxially with the output shaft of the moving motor 16.

A pair of

travel shafts

18A and 18B are provided on the upper and lower sides of the ball screw 17 inside the housing portion 15. The

travel shafts

18A and 18B support the lower portion of the main body 11. When the travel motor 16 is driven, the ball screw 17 rotates, and the main body 11 moves in the front-rear direction along the

travel shafts

18A, 18B.

The body 11 has a coupling cylinder 33 on the upper surface 11A. The connection cylinder 33 drives the cylinder rod 35 so that the cylinder rod 35 can advance to the left and retract to the right. The cylinder rod 35 can be engaged with a coupling hole 6A provided at the rear end portion of the outer surface of the door 6 (see fig. 8 (b)). When the cylinder rod 35 is engaged with the coupling hole 6A, the body portion 11 is integrated with the door 6. Therefore, the door 6 moves in the front-rear direction integrally with the main body 11, and opens and closes the opening 511 (see fig. 8 (b) and 8 (c)).

The main body 11 supports the arm 12 at an upper end thereof such that the arm 12 can rotate. The arm portion 12 has a first arm 12A and a second arm 12B, and the first arm 12A and the second arm 12B are foldable. The body 11 rotatably supports one end of the first arm 12A so that the first arm 12A can rotate. The first arm 12A has a first joint portion 121 at the other end. The first joint portion 121 rotatably supports one end portion of the second arm 12B so that the second arm 12B can rotate. The second arm 12B has a second joint 122 at the other end. The second joint portion 122 rotatably supports a grip portion (not shown). The gripping portion can grip a cutting object.

The arm portion 12 includes therein arm motors 81 to 83 and a holding cylinder 84 (see fig. 3). The first arm 12A is rotated with respect to the main body 11 by driving the arm motor 81. The second arm 12B is driven by the arm motor 82 to rotate about the first joint section 121 with respect to the first arm 12A. The arm motor 83 is driven to rotate the grip portion with respect to the second arm 12B around the second joint portion 122. The holding cylinder 84 is driven, and the holding part performs an operation of holding the cutting object.

The transport apparatus 10 further includes an operation panel 20 and a teaching device 50. The operation panel 20 is provided on the right portion of the front surface 5B of the cover 5. The operation panel 20 has a mechanical switch 21, an input switch 22, and the like. The mechanical switch 21 is a dial switch capable of being rotationally operated. The input switch 22 inputs various information to the conveying apparatus 10.

The teaching unit 50 is connected to a CPU71 (see fig. 3) of the transport apparatus 10 via a cable 59. Therefore, the operator can perform the operation while holding the teach pendant 50 and moving it. The operator operates the teaching device 50 to perform so-called teaching in which the operation of the transport apparatus 10 is stored in the storage device 74 (see fig. 3). The teaching device 50 includes a display unit 51 and a touch panel 52. The display unit 51 displays a screen related to the operation of the conveyance device 10, such as a magnification setting screen 90 (see fig. 7) described later. The touch panel 52 is provided to be laminated on the front surface of the display unit 51. The operator can see the display unit 51 through the touch panel 52. The touch panel 52 detects a pressing operation by the operator to receive various inputs.

The mechanical switch 21 is explained with reference to fig. 2. The mechanical switch 21 can be displaced to a mechanical switch active state and a mechanical switch inactive state in accordance with the rotational operation. When the mechanical switch 21 is in the mechanical switch enabled state, the transport apparatus 10 sets a value corresponding to the operation of the mechanical switch 21 to a magnification value described later. When the mechanical switch 21 is in the mechanical switch disabled state, the transport apparatus 10 sets a value corresponding to the operation of the touch panel 52 to a magnification value. In the present embodiment, the mechanical switch 21 is switchable among a first position P1, a second position P2, a third position P3, a fourth position P4, and a fifth position P5. When the mechanical switch 21 is located at a position different from the first position P1 (in the present embodiment, the second position P2 to the fifth position P5), the mechanical switch is in an active state. When the mechanical switch 21 is located at the first position P1, it is in a mechanical switch inactive state.

Reference numeral 21A is used to indicate which position of the first to fifth positions P1 to P5 the mechanical switch 21 is located. When the mechanical switch 21 is located at the first to fifth positions P1 to P5, reference numeral 21A indicates "mechanical switch is disabled", "0%", "first value", "second value", and "100%" respectively. The "mechanical switch inactive" indicates that the mechanical switch 21 is in the mechanical switch inactive state. "0%", "first value", "second value", and "100%" indicate the magnification values described later, and indicate that the mechanical switch 21 is in the mechanical switch enabled state. The mechanical switch 21 is rotated clockwise from the first position P1 in the front view, and moves to the fifth position P5 in the order of the second position P2, the third position P3, and the fourth position P4. The mechanical switch 21 is rotated counterclockwise in the front view from the fifth position P5, and moves to the first position P1 in the order of the fourth position P4, the third position P3, and the second position P2. The mechanical switch 21 outputs signals corresponding to the respective positions to the CPU 71.

The electrical structure of the transport apparatus 10 is explained with reference to fig. 3. The transport device 10 has a control device 70. The control device 70 includes a CPU71, a ROM72, a RAM73, a storage device 74, and an input/output unit 77. The CPU71 collectively controls the operation of the conveyor 10. The ROM72 stores various programs such as a main program. The main routine executes main processing (see fig. 5 and 6) described later. The RAM73 temporarily stores various information such as a magnification value described later. The storage device 74 is a nonvolatile storage device, and stores various information such as a magnification value table 60 (see fig. 4) and a movement program, which will be described later. The input/output unit 77 performs input from the outside and output to the outside. The input/output unit 77 is connected to the movement motor 16, the encoder 16A, the arm motor 81 to the arm motor 83, the encoders 81A to 83A, the grip cylinder 84, the connection cylinder 33, and the like. The movement motor 16, the arm motor 81 to the arm motor 83 are servo motors. The encoder 16A detects the rotational position and the rotational speed of the movement motor 16. The encoders 81A to 83A detect the rotational positions and rotational speeds of the arm motors 81 to 83.

The input/output unit 77 is also connected to the mechanical switch 21, the input switch 22, the display unit 51, the touch panel 52, and the numerical controller 8. The CPU71 communicates with the numerical controller 8 via the input/output unit 77. The numerical controller 8 includes a CPU, a ROM, a RAM, a storage device (not shown), and the like, and controls the operation of the machine tool 1.

The magnification value and magnification value table 60 is explained with reference to fig. 4. The conveyance device 10 operates according to a movement program. The movement program indicates the flow (movement direction, movement speed, etc.) of the movement of the main body 11 and the arm 12. The transport apparatus 10 sets the moving speed of the main body 11 and the arm 12 based on the moving program. The magnification value is a variable for changing the moving speed set by the moving program (hereinafter referred to as a set speed). The magnification value in the present embodiment represents a ratio of the moving speed to the set speed. Therefore, when the magnification value is set in the transport apparatus 10, the control device 70 moves the main body 11 and the arm 12 at a speed obtained by multiplying the set speed by the magnification value. When the magnification value is 0%, the set speed is 0 regardless of the value. Therefore, the movement motor 16, the arm motors 81 to 83 are not driven, and the main body 11 and the arm 12 do not move. When the magnification value is 100%, the main body 11 and the arm 12 move at the same speed as the set speed.

The magnification value table 60 is used in main processing (see fig. 5 and 6) described later. The magnification value table 60 specifies a magnification value according to the position of the mechanical switch 21. In the present embodiment, the values corresponding to the second to fifth positions P2 to P5 are 0%, the first value, the second value, and 100%, respectively. The first value and the second value can be arbitrarily set by an operator. The operator can input the first value and the second value into the conveyor 10 in advance. The transport apparatus 10 stores the first value and the second value input by the operator in the magnification value table 60. When the mechanical switch 21 is located at the first position P1, the mechanical switch 21 is in the mechanical-switch-disabled state, and therefore, the magnification value table 60 does not specify the magnification value corresponding to the first position P1.

The main processing will be described with reference to fig. 5 and 6. When the conveying apparatus 10 is started, the CPU71 reads out the main program from the ROM72 and executes the main processing. As shown in fig. 5, the CPU71 acquires a move program from the storage device 74 (S10). The acquired move program is stored in the RAM73. The CPU71 displays a magnification value setting screen 90 (see fig. 7) on the display unit 51 (S11). As shown in fig. 7, the magnification value setting screen 90 includes a set value display area 91 and an increase/decrease key 92. The set value display area 91 displays the currently set magnification value. The increase and decrease keys 92 represent indications of increases and decreases in the magnification value.

The CPU71 determines whether the mechanical switch 21 is located at the first position P1 (S13). When the signal corresponding to the first position P1 is not received from the mechanical switch 21, the CPU71 determines that the mechanical switch 21 is not in the first position P1 (S13: no). At this time, the mechanical switch 21 is in the mechanical switch enabled state, and the CPU71 shifts the process to S19. When receiving the signal corresponding to the first position P1 from the mechanical switch 21, the CPU71 determines that the mechanical switch 21 is located at the first position P1 (S13: yes). At this time, the mechanical switch 21 is in the mechanical switch inactive state.

When the increase/decrease key 92 (see fig. 7) is operated via the touch panel 52, the CPU71 sets a value corresponding to the operation of the increase/decrease key 92 to a magnification value (S15). The CPU71 stores the magnification value in the RAM73. In the present embodiment, the CPU71 sets any one of 0%, the first value, the second value, and 100% in accordance with the operation of the increase/decrease key 92. That is, the magnification value that can be set by the touch panel 52 is the same as the magnification value that can be set by the mechanical switch 21. The CPU71 proceeds to S15 only when the mechanical switch 21 is located at the first position P1. Therefore, when the mechanical switch 21 is located at any one of the second position P2 to the fifth position P5, the operation of the up-down key 92 by the touch panel 52 is disabled. CPU71 displays the magnification value set in S15 in setting value display area 91 (S17).

The CPU71 determines whether the mechanical switch 21 is located at the second position P2 (S19). When the signal corresponding to the second position P2 is not received from the mechanical switch 21, the CPU71 determines that the mechanical switch 21 is not at the second position P2 (S19: no), and shifts the process to S25. When receiving the signal corresponding to the second position P2 from the mechanical switch 21, the CPU71 determines that the mechanical switch 21 is located at the second position P2 (S19: yes). The CPU71 refers to the magnification value table 60 (see fig. 4), and sets the value "0%" corresponding to the second position P2 as the magnification value (S21). The CPU71 displays 0% in the set value display area 91 (S23).

The CPU71 determines whether or not the mechanical switch 21 is located at the third position P3 (S25). When the signal corresponding to the third position P3 is not received from the mechanical switch 21, the CPU71 determines that the mechanical switch 21 is not in the third position P3 (S25: no), and shifts the process to S31. When receiving the signal corresponding to the third position P3 from the mechanical switch 21, the CPU71 determines that the mechanical switch 21 is located at the third position P3 (S25: yes). The CPU71 refers to the magnification value table 60, and sets the value "first value" corresponding to the third position P3 as the magnification value (S27). The CPU71 displays the first value in the set value display area 91 (S29).

The CPU71 determines whether the mechanical switch 21 is located at the fourth position P4 (S31). When the signal corresponding to the fourth position P4 is not received from the mechanical switch 21, the CPU71 determines that the mechanical switch 21 is not at the fourth position P4 (S31: no), and shifts the process to S37. When receiving the signal corresponding to the fourth position P4 from the mechanical switch 21, the CPU71 determines that the mechanical switch 21 is in the fourth position P4 (S31: yes). The CPU71 refers to the magnification value table 60, and sets the value "second value" corresponding to the fourth position P4 as the magnification value (S33). The CPU71 displays the second value in the set value display area 91 (S35).

The CPU71 determines whether the mechanical switch 21 is located at the fifth position P5 (S37). When the signal corresponding to the fifth position P5 is not received from the mechanical switch 21, the CPU71 determines that the mechanical switch 21 is not in the fifth position P5 (S37: no), and shifts the process to S43 (see fig. 6). When receiving the signal corresponding to the fifth position P5 from the mechanical switch 21, the CPU71 determines that the mechanical switch 21 is located at the fifth position P5 (S37: yes). The CPU71 refers to the magnification value table 60, and sets the value "100%" corresponding to the fifth position P5 as the magnification value (S39). The CPU71 displays 100% in the set value display area 91 (S41).

The following describes a case where the mechanical switch 21 is displaced from the mechanical switch inactive state (first position P1) to the mechanical switch active state (any one of the second position P2 to the fifth position P5). When the operator switches the magnification value using the operation panel 20, the operator switches the mechanical switch 21 from the mechanical switch disabled state to the mechanical switch enabled state.

As an example, a case where the operator switches the mechanical switch 21 from the first position P1 to the fourth position P4 will be described. When the mechanical switch 21 is in the first position P1 (S13: yes), the magnification value is a value corresponding to the operation of the increase/decrease key 92 by the touch panel 52 (S15). The mechanical switch 21 sequentially passes through the second position P2 and the third position P3 (see fig. 2) in the process of going from the first position P1 to the fourth position P4. When the mechanical switch 21 passes through the second position P2 (S19: YES), the magnification value becomes 0% (S21). Therefore, when the mechanical switch 21 is switched from the mechanical switch disabled state to the mechanical switch enabled state, the magnification value temporarily becomes 0%. When the mechanical switch 21 reaches the third position P3 (S25: yes), the magnification value becomes the first value (S27). When the mechanical switch 21 moves to the fourth position P4 (S31: YES), the magnification value becomes the second value (S33).

A case where the mechanical switch 21 is displaced from the mechanical switch enabled state (any one of the second position P2 to the fifth position P5) to the mechanical switch disabled state (the first position P1) will be described. When the operator switches the magnification value using the teach pendant 50, the mechanical switch 21 is switched from the mechanical switch enabled state to the mechanical switch disabled state.

As an example, a case where the operator switches the mechanical switch 21 from the third position P3 to the first position P1 will be described. When the mechanical switch 21 is in the third position P3 (S25: yes), the multiplying factor value is the first value (S27). The mechanical switch 21 passes through the second position P2 (see fig. 2) in the process of going from the third position P3 to the first position P1. When the mechanical switch 21 passes through the second position P2 (S19: YES), the magnification value becomes 0% (S21). When the mechanical switch 21 moves from the second position P2 to the first position P1 (S13: yes), the mechanical switch 21 changes to the mechanical-switch disabled state with the magnification value of 0%. Before the operation of the increase/decrease key 92 by the touch panel 52, the magnification value is 0%. When the increase/decrease key 92 is operated via the touch panel 52, the magnification value is a value corresponding to the operation (S15). Therefore, when the operator switches the mechanical switch 21 from the mechanical switch enabled state to the mechanical switch disabled state, the operator can switch the magnification value from a safe state (state in which the magnification value is 0%) in which the transport apparatus 10 does not move using the teaching device 50.

As shown in fig. 6, the CPU71 determines whether or not an operation execution instruction for executing the conveying operation of the conveying device 10 is given (S43). The operator can input an operation execution instruction to the transport apparatus 10 by operating the input switch 22 on the operation panel 20. The operator can input an operation execution instruction to the transport apparatus 10 by operating the touch panel 52 on the teach pendant 50. If there is no operation execution instruction (S43: no), CPU71 returns the process to S13 (see fig. 5). When there is an operation execution instruction (yes in S43), CPU71 changes the moving speed based on the moving program acquired in S10 and the current magnification value (S45). Specifically, the movement speed (hereinafter referred to as magnification speed) is calculated by multiplying the magnification value by the movement speed (set speed) set by the movement program. The CPU71 controls the movement motor 16, the arm motor 81 to the arm motor 83 at the changed movement speed, and executes the conveyance operation (S47). The CPU71 returns the process to S13.

The conveying operation of the conveying device 10 in S47 will be described with reference to fig. 8. As shown in fig. 8 (a), the transport device 10 starts the transport operation from an initial state in which the door 6 is closed and the cylinder rod 35 and the coupling hole 6A are opposed to each other. As shown in fig. 8b, the CPU71 drives the coupling cylinder 33 (see fig. 1) to move the cylinder rod 35 in the left direction. The cylinder rod 35 is engaged with the coupling hole 6A, and the main body portion 11 is coupled to the door 6. As shown in fig. 8 (c), the CPU71 controls the movement motor 16 to move the main body 11 forward at a magnification speed. Since the main body 11 is integrally connected to the door 6, the door 6 is opened and the opening 511 is opened.

The CPU71 controls the movement motor 16 to stop the main body 11 at the arm entry position. When the main body 11 is at the arm entry position, the arm 12 can enter the cover 5 through the opening 511. The CPU71 controls the arm motors 81 to 83 and the holding cylinder 84 so that the first arm 12A and the second arm 12B (see fig. 1) move into the cover 5 through the opening 511, thereby performing an exchange operation of the cutting object fixed to the upper surface of the table. At this time, the CPU71 controls the arm motors 81 to 83 to move the arm 12 at the magnification speed.

As shown in fig. 8 (b), in a state where the main body 11 is integrally connected to the door 6, the CPU71 controls the movement motor 16 to move the main body 11 rearward at a magnification speed. Therefore, the door 6 is closed and the opening 511 is closed. As shown in fig. 8 (a), the CPU71 stops the driving of the coupling cylinder 33 (see fig. 3) and moves the cylinder rod 35 to the right. The cylinder rod 35 is disengaged from the coupling hole 6A, and the coupling of the body 11 and the door 6 is released. The conveyor 10 returns to the initial state. The conveying operation of the conveyor 10 is ended.

As described above, the mechanical switch 21 and the touch panel 52 are provided at different positions from each other (the operation panel 20 and the teach pendant 50). Since the plurality of operation units (the mechanical switch 21 and the touch panel 52) are provided, the operator can operate different operation units according to the use state of the transport apparatus 10 when switching the magnification value. Specifically, the operator may switch the magnification value to perform the operation of the conveyor 10. In this case, when the operator operates the teaching device 50 to switch the magnification value in the vicinity of the transport apparatus 10, it is relatively easy to confirm.

When the magnification value set by the mechanical switch 21 and the magnification value set by the touch panel 52 are different, the main body 11 and the arm 12 may move at speeds unexpected by the operator when the transport apparatus 10 drives the movement motor 16 and the arm motors 81 to 83. In the above embodiment, when the mechanical switch 21 is in the mechanical switch enabled state, the conveying apparatus 10 does not change the magnification value even if the operator operates the touch panel 52. Therefore, the transport apparatus 10 can suppress the main body 11 and the arm 12 from moving at a speed unexpected by the operator.

The mechanical switch 21 passes through the second position P2 when switching between the first position P1 and the third position P3. Therefore, when the operator switches the mechanical switch 21 from one of the mechanical switch enabled state and the mechanical switch disabled state to the other, the magnification value temporarily becomes 0%. Therefore, when the state of the mechanical switch 21 is switched, the transport apparatus 10 is safe because the magnification speed becomes 0 and the main body 11 and the arm 12 are temporarily stopped.

In the above description, the conveying device 10 is an example of the movable device of the present invention. The movement motor 16, the arm motor 81 to the arm motor 83 are examples of the driving unit of the present invention. The main body 11 and the arm 12 are examples of the moving part of the present invention. CPU71 executing S10 of fig. 5 is an example of the setting unit of the present invention. The mechanical switch 21 and the touch panel 52 are examples of a plurality of operation units of the present invention. The CPU71 executing S15, S21, S27, S33, and S39 in fig. 5 is an example of the magnification setting unit of the present invention. CPU71 executing S47 of fig. 6 is an example of the control unit of the present invention. The mechanical switch 21 is an example of the first operation unit of the present invention. The touch panel 52 is an example of the second operation unit of the present invention.

The present invention can be modified in various ways in addition to the above-described embodiments. The control device 70 may be replaced by the numerical control device 8. That is, the CPU of the numerical controller 8 may execute the main processing of the above embodiment to control the movement motor 16, the arm motors 81 to 83, the coupling cylinder 33, and the gripping cylinder 84. In this case, the conveyor 10 having the numerical controller 8 and the machine tool 1 is an example of the movable device of the present invention. The machine tool 1 may also be omitted. The main processing of the above embodiment may be distributed processing by the CPU71 of the control device 70 and the CPU of the numerical controller 8. For example, the CPU of the numerical controller 8 may execute S47 in the main process. In this case, the conveyor 10 including the numerical controller 8, the controller 70, and the machine tool 1 is an example of the movable device of the present invention.

The CPU of the numerical controller 8 may execute processing corresponding to the main processing of the above-described embodiment. Specifically, the CPU of the numerical controller 8 acquires a machining program for operating the machine tool 1 in S10. In S45, the CPU of the numerical controller 8 changes the moving speed based on the currently set magnification value. The numerical controller 8 controls the operation of the machine tool 1 (rotation, movement, etc. of the spindle) at a speed corresponding to the magnification value. In this case, the conveyance device 10 may be omitted. In this case, the machine tool 1 having the numerical controller 8 is an example of the movable device of the present invention. The motor of the machine tool 1 is an example of the driving unit of the present invention. The spindle of the machine tool 1 is an example of the moving part of the present invention. The CPU of the numerical controller 8 is an example of the magnification setting unit and the control unit of the present invention.

The mechanical switch 21 is not limited to a dial switch, and may be a slide switch, a push button, or the like. When the mechanical switch 21 is a button, the transport apparatus 10 preferably has a number of buttons corresponding to each magnification value and 1 button for invalidating the setting of the magnification value on the operation panel 20, and is configured to cancel the pressing of the other buttons by pressing any button. The transport apparatus 10 may have an operation unit for switching the magnification value, in addition to the mechanical switch 21 and the touch panel 52. The teach pendant 50 may also have a mechanical switch instead of the touch panel 52. The operation panel 20 may have a display portion and a touch panel instead of the mechanical switch 21. The CPU71 may display a switch button for switching the magnification value on the display unit, and may switch the magnification value when an operation of pressing the switch button via the touch panel is performed.

In the mechanical switch 21 that does not pass through the second position when switching between the first position and the third position, such as a button, the CPU71 may perform control to set the magnification value to 0% when there is an operation to set the mechanical switch 21 in the mechanical switch disabled state. When a touch panel is provided instead of the mechanical switch 21, the same control as that when a button is provided may be performed. In the above embodiment, the first position P1 and the second position P2 are located at different positions, but the first position P1 and the second position P2 may be the same position. In this case, in the mechanical switch 21 of fig. 2, the mechanical switch is ineffective as the magnification value 0%, or the magnification value 0% is ineffective as the mechanical switch. That is, the transport apparatus 10 may set the magnification value to 0% when the mechanical switch 21 is located at the same position as the first position P1 and the second position P2, and then set the value corresponding to the operation to the magnification value when the up-down key 92 is operated via the touch panel 52.

The movement motor 16, the arm motor 81 to the arm motor 83 are not limited to servo motors, and may be DC motors or the like. The magnification value corresponding to the position of the mechanical switch 21 is not limited to the above embodiment. Alternatively, when the mechanical switch 21 is located at the third position P3, the CPU71 may set 100% to the magnification value. The display mode of the magnification setting screen 90 is not limited to the above embodiment. In the above embodiment, when the mechanical switch 21 is in the mechanical switch enabled state (yes in S19, yes in S25, yes in S31, yes in S37), the CPU71 displays the magnification value in the set value display area 91 (S23, S29, S35, S41). On the other hand, the CPU71 may display the content indicating that the mechanical switch 21 is in the mechanical switch enabled state in the set value display area 91.

In the above embodiment, the CPU71 acquires the movement program before receiving the operation execution instruction, but may acquire the movement program when there is the operation execution instruction. In the above embodiment, the magnification value that can be set by the touch panel 52 and the magnification value that can be set by the mechanical switch 21 are the same, but the magnification value that can be set by the touch panel 52 and the magnification value that can be set by the mechanical switch 21 may be different. The transport apparatus 10 may be configured to be able to set a value between 0% and the first value by operating the increase/decrease key 92 through the touch panel 52. The magnification value may be a value greater than 100%.

Claims

1. A movable device is characterized in that a movable device is provided,

the movable device (10) comprises:

a drive unit (16, 81-83);

moving units (11, 12) that move under the drive of the drive unit;

a setting unit (71) that sets the moving speed of the moving unit;

a plurality of operation units (21, 52) provided at different positions;

a magnification setting unit that sets a magnification value for changing a speed based on a set speed that is the moving speed set by the setting unit, in accordance with an operation of any one of the plurality of operation units; and

a control unit that controls the drive unit to move the moving unit at a magnification speed corresponding to the set speed and the magnification value set by the magnification setting unit,

the plurality of operating parts have a first operating part and a second operating part,

the first operation portion is displaceable to a first state and a second state in accordance with an operation,

the magnification setting section sets a value corresponding to an operation of the first operation section as the magnification value when the first operation section is in the first state,

the magnification setting unit sets a value corresponding to an operation of the second operation unit as the magnification value when the first operation unit is in the second state.

2. The movable device of claim 1,

the first operation part is a mechanical switch capable of switching between a first position and a third position via a second position,

the first operating portion is in the first state when the first operating portion is located at a position different from the first position,

the first operating portion is in the second state when the first operating portion is in the first position,

the magnification setting section sets a value corresponding to an operation of the second operation section as the magnification value when the mechanical switch is located at the first position,

the magnification setting unit sets a value for setting the magnification speed to 0 as the magnification value when the mechanical switch is in the second position,

the magnification setting unit sets a value corresponding to the third position as the magnification value when the mechanical switch is located at the third position.