JP2006350602A - Operation terminal equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide operation terminal equipment 2 capable of manually operating a mobile object such as a molded object take-out device 1 simply and efficiently without depending on a manual operation button. <P>SOLUTION: The operation terminal equipment 2 is provided with a touch panel picture 20 for performing the manual operation of a take-out head 4 of the molded object take-out device 1. The touch panel picture 20 displays an image 4A of the take-out head 4 and an image 30A of a metal mold 30 to be an object necessary for the position setting of the take-out head 4. When operating to trace the take-out head image 4A on the touch panel picture 20 with a finger F or the like, a control instruction is given so as to move the real take-out head 4 in accordance with a traced track. Also, image processing is performed so that a physical relationship between the take-out head image 4A displayed to the touch panel picture 20 and the metal mold image 30A makes relative changes following the tracing operation. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an operation terminal device capable of manually operating a moving body such as a molded product take-out device, for example.

  Conventionally, this kind of operation terminal device is used, for example, for teaching the take-out head of a molded product take-out device, and manually operates the take-out head of the molded product take-out device by screen operation from the display screen consisting of the touch panel. In some cases, a predetermined operation position is set (Patent Document 1).

  As shown in FIG. 6, the display screen 720 of the operation terminal device displays a pseudo three-dimensional image 700 of the molded product take-out device viewed from the operation side where the operation panel of the molding machine is located, and the molded product take-out device. Manual operation buttons 711A, 711B, 712A, 712B, 713A, 713B, 714A, 714B, 715A, and 715B including arrows specifying the transfer directions of the arms 701 to 704 of the X, Y, and Z axes in the three-dimensional image are displayed. To do. The display screen 720 also displays a numerical value display unit 730 that displays the coordinate position of the take-out head or the like that changes with the transfer of the arms 701 to 704 by numerical conversion.

  The manual operation buttons 711 </ b> A to 715 </ b> B are electrically connected to drive sources that move the arms of the respective axes in the actual molded product taking-out apparatus, and have a function as seat switches that can manually move the arms of the respective axes. That is, when the manual operation buttons 711A to 715B are pressed and turned on, the actual arm drive source corresponding to the manual operation buttons 711A to 715B is operated to move the take-out head, and the manual operation buttons 711A to 715B are moved. Is released and the drive source is stopped, and the movement of the take-out head is stopped.

Therefore, during teaching, the manual operation buttons 711A to 715B are turned on to move the take-out head to an appropriate operating position while checking the coordinate values displayed on the numerical value display unit 730. The teaching operation can be easily performed by storing the value in the operation terminal device.
JP 2001-1383 A

  However, since a plurality of manual operation buttons 711A to 715B are displayed on the display screen 720 of the conventional operation terminal device, one manual operation button corresponding to the forward / reverse operation of the drive source is searched and specified 711A to 715B. Takes time. Moreover, it is possible that the determination of the manual operation buttons 711A to 715B may be mistaken. Therefore, teaching was complicated.

  Further, for example, when adjusting the position of the three axes in the order of X axis → Y axis → Z axis, the manual operation buttons 711A to 715B need to be pressed for each axis. This is a complicated task.

  Furthermore, in the conventional operation terminal device, since the three-dimensional image 700 of the molded product extraction device is fixedly displayed, the operation terminal device and the actual object (for example, the extraction head and the metal plate) are adjusted during position adjustment (position setting). It is necessary to adjust the actual positional relationship with the mold while looking at each other. This also makes teaching complicated.

  The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide an operation terminal device that can easily and efficiently manually operate a moving body such as a molded product take-out device without using a manual operation button. And

(1) An operation terminal device according to the present invention is an operation terminal device provided with a touch panel screen for manually operating a moving body. The touch panel screen includes an image of the moving body and a position setting of the moving body. When a necessary object image is displayed and an operation of tracing the moving body image on the touch panel screen is performed, a control command is given to move the moving body according to the traced trajectory. It is.

Thus, the actual moving body can be manually operated by directly tracing the moving body image, and there is no need to provide a manual operation button for manual operation of the moving body. Therefore, searching for a manual operation button as in the prior art, a specific determination error of the manual button, and the like can be completely eliminated.
The tracing operation described above may be performed by tracing the moving body image, or tracing the vicinity of the moving body image or an arbitrary place on the touch panel screen. In this case, the entire moving body image can be clearly confirmed on the touch panel screen even during the tracing operation.

(2) Further, a control command may be issued so as to move the moving body according to the direction, distance, and speed of the locus traced by the tracing operation on the touch panel screen.
Thereby, the speed setting which has been conventionally performed separately from the position setting can be performed simultaneously.

(3) Further, image processing may be performed so that the positional relationship between the moving object image and the object image displayed on the touch panel screen changes relatively following the tracing operation.
As a result, it is possible to easily grasp the positional relationship between the actual moving object and the object on the touch panel screen, and to save time and effort to check the operation terminal device and the moving object alternately during manual operation of the moving object. it can.

  As described above, according to the manual operation device of the present invention, an operation of tracing the moving body image displayed on the touch panel screen (such as tracing the moving body image directly, tracing the vicinity of the moving body image or an arbitrary place on the touch panel screen, etc. ), The moving body can be manually operated. Therefore, the moving body can be easily and efficiently manually operated without using the manual operation button. Therefore, teaching of the moving body can be performed easily and in a short time.

Embodiments of the present invention will be described below with reference to the drawings. In the present embodiment, the case where the moving body is a molded product taking out device will be described.
FIG. 1 shows the overall configuration of the molded product take-out device 1 as viewed from the operation side where the operation panel 33 of the molding machine 3 is located. A molded product take-out device 1 shown in FIG. 1 is a traverse type and is mounted on a molding machine 3. As an external configuration of the molded product take-out device 1, an arm mechanism 10 extending in the XYZ axial directions and a take-out head 4 for taking out a molded product from a mold 30 of the molding machine 3 are provided. An operation terminal device 2 that enables manual operation of the take-out head 4 during teaching is connected to the molded product take-out device 1 by a cable K. Note that the operation terminal device 2 may be communicably connected to the molded article extraction device 1 by radio.

The arm mechanism 10 includes a transverse arm 11 extending in the width direction of the molding machine 3 (X direction in FIG. 1) and a transfer arm 12 extending in the longitudinal direction of the molding machine 3 (Y direction in FIG. 1). And the raising / lowering arm 13 extended in the up-down direction (Z direction of FIG. 1) of the molding machine 3 is provided.
The transverse arm 11 is mounted on and fixed to the stationary platen 31 of the molding machine 3. The transfer arm 12 is mounted on the traverse arm 11 and moved forward and backward in the width direction of the molding machine 3 by a first drive source (not shown) such as a servo motor. The elevating arm 13 is suspended from the transfer arm 12 and is moved forward and backward in the longitudinal direction of the molding machine 3 by a second drive source (not shown) such as a servomotor and a third drive source (see FIG. (Not shown) is moved up and down in the vertical direction of the molding machine 3.

  The take-out head 4 is attached to the lower end of the elevating arm 13, holds and removes a molded product as a product from the mold 30, and releases the hold at a predetermined collection position outside the molding machine 3. To recover. Further, the take-out head 4 is configured such that the molded product holding surface can be rotated in reverse between the vertical posture and the horizontal posture, or can be horizontally rotated in the vertical posture.

And the said molded article extraction apparatus 1 performs the following extraction operations at the time of automatic operation.
Referring also to the schematic route R of the route diagram of the take-out operation shown in FIG. 2, first, when the die 30 to which the movable platen 32 of the molding machine 3 moves is opened, the take-out head 4 is placed on standby outside the die 30. The position (P1) is moved to the entry position (P2) in the mold 30. Next, the take-out head 4 is moved to the take-out position (P3) close to the surface of the mold 30, and the take-out head 4 holds the molded product. Then, after the take-out head 4 holding the molded product is retracted to the extraction position (P4), it is raised to the ascending position (P5) to be moved out of the mold 30. Subsequently, the head is moved to a predetermined opening position (P6), and at this opening position (P6), the take-out head 4 is reversed to a horizontal posture and then lowered to move to the collection position (P7). To release the hold of the molded product and collect the molded product. Thereafter, the take-out head 4 is raised to the open lift position (P8), the take-out head 4 is reversed to the vertical position, and then returned to the standby position (P1) again. Thus, one take-out cycle is completed.

  And each said operation position P1-P8 is set by teaching using the said operation terminal device 2 before an automatic driving | operation. The operation terminal device 2 is provided with a touch panel screen 20 on the front surface, and includes a control unit (not shown) and a memory storing various programs and data.

On the touch panel screen 20, during teaching, an object (for example, a mold 30 or a mold clamping of the molding machine 3) that is necessary for setting the position of the ejection head 4 of the molded product ejection device 1 and the ejection head 4 of the molded product ejection device 1 is displayed. Image of the apparatus, and a post-processing apparatus such as a collection apparatus and a gate cutting apparatus). This display image is a two-dimensional image, and an illustration based on the actual type and size, an actual captured image, or the like is used and stored in advance in the memory. For example, during teaching at the take-out position P3, as shown in FIGS. 3 and 4, the touch-head screen 20 includes the take-out head image 4A and the mold image 30A reflecting the actual model / size / positional relationship. Is displayed. The display images 4A and 30A display the actual state of the take-out head 4 at the current position. In FIG. 3, the movable platen image 32A is also displayed, and in FIG. 4, the movable platen image 32A and the fixed platen image 31A are also displayed.
Further, the touch panel screen 20 may display a numerical value display unit 21 for converting and displaying the coordinate position of the take-out head 4 that changes as the arm mechanism 10 moves (FIGS. 3 and 4). See).

  A control unit (not shown) built in the operation terminal device 2 generates a signal based on the switch signal output by the ON operation from the touch panel screen 20 and the data stored in the memory by the processing by the program stored in the memory. And outputs a predetermined control command to an operation control unit (not shown) that controls the drive source of the arm mechanism 10, and performs image processing on the touch panel screen 20 based on the switch signal and data. A predetermined image is displayed.

  The touch panel screen 20 has a GUI (Graphical User Interface) function, and is configured so that the arm mechanism 10 can be manually operated by touching an image displayed on the touch panel screen 20. That is, touching the take-out head image 4A on the touch panel screen 20 with a finger F or a touch pen and tracing the touch panel screen 20 up to a predetermined position while touching it actually takes place according to the direction, distance, and speed of the traced locus. The takeout head 4 of the molded product takeout apparatus 1 is configured to move. Specifically, when the extraction head image 4A on the touch panel screen 20 is pressed with a finger F or the like (touch operation or tracing operation), a switch signal is output to the control unit, and the control unit outputs a control command based on the switch signal to the arm mechanism. It outputs to the operation control part which controls operation | movement of each 10 drive sources. Thereby, each drive source is driven forward and reverse, and the take-out head 4 is moved together with the arm mechanism 10.

  The take-out head image 4A on the touch panel screen 20 is configured to change following the tracing operation. That is, based on the switch signal output when the extraction head image 4A on the touch panel screen 20 is pressed with a finger F or the like, the control unit performs image processing to change the extraction head image 4A on the touch panel screen 20. Therefore, the display image (takeout head image 4A, die image 30A) on the touch panel screen 20 reflects the actual positional relationship between the takeout head 4 and the die 30. Note that the image on the touch panel screen 20 only needs to change relatively between the extraction head image 4A and the mold image 30A so as to reflect the actual positional relationship between the extraction head 4 and the mold 30 as described above. In addition to changing the extraction head image 4A, the mold image 30A as the background may be changed without changing the extraction head image 4A.

Next, the operation during teaching will be described.
For example, when teaching the take-out head 4 in the mold 30, the touch panel screen 20 has an image from the front side of the mold shown in FIG. 3 (an image viewed from the direction of arrow 1 in FIG. 5). 4 and an image from the side surface of the mold shown in FIG. 4 (image viewed from the direction of arrow 2 in FIG. 5) can be displayed by switching the screen. This screen switching is performed by turning on a screen switching button (not shown).

  Then, when setting the alignment of the take-out head 4 and the mold 30 at the take-out position P3, the image from the front side of the mold shown in FIG. 3 is displayed. First, the take-out head image on the touch panel screen 20 is displayed. Touch 4A with finger F. Then, the control unit recognizes the touch of the extraction head image 4A by the switch signal output by the touch operation. At this time, even if a part of the extraction head image 4A (outline portion or the like) or the entire color is changed by image processing from the control unit, it is clearly indicated that the extraction head image 4A is correctly touched with the finger F. Good.

  Referring to FIG. 3, the finger F touching the extraction head image 4A is, for example, an arrow L1 so that the extraction head image 4A is arranged at a set position on the mold image 30A on the touch panel screen 20. Slide in the direction and trace on the screen 20 (tracing operation). At this time, the extraction head image 4A on the touch panel screen 20 also changes following the tracing operation by the image processing in the control unit (see the one-dot chain line in FIG. 3). The control unit recognizes the tracing operation and outputs a predetermined control command to the operation control unit of the drive source in the arm mechanism 10. Then, a predetermined drive source is driven, and the actual extraction head 4 is moved to a predetermined setting position with respect to the actual mold 30 so as to correspond to the extraction head image 4 </ b> A that is moved by a tracing operation on the touch panel screen 20. Let Then, when the take-out head 4 is moved to an appropriate setting position with respect to the mold 30, a setting button (not shown) on the touch panel screen 20 is turned on to set the take-off position teaching data. Is stored in the memory. Thus, teaching for setting the position of the takeout head 4 at the takeout position P3 is completed.

  On the other hand, when setting the operation of the extraction head 4 between the extraction position P3 and the extraction position P4 (or the entry position P2), the image from the side of the mold shown in FIG. Then, the finger F touches the take-out head image 4A from the touch panel screen 20. Then, referring to FIG. 4, while being aware of the positional relationship between the touch panel screen 20 and the mold image 30A, for example, the finger F is slid in the direction of the arrow L2 to perform an operation of tracing on the touch panel screen 20. The take-out head image 4A on 20 is moved so as to draw a predetermined locus. Then, the control unit discriminates the direction, distance, and speed of the traced trajectory based on the switch signal sequentially output by the tracing operation, and gives a predetermined control command from the discrimination result to the operation of the drive source in the arm mechanism 10. Output to the control unit. As a result, the actual extraction head 4 moves so as to draw a locus corresponding to the tracing operation.

  Then, after the take-out head 4 is moved to a predetermined position, a setting button (not shown) on the touch panel screen 20 is turned on for the direction, distance, and speed of the locus at this time, and the take-out position P3 and the pull-out position P4. (Or the take-out head operation from the entry position P2 to the take-out position P3, and the take-out head operation from the take-out position P3 to the pull-out position P4) between them (or the entry position P2). This completes teaching of the extraction head operation between the extraction position P3 and the extraction position P4 (or the entry position P2).

  In addition, not only in the above-described teaching in the mold 30, but also in the operation positions P1 to P8 such as the collection position P7 and in the middle of traversing (P5 → P6, P8 → P1), each operation is similarly performed on the touch panel screen 20. An image may be displayed at the positions P1 to P8, and teaching may be performed by an operation of tracing the extraction head image 4A.

  As described above, according to the operation terminal device 2, an actual molded product is taken out by performing the above tracing operation so as to move the takeout head image 4 </ b> A on the touch panel screen 20 to a predetermined position with respect to the mold image 30 </ b> A and the like. The position setting and position adjustment of the take-out head 4 in the apparatus 1 can be performed. Accordingly, there is no manual operation button compared to the conventional manual operation button provided for each axis X, Y, Z, one on each axis X, Y, Z. There is no time for searching for an operation button, and there is no troublesome work of adjusting the position sequentially for each axis X, Y, Z.

  And since the control command is given to move the take-out head 4 in accordance with the direction, distance and speed of the locus traced by the tracing operation on the touch panel screen 20, the speed setting which has been conventionally performed separately from the position setting is also possible. Can be done simultaneously.

  Therefore, the teaching work that has been troublesome in the past can be performed easily and in a short time, the stop time of the molding machine 3 accompanying the teaching of the molded product take-out device 1 can be shortened, and consequently the production efficiency of the molded product can be improved. Can do.

  Moreover, the take-out head image 4A displayed on the touch panel screen 20 changes according to the tracing operation, but changes according to the actual position of the take-out head 4 that moves by the tracing operation. Thus, it is possible to easily grasp the actual position of the current takeout head 4. Therefore, it is not necessary to adjust the touch panel screen 20 and the actual molded product taking-out device 1 while looking at each other, compared to the conventional one in which a fixed stereoscopic image is displayed. It can be done in a short time.

  In addition, this invention is not limited to the thing of the said embodiment, For example, the following changes are possible.

(1) The above tracing operation on the touch panel screen 20 may be an operation of tracing the extraction head 4A image directly, or an operation of tracing the vicinity of the extraction head image 4A or an arbitrary place on the touch panel screen 20. In this case, the entire extraction head image 4A image on the touch panel screen 20 can be clearly confirmed without being hidden by the operator's own hand during the tracing operation.

(2) The screen switching between the image from the front side of the mold (FIG. 3) and the image from the side surface of the mold (FIG. 4) is manually performed by turning on the screen switching button on the touch panel screen 20. Although it is performed according to the equation, the screen may be switched automatically. For example, the screen may be switched in accordance with the ON operation of the setting button, which is a predetermined teaching completion operation.

(3) Further, since the direction of the display image preferably matches the direction in which the operator operating the operation terminal device 2 faces the molded article taking-out device 1, the operation terminal device 2 includes For example, a screen switching unit is provided, and by this screen switching unit, the direction in which the operation terminal device 2 faces the extraction head 4 is determined from the positional relationship between the operation terminal device 2 and the extraction head 4, and the orientation of the display image corresponding to the direction is determined. The screen may be automatically switched to.

(4) The display image on the touch panel screen 20 may be a three-dimensional image, and a three-dimensional analysis device that can determine the direction, distance, and speed from the three-dimensional trajectory by the tracing operation may be provided.

(5) Further, the displacement amount of the take-out head 4 is determined so that the take-out head 4 does not interfere with the position setting object or peripheral device, and the take-out head 4 is connected with the position setting object or peripheral device. When interference occurs, a warning means for warning or a movement stop means for stopping the movement of the take-out head 4 may be provided.

(6) Further, as the molded product take-out device 1, not only the traverse type, but also a side entry type for taking out a molded product from the side of the mold 30, or a molded product of the mold 30 by rotating the arm. The present invention may be applied to a molded product take-out apparatus 1 such as a swivel type that takes

(7) Further, the molding machine 3 for mounting the molded product take-out device 1 may be either a vertical type or a horizontal type as long as the mold clamping / opening operation is performed. In addition to resin, it may be made of metal such as aluminum.

(8) Further, the present invention is not limited to the operation terminal device 2 in the molded product take-out device 1, and various industrial robots such as a processing robot that performs a predetermined processing on a workpiece and a transfer robot that transfers the workpiece to a predetermined location. Also, it can be applied as an operation terminal device used for teaching or the like in a machining center or the like.

It is a perspective view which shows the whole structure (operation side) of a molded article extraction apparatus. It is a path | route figure which shows the general | schematic path | route of the basic operation | movement of a molded article extraction apparatus. It is a schematic diagram which shows the state of the display image (mold front side) in the touchscreen screen of an operating terminal device. It is a schematic diagram which shows the state of the display image (mold side surface side) in the touchscreen screen of an operating terminal device. It is a principal part perspective view of the molded product extraction apparatus shown in order to demonstrate the direction of the display image in a touchscreen screen. It is a schematic diagram which shows the screen display of the touchscreen of the operation terminal device in the conventional molded article extraction apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Molded product extraction apparatus 2 Operation terminal apparatus 3 Molding machine 4 Extraction head 4A Extraction head image 10 Arm mechanism 20 Touch panel screen 30 Mold 30A Mold image 31 Fixed platen 32 Movable platen F Finger

Claims (3)

An operation terminal device having a touch panel screen for manually operating a moving body,
On the touch panel screen, an image of the moving object and an image of an object necessary for position setting of the moving object are displayed.
An operation terminal device, wherein when the user performs a tracing operation on the moving body image on the touch panel screen, a control command is given to move the moving body according to the traced path. The operation terminal device according to claim 1,
An operation terminal device that gives a control command to move the moving body in accordance with the direction, distance, and speed of a locus traced by a tracing operation on the touch panel screen. In the operation terminal device according to claim 1 or 2,
An operation terminal device that performs image processing so that the positional relationship between the moving body image and the object image displayed on the touch panel screen changes relative to the tracing operation.

Images