JP2015180996A - control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device ensuring both convenience and safety.SOLUTION: The present invention concerns a control device 3 of a machine tool 2 communicating with a portable operation device 6. The control device 3 controls a machining unit 21 of the machine tool 2 to move in response to an operation received by the operation device 6. The control device 3 restricts operations that can be received when an operator uses the operation device 6 at a location where it is difficult for the operator to visually confirm a state of the machine tool 2 in detail as compared with a case in which the operator uses the operation device at a location where it is easy to visually confirm the state of the machine tool 2 in detail. The control device 3 determines whether it is difficult for the operator to visually confirm the state of the machine tool 2 in detail by whether the operator can take action that can be taken only at a position at which the operator can visually inspect the machine tool 2.

Description

  The present invention relates to a control device for a machine tool that communicates with a portable operating device.

  Conventionally, a machine tool has a display device. Some display devices are detachable from the machine tool. The machine tool described in Patent Document 1 has an operation display device and a detachable display device fixed to the machine tool. When the detachable display device is connected to the machine tool, the operation display device and the detachable display device display information necessary for operating the machine tool. The operator operates the machine tool using the operation display device and the attachment / detachment display device. When the detachable display device is not connected to the machine tool, the operation display device displays information necessary for operating the machine tool. The operator operates the machine tool using the operation display device.

JP 2009-193568 A

  When the detachable display device is not directly connected to the machine tool, the detachable display device displays information necessary for operating the machine tool, for example, by wireless communication, and the machine tool is remotely operated using the detachable display device. If it can be done, the convenience for the operator will be improved. When an operator remotely controls a machine tool using wireless communication, the following problems occur. For example, when performing a test process with a machine tool, a dangerous accident may occur if an operator who is in a place where it is difficult to visually check the state of the machine tool in detail, remotely controls the machine tool. The worker who is in a place where it is difficult to visually confirm the state of the machine tool in detail is, for example, a worker who is away from the machine tool. In other words, the operator must be in the vicinity of the machine tool in order to visually confirm the state of the machine tool in detail. In the following, a worker who is in a place where it is difficult to confirm the state of the machine tool in detail visually is referred to as a distant worker, and a worker in a place where it is easy to confirm in detail visually is referred to as a nearby worker. When a distant worker and a nearby worker are not distinguished, they are simply called workers. In order to reliably prevent a remote operator from remotely operating the machine tool, for example, a communication area where the machine tool and the detachable display device can communicate wirelessly may be set near the machine tool. However, when it is necessary to immediately stop the machine tool immediately in the event of a disaster or an accident, it is desirable for remote operators to remotely operate the machine tool for both convenience and safety. Further, when the attachment / detachment display device and the machine tool are in a one-to-many correspondence, both the operator side and the machine tool side indicate that the machine tool that the operator desires to operate matches the machine tool with which the attachment / detachment display device communicates. Must be confirmed with. If the above-mentioned confirmation is neglected, an operator may use the detachable display device to perform test processing with a desired machine tool, but an accident may occur in which a completely different machine tool is operated.

  An object of the present invention is to provide a control device that can achieve both convenience and safety of remote operation.

  The control device according to the present invention is a control device that can communicate with an operation device that is remote from the machine tool and that operates the machine tool based on an operation received by the operation device. A machine side communication unit for communicating with the operation unit, and a machine side control unit for controlling the operation of the processing unit according to operation information received via the machine side communication unit. The side control unit includes an action transmission unit that transmits action information indicating an action to be executed by a worker at a position where the machine tool can be visually observed to the operation device via the machine side communication unit, and the worker performs the action And a first operation reception information indicating a first operation that can be received by the machine tool when the behavior determination unit determines that the worker has executed the behavior. The machine side And a second operation reception indicating a second operation that is more restricted than the first operation when the behavior determination unit determines that the worker is not executing the behavior. A second transmission unit that transmits information via the machine-side communication unit.

  The control device transmits behavior information to the operation device. The operating device outputs information related to an action that the operator should execute at a position where the machine tool can be seen. The action that the operator should execute at a position where the machine tool can be viewed is, for example, an action that the operator is likely to be in the vicinity of the machine tool when the action is executed. The worker performs an action according to the information output from the controller device. The behavior determination unit determines whether the worker has performed the behavior. When the action is correctly executed, the current position of the worker is close to the machine tool communicating with the operating device. At this time, the machine tool accepts the first operation. When the worker does not perform the action or performs the wrong action, the worker's current position is far from the machine tool communicating with the operating device. At this time, the machine tool accepts the second operation. The control device limits what is possible with the second operation compared to what is possible with the first operation. The machine tool controls the operation of the machine tool (for example, the operation of the processing unit) according to the first operation or the second operation. Therefore, for example, the control device can permit the remote worker to perform an emergency stop operation while preventing the occurrence of a dangerous accident caused by the remote operation of the remote worker.

  The machine tool controlled by the control device according to the present invention further includes a storage unit that stores a machining program, and the machining program includes a plurality of instructions that command the operation of the machining unit, and the first operation The operation that can be operated by the second operation but cannot be performed by the second operation is an operation for correcting the machining program being executed by the machining unit.

  The control device cannot perform the correction operation of the machining program currently being executed by the second operation. An operator who is not in the vicinity of the machine tool currently being machined cannot correct the machining program being machined, thereby preventing damage to the machine tool.

  The behavior of the control device according to the present invention includes an answer to a question regarding the identification or state of the machine tool, the behavior information includes question output information for outputting the question, and the behavior determination unit includes the operation device. Whether or not the worker has performed the action is determined according to the presence / absence or correctness of the reply transmitted by the operator.

  The control device causes the operator to answer questions regarding the identification or status of the machine tool. The worker gives an answer to the question to the operating device. The operating device transmits the answer to the machine tool. Identifying a machine tool and grasping the state of the machine tool are easy for an operator in the vicinity of the machine tool, but difficult for a remote operator. The control device determines whether or not the worker is located in the vicinity of the machine tool depending on whether or not there is an answer to this question or whether the answer is correct. Therefore, the control device can reliably and easily determine whether or not it is in the vicinity of the machine tool operated by the operator.

  The machine tool controlled by the control device according to the present invention has an identification display unit that displays identification information that can identify the machine tool from among a plurality of machine tools, and the storage unit further stores the identification information. The action includes an answer to a question asking for identification information of the machine tool, and the action determination unit determines whether the received answer matches the identification information stored in the storage unit. It is determined whether or not an action has been executed.

  The control device asks the operator about the identification information displayed by the identification display unit of the machine tool. The machine tool storage unit stores the machine tool identification information. Therefore, the correctness of the received answer can be easily determined. Viewing the identification information displayed by the identification display unit of the machine tool is easy for an operator near the machine tool to be operated, but difficult for a remote worker away from the machine tool. Therefore, the control device can reliably and easily determine whether or not it is in the vicinity of the machine tool operated by the operator.

  The machine tool controlled by the control device according to the present invention has a light source, the machine-side control unit controls lighting and non-lighting of the light source, and the action includes an answer to a question regarding the state of the light source, The behavior determination unit determines whether or not the behavior has been executed according to whether or not the received answer matches the state of the light source controlled by the machine-side control unit.

  The control device asks the operator about the state of the light source of the machine tool. The machine side controller turns on and off the light source. Therefore, the correctness of the received answer can be easily determined. Determining the state of the light source of the machine tool (for example, whether or not it is blinking) is easy for an operator in the vicinity of the machine tool, but difficult for a remote operator. Therefore, the control device can reliably and easily determine that the operator is in the vicinity of the machine tool operated by the operator.

  The machine tool controlled by the control device according to the present invention has a movable part and a detection part for detecting the state or position of the movable part, and the behavior is an answer to a question asking about the state or position of the movable part. The behavior determination unit determines whether or not the behavior has been executed based on the detection result of the detection unit.

  The control device asks the operator a question about the state or position of the movable part (a kind of question regarding the state of the machine tool). The state (or position) of the movable part is detected by the detection unit of the machine tool. Therefore, the correctness of the received answer can be easily determined. It is easy for an operator in the vicinity of the machine tool to visually determine the moving part of the machine tool and determine its state (for example, whether it is operating) or its position (for example, whether it is in a predetermined position). It is difficult for distant workers. Therefore, the control device can reliably and easily determine that the operator is in the vicinity of the machine tool operated by the operator.

  The machine tool controlled by the control device according to the present invention has a movable part and a detection part for detecting the state or position of the movable part, and the action causes the movable part to change state or change position. The behavior information includes instruction output information which is an instruction to a worker who performs the behavior, and the behavior determination unit determines whether or not the behavior has been executed based on a detection result of the detection unit. .

  The control device causes the operator to change the state or position of the movable part. The state change (or position change) of the movable part corresponds to the change in the detection result of the detection part of the machine tool. An operator who is in the vicinity of the machine tool can visually check the moving part of the machine tool and change its state (for example, switch between operation / deactivation) or change its position (for example, by moving a predetermined distance from a predetermined position). Is easy, but difficult for workers far from the machine tool. Therefore, the control device can reliably and easily determine that the operator is in the vicinity of the machine tool operated by the operator.

  The movable part controlled by the control device according to the present invention is an opening / closing part that can be manually opened and closed.

  The movable part is an opening / closing part such as a door or a lid that can be manually opened and closed by an operator, for example. Since the operator manually operates the movable part, the control device does not require a member for driving the movable part and can be realized at low cost.

  The machine tool controlled by the control device according to the present invention receives an operation and has a machine-side operation unit different from the operation device, the action includes a predetermined operation in the machine-side operation unit, and the action information is Including instruction output information for outputting an instruction to a worker who performs the action, wherein the action determination unit determines that the action has been executed when the operation received by the machine side operation unit is the predetermined operation .

  The control device instructs the operator to execute a predetermined operation on the machine side operation unit of the machine tool. The predetermined operation in the machine side operation unit of the machine tool is easy for an operator near the machine tool but difficult for an operator far from the machine tool. Therefore, the control device can reliably and easily determine that the operator is in the vicinity of the machine tool operated by the operator.

  The machine side operation unit of the control device according to the present invention is for operating the machining unit, and the predetermined operation is an operation for operating the machining unit.

  The control device causes the operator to operate the machining unit of the machine tool with the machine side operation unit as a predetermined operation. The predetermined operation in the machine side operation unit of the machine tool is easy for an operator near the machine tool but difficult for an operator far from the machine tool. Therefore, the control device can reliably and easily determine that the operator is in the vicinity of the machine tool operated by the operator. Since the machine tool is already provided with a processing unit and it is not necessary to add a processing unit again, the control device can be realized at low cost.

  The machine-side operation unit of the control device according to the present invention includes an enable switch that permits / prohibits an operation when being on / off, and the predetermined operation is an operation of turning the enable switch on or off.

  The control device causes the operator to turn on / off the enable switch of the machine side operation unit as a predetermined operation. The time for confirming whether or not the enable switch is turned on / off is shorter than when the machining unit is operated. The reason is that positioning time is required when operating the machining part, but switching operation does not require positioning time.

  The behavior transmission unit of the control device according to the present invention sequentially transmits a plurality of types of behavior information indicating different behaviors to be executed at a position where an operator can visually see the machine tool, and the transmission of the first transmission unit Is performed when it is determined that the corresponding action has been executed for all types of action information transmitted by the action determination unit, and the transmission of the second transmission unit is performed by the action determination unit. This is executed when it is determined that the at least one type of behavior information transmitted via is negative.

  The control device accepts the first operation when the worker executes all of the plural types of actions (for example, when the worker answers all questions correctly). When the worker does not execute any one of the plurality of types of actions (for example, when the worker makes a mistake in one question), the machine tool accepts the second operation. Therefore, the control device can reliably determine whether or not the worker is near the machine tool.

  The control device of the present invention enables connection of a portable operation device. Therefore, the control device can achieve both convenience of remote operation of the machine tool and safety during remote operation. This is because, when an operator near the machine tool uses the operating device, when a worker far from the machine tool uses the operating device, the control device limits the operations that can be accepted.

  Even when the operation device and the machine tool are one-to-many, the control device recognizes the worker using the operation device near the machine tool other than the machine tool to be remotely operated as a remote worker. Safety is improved.

  When an operator uses an operating device in the vicinity of a machine tool, but the control device restricts operations that can be accepted, the operator is in the vicinity of a machine tool other than the machine tool that should be remotely operated I understand that. That is, the control device can confirm both the operator side and the control device side that the machine tool that the operator desires to operate matches the machine tool with which the operation device communicates.

It is a block diagram which shows the structure of the machine tool and operation apparatus of embodiment. 1 is a perspective view schematically showing the configuration (without a cover) of a machine tool. 1 is a perspective view schematically showing a configuration (with a cover) of a machine tool. It is a figure which shows an example of the permission table memorize | stored in the memory | storage part of a machine tool. It is a figure which shows an example of the vicinity operation screen which the touchscreen of an operating device displays. It is a figure which shows an example of the distant operation screen which the touchscreen of an operating device displays. It is a figure which shows an example of the neighborhood action screen (with reply input) which the touchscreen of an operating device displays. It is a figure which shows an example of the neighborhood action screen (no answer input) which the touch panel of an operating device displays. It is a flowchart which shows the procedure of the remote operation process performed with an operating device. 10 is a flowchart continued from FIG. 9. FIG. 11 is a flowchart continued from FIG. 10. FIG. 12 is a flowchart continued from FIG. 11. It is a flowchart which shows the procedure of the permission determination processing performed with a machine tool. 14 is a flowchart continued from FIG. 13. It is a flowchart which shows the procedure of the remote operation reception process performed with a machine tool. It is a flowchart which shows the detail of the vicinity action process procedure performed with a machine tool. FIG. 17 is a flowchart continued from FIG. 16. FIG. 18 is a flowchart continued from FIG. 17.

  Hereinafter, the present invention will be described in detail with reference to the drawings. In the following description, up and down, front and rear, and left and right indicated by arrows in the figure are used. FIG. 1 is a block diagram illustrating configurations of a machine tool 2 and an operation device 6 according to the embodiment. In the present embodiment, a plurality of machine tools 2 and a single operation device 6 perform radio communication using radio waves. The machine tool 2 and the operation device 6 may communicate via a general-purpose communication network (for example, a LAN used by a server and a client), or may communicate via a dedicated communication network. The machine tool 2 and the operation device 6 may have a one-to-one correspondence. The machine tool 2 may include one or a plurality of machine tools and a plurality of operation devices 6. The communication is not limited to a configuration by wireless communication using radio waves, and may be a configuration such as optical wireless communication or wired communication.

  Each machine tool 2 is given a unique identification name and identification number. The identification name is simple and short and is easy for the operator to memorize. An operator usually distinguishes each machine tool 2 using an identification name. Since the identification number is complicated and long, it is difficult for the operator to memorize it. When only one machine tool 2 exists, the identification name is not necessary.

  The machine tool 2 will be described with reference to FIGS. The machine tool 2 includes a base 201, a support column 202, a cover 203, a processing unit 21, a tool changing unit 22, a holding unit 23, an identification nameplate 24, a door 25, an opening / closing detection unit 26, a display unit 4, an operation unit 5, and a control device. 3 is provided. The upper part of the base 201 supports the holding part 23 so as to be movable. The holding part 23 moves in the front-rear direction and the left-right direction. The support column 202 is fixed to the upper rear end of the base 201. The support column 202 supports the tool changer 22 and the control device 3. The tool changer 22 is located on the front side of the support column 202. The control device 3 is located on the rear side of the support column 202. The support column 202 supports the processing unit 21 so as to be vertically movable. The processing unit 21 is located above the holding unit 23 and in the vicinity of the tool changing unit 22. The cover 203 covers the upper part of the base 201, the column part 202, the processing part 21, the tool changing part 22, and the holding part 23. The cover 203 includes a front wall 20a having a door (movable part, opening / closing part) 25, left and right side walls, a rear wall, and a top wall. The operator holds the handle 25 a of the door 25 and opens and closes the door 25. When the door 25 is opened, the operator can enter the cover 203. The open / close detection unit 26 is installed on the front wall 20a. The identification nameplate 24 is attached to the front side of the door 25. The display unit 4 and the operation unit 5 are fixed to the front side of the front wall 20a. The identification nameplate 24 displays at least an identification number. The identification number is identification information, and the identification nameplate 24 is an identification display section. The open / close detection unit (detection unit) 26 has a limit switch. When the door 25 is closed, the door 25 comes into contact with the open / close detector 26 and the open / close detector 26 is turned on. When the door 25 is opened, the door 25 is separated from the open / close detector 26 and the open / close detector 26 is turned off. The detection result of the opening / closing detection unit 26 is received by a control unit 31 described later of the control device 3. A tool 210 can be attached to and detached from the processing unit 21. The tool 210 attached to the processing unit 21 rotates by driving the spindle motor 211. The processing unit 21 moves in the vertical direction by driving the Z-axis motor 212. The tool changer 22 has a tool magazine 221. The tool magazine 221 has a disk shape that can rotate in the circumferential direction, and rotates by driving of the magazine motor. A plurality of tools 210 can be attached to and detached from the tool magazine 221. The holding unit 23 is a so-called table and holds a workpiece. The holding unit 23 moves in the front-rear and left-right directions by driving the X-axis motor and the Y-axis motor. When the processing unit 21 moves upward, the tool 210 attached to the processing unit 21 moves away from the processing execution position at which processing on the workpiece is performed. When the processing unit 21 moves further upward, the tool 210 attached to the processing unit 21 is detached from the processing unit 21 and attached to the tool magazine 221. As the tool magazine 221 rotates, one of the plurality of tools 210 mounted on the tool magazine 221 moves to the tool change position in the circumferential direction of the tool magazine 221. As the processing unit 21 moves downward, the tool 210 at the tool change position is separated from the tool magazine 221 and attached to the processing unit 21. As the processing unit 21 moves further downward, the tool 210 attached to the processing unit 21 approaches the processing execution position. As the tool 210 at the machining execution position rotates, the machine tool 2 processes (for example, cuts) the workpiece. The display unit 4 includes a display panel 41 using a liquid crystal panel and a plurality of LEDs (light sources) 42. The display unit 4 displays the operation status of the machine tool 2 or a notification to the operator. The display panel 41 may display the identification number of the machine tool 2. In this case, the display panel 41 functions as an identification display unit. The identification number may be a random number added to the identification number. What added the random number to the identification number functions as identification information. The display unit 4 may have a 7-segment display or a light source different from the LED 42.

  The operation unit 5 includes a start switch 51, an emergency stop switch 52, a handle 53, and an enable switch 54. The start switch 51 switches on / off of the machine tool 2 every time the operator operates. The emergency stop switch 52 is a switch for immediately stopping the machine tool 2. The handle (machine side operation unit) 53 uses a manual pulse generator. When the operator rotates the handle 53, the motors on the axes (X axis, Y axis, Z axis) designated according to the rotation direction and the rotation amount of the handle 53 rotate. The rotation operation of the handle 53 is effective when the enable switch (machine side operation unit) 54 is turned on. The display unit 4 and the operation unit 5 may use a touch panel.

  The control device 3 includes a housing 30, a control unit 31, a storage unit 32, a timer 33, and a communication unit 34. The casing 30 is supported by the support column 202. The housing 30 houses a control unit 31, a storage unit 32, and a timer 33. The storage unit 32 uses a ROM, a RAM, and / or an auxiliary storage device. The storage unit 32 stores in advance a computer program necessary for the operation of the machine tool 2. The storage unit 32 stores information given in advance, information generated by the control unit 31 in accordance with execution of the computer program (for example, various flags or production counters), or information received via the communication unit 34 (for example, for workpiece machining). A computer program (hereinafter referred to as a machining program) is stored. The machining program is composed of a plurality of instructions that command the operation of the machine tool 2. In addition, the storage unit 32 stores in advance data (hereinafter referred to as operation reception information) such as a display for enabling the operation device 6 described later to remotely control the machine tool 2 and various operation buttons for remote operation. . The operation reception information is described in, for example, HyperText Markup Language (hypertext markup language), operation reception information for the near operation (first operation reception information), operation reception information for the remote operation (second Operation reception information). Other information stored in advance by the storage unit 32 includes an identification number, a permission / refusal table 321 (see FIG. 4), and the like. The control unit 31 controls the operation of each unit of the machine tool 2 according to the computer program stored in the storage unit 32. The timer 33 starts timing when it is turned on and ends timing when it is turned off. The time measurement result of the timer 33 is input to the control unit 31. The control unit 31 resets the time measurement result of the timer 33. The timer 33 measures the elapsed time from the time when a nearby worker operates the machine tool 2 using the operation device 6 in a remote operation acceptance process described later. The communication unit 34 includes an antenna that performs wireless communication with the controller device 6. The operation device 6 uses a commercially available portable general-purpose computer (for example, a tablet). The operation device 6 is not limited to a tablet, and may be a notebook computer, for example. The operating device 6 may be dedicated to the machine tool 2. The operating device 6 includes a control unit 61, a storage unit 62, a communication unit 63, and a touch panel 64. The communication unit 63 includes an antenna that performs wireless communication with the machine tool 2. The touch panel 64 uses a liquid crystal panel and a touch pad laminated on the liquid crystal panel. The storage unit 62 uses a ROM, a RAM, and / or an auxiliary storage device. The storage unit 62 stores in advance a computer program necessary for the operation of the operation device 6 and a browser application (hereinafter referred to as a remote operation application) that converts operation reception information received from the machine tool 2 into image information and displays it on the liquid crystal panel. ing. Based on the operation reception information received from the machine tool 2 by the remote operation application, the proximity operation screen 641, the remote operation screen 642, the proximity action screens 643 and 644 (see FIGS. 5 to 8) and the like are displayed on the liquid crystal panel of the touch panel 64. . The touch panel 64 functions as an apparatus side operation unit, an information output unit, and an answer input unit of the present embodiment. The near operation screen 641 is an operation screen for a nearby worker, and the far operation screen 642 is an operation screen for a far worker. The storage unit 62 stores information provided in advance, information generated by the control unit 61 in accordance with execution of the computer program, operation reception information received via the communication unit 63, and the like. The control unit 61 controls the operation of each unit of the controller device 6 according to the computer program stored in the storage unit 62.

  The operator remotely operates the machine tool 2 using the operation device 6 in the vicinity (near) of the machine tool 2 to be operated or a place (distant) from the machine tool 2 to be operated. An operator in the vicinity of the machine tool 2 (that is, a nearby worker) determines the state of the machine tool 2 (for example, the vertical position of the processing unit 21 or whether the tool 210 attached to the processing unit 21 is rotating). ) Can be easily confirmed in detail visually. It is difficult for an operator (that is, a remote operator) who is away from the machine tool 2 to be operated to confirm the state of the machine tool 2 in detail by visual observation. The control device 3 permits the nearby workers to perform remote operations without limitation, but prohibits some remote operators from performing some remote operations.

  In this embodiment, as remote operation (second operation) permitted to both a nearby worker and a distant worker, the following start / end operation, emergency stop operation, unexecuted program operation, unused tool operation, production A counter operation is illustrated. The start / end operation ends the operation for starting / ending the execution of the remote operation application and the display of the near operation screen 641 (or the remote operation screen 642) and starts displaying the remote operation screen 642 (or the close operation screen 641). It is an operation. The emergency stop operation is an operation for stopping the machine tool 2 in an emergency manner. Unexecuted program operation is creation of a new machining program, transmission of the created machining program to the machine tool 2, or machining that is not currently executed among machining programs already stored in the storage unit 32 of the machine tool 2. This is an operation related to program correction or deletion. The unused tool operation is an operation related to a change of a tool used for workpiece machining that is not currently being executed. The production counter operation is an operation for changing (for example, resetting) the counter value of the production counter indicating the number of processed workpieces. A reset is usually a zero value. Since start / end operations, unexecuted program operations, unused tool operations, and production counter operations are operations with high safety, there is no special problem even if they are performed without visually checking the state of the machine tool 2 in detail. . The emergency stop operation is preferably performed by a nearby worker. However, since the emergency stop operation is an operation that is urgently performed by a worker who senses the danger, the control device 3 also permits a remote worker. As a remote operation (first operation) permitted to a nearby worker and prohibited to a remote worker, a test machining operation, a program operation being executed, and a tool operation being used will be exemplified. The test machining operation is an operation related to execution of test machining. The in-execution program operation is an operation related to the modification of the machining program that is currently controlling the workpiece machining among the machining programs already stored in the storage unit 32 of the machine tool 2. The in-use tool operation is an operation related to the change of the tool used in the workpiece machining currently being executed. Since the test machining operation, the program operation during execution, and the tool operation during use are operations with high risk, it is essential to perform the check while checking the state of the machine tool 2 in detail.

  FIG. 4 shows an example of the permission / refusal table 321 stored in the storage unit 32. The permission / refusal table 321 includes various remote operations (start / end operation, emergency stop operation, running program operation, non-executed program operation, in-use tool operation, unused tool operation, production counter operation, and other remote operations. , Test processing operation) and each permission / rejection are stored in association with each other. In the figure, a circle indicates permission, and a cross indicates prohibition.

  The operator activates the remote operation application using the touch panel 64. The touch panel 64 displays a machine tool designation screen (not shown) for designating the machine tool 2 desired for remote operation. The operator uses the touch panel 64 to enter or select an identification name of the machine tool 2 and designate one machine tool 2. Thereafter, the control device 3 performs wireless communication with the operation device 6. Information for generating the machine tool designation screen is included in the remote operation application.

  Next, the touch panel 64 is an operation selection for selecting whether to perform a remote operation around the machine tool 2 (hereinafter referred to as a proximity operation) or to perform a remote operation at a location remote from the machine tool 2 (hereinafter referred to as a remote operation). A screen (not shown) is displayed. Information for generating the operation selection screen is included in the operation reception information, and is displayed on the touch panel 64 by the remote operation application. When the worker selects the neighborhood operation and correctly executes all of the neighborhood actions described later, the control device 3 recognizes that the worker is the neighborhood worker. Thereafter, the control device 3 transmits the operation acceptance information for the nearby worker to the operation device 6, and the touch panel 64 displays the near operation screen 641. FIG. 5 shows an example of the proximity operation screen 641 displayed on the touch panel 64 of the operation device 6. The proximity operation screen 641 includes an operation button 64a for executing a program operation, an operation button 64b for an operating tool operation, an operation button 64c for an unexecuted program operation, an operation button 64d for an unused tool operation, an operation button 64e for a test machining operation, and a production The display of the counter operation button 64f, the emergency stop operation button 64g, and the near operation screen 641 is terminated and the distant operation screen 642 is displayed (in other words, the near operation is terminated and the distant operation is started). ) The operation button 64h has an operation button 64j that terminates the remote operation application (that is, terminates the remote operation itself regardless of the proximity operation or the remote operation). When the operator presses any one of the operation buttons 64a to 64h and 64j, the remote operation corresponding to the operation button is realized. The proximity operation screen 641 is generated based on operation reception information for proximity operation transmitted from the machine tool 2 to the operation device 6. If the worker selects a remote operation, or if the worker selects a nearby operation and makes a mistake in one of the nearby actions, the control device 3 recognizes that the worker is a remote worker.

  As shown in FIG. 6, the touch panel 64 displays a remote operation screen 642. FIG. 6 shows an example of the remote operation screen 642. The remote operation screen 642 has operation buttons 64c, 64d, 64f, 64g, and 64j in the same manner as the proximity operation screen 641. The remote operation screen 642 differs from the proximity operation screen 641 in that the display of the remote operation screen 642 is terminated instead of the operation button 64h and the display of the proximity operation screen 641 is started (in other words, the remote operation is ended and the proximity operation is completed). The operation button 64k is started. Further, the operation buttons 64a, 64b, and 64e are displayed dimly. When the operator presses any one of the operation buttons 64c, 64d, 64f, 64g, 64j, and 64k, the control device 3 realizes a remote operation corresponding to the pressed operation button. The control device 3 does not realize the remote operation even if the operation button displayed dimly is pressed. The remote operation screen 642 is based on operation reception information for remote operation transmitted from the machine tool 2 to the operation device 6. The proximity operation screen 641 and the remote operation screen 642 may be provided with operation buttons for switching the machine tool 2 to be remotely operated. When an operation for a proximity operation or a remote operation is performed using the touch panel 64, operation information indicating a remote operation desired by the operator is transmitted from the operation device 6 to the machine tool 2. The machine tool 2 operates according to the received operation information. That is, the control device 3 realizes remote operation using the operation device 6. At this time, the control device 3 determines after the operation information is received whether the transmitted operation information is the operation information related to the near operation or the operation information related to the remote operation.

  Explain neighborhood behavior. The nearby action is an action that the worker performs at a position where the machine tool 2 can be seen, and the nearby worker is easy but the distant worker shows a difficult action. Specifically, the first neighborhood action is to answer a question asking for the identification number of the machine tool 2. The second neighborhood action is to answer a question asking whether the door 25 is open. The third neighborhood action is to answer a question about the light emission state of the LED 42. The fourth neighborhood action is to open and close the door 25. The fifth neighborhood action is to rotate the handle 53 in a predetermined direction and in a predetermined direction. The sixth neighboring action is to perform an on / off switching operation of the enable switch 54. The first neighborhood action will be described. The identification number of the machine tool 2 is displayed on an identification nameplate 24 fixed to the door 25 of the machine tool 2. Therefore, the nearby worker can easily read the identification number displayed on the identification nameplate 24 and answer it accurately. It is difficult for a distant worker to accurately answer the identification number displayed on the identification nameplate 24. The fourth neighborhood action will be described. A nearby worker can easily open and close the door 25. It is difficult for a distant worker to open and close the door 25. The first to sixth neighboring actions are given to the worker in this order, but may be given at random. The control device 3 recognizes a worker who has correctly performed all of the first to sixth neighborhood actions as a neighborhood worker, and disposes a worker who has mistaken one of the neighborhood behaviors or a worker who has not performed the neighborhood behavior far away. Authorize as a worker. The neighborhood action is not limited to the first to sixth neighborhood actions. For example, the neighborhood action may be an on / off switching operation of the start switch 51 or the emergency stop switch 52. Further, the neighborhood action may be to answer a question about the one-time password displayed on the display panel 41. The neighborhood action may be to answer a question asking the number of the blinking LEDs 42 among the plurality of LEDs 42.

  As shown in FIG. 7, the control device 3 displays screens 643 and 644 (hereinafter referred to as “neighboring action screens”) on the touch panel 64 so as to execute the neighboring actions for the worker. The neighborhood action screen 643 has an answer entry field 64m for inputting an answer to the control device 3 and an input button 64n. The answer entry column 64m is used to enter an answer to the question, and the input button 64n is a button for determining the input of the answer to the question. For example, the neighborhood action screen 643 displays a question asking about the identification number of the machine tool 2, and the operator views the identification nameplate 24 and then operates a numeric key (not shown) provided on the touch panel 64 to answer the answer entry field 64 m. Fill out. Thereafter, the operator operates the input button 64n to input an answer. The neighborhood action screen (not shown) of the second neighborhood action displays a question asking whether the door 25 is open or closed. The neighborhood action screen of the second neighborhood action has an answer selection button for selecting an answer (open / closed state of the door 25). The operator views the door 25 and operates the answer selection button to input an answer to the control device 3. The neighborhood action screen (not shown) of the third neighborhood action displays a question asking which of the plurality of LEDs 42 is lit. The neighborhood action screen of the third neighborhood action has an answer input button for inputting an answer (information for determining the number of LEDs 42 that are lit). After viewing the LED 42, the operator operates the answer input button to input an answer to the control device 3.

  FIG. 8 shows an example of the neighborhood action screen 644. When the worker performs the fourth neighborhood action, the touch panel 64 displays the neighborhood action screen 644. When the door 25 is already closed, the neighborhood action screen 644 displays a word instructing the operator to open the door 25 and then close it. When the door 25 is already open, the neighborhood action screen 644 displays a word for instructing the operator to close the door 25 and then open the door 25. Instead of the neighborhood action screen 644, the control device 3 may display a timing for opening and closing the door 25 on the touch panel 64 or the display panel 41 of the machine tool 2. The neighborhood action screen (not shown) of the fifth neighborhood action is a word indicating a predetermined amount of the handle 53 and a rotation operation in a predetermined direction (for example, “ten scales in the right direction and then five scales in the left direction and the rotation operation” Please display "). The operator rotates the handle 53 as instructed while confirming the movement of the processing unit 21. The neighborhood action screen (not shown) of the sixth neighborhood action displays a word for instructing an ON / OFF switching operation of the enable switch 54. The proximity action screen as described above displays action information transmitted from the machine tool 2 to the operation device 6 on the touch panel 64. The behavior information indicates the neighborhood behavior. The control device 3 is not limited to the configuration for displaying the question or instruction, and may be configured to output the question or instruction by voice from a speaker (information output unit) not shown. In this case, the control device 3 may be configured to input the answer by voice to a microphone (answer input unit) (not shown).

  9 to 12 are flowcharts showing a procedure of remote operation processing executed by the operation device 6. The flowchart shows transmission / reception of various types of information between the machine tool 2 and the operation device 6 with two-dot chain arrows. The remote operation processing is started when a remote operation application is started and an identification name of the machine tool 2 is entered or selected to designate one machine tool 2. As shown in FIG. 9, the control unit 61 displays an operation selection screen on the touch panel 64 (S11). The operation selection screen has a proximity operation selection button for selecting a proximity operation and a remote operation selection button (not shown) for selecting a remote operation. Next, the control unit 61 determines whether or not the operator has operated the remote operation selection button (S12). When the operator is not operating the remote operation selection button (NO in S12), the control unit 61 determines whether the operator has operated the proximity operation selection button (S13). When the operator does not operate the proximity operation selection button (NO in S13), the control unit 61 returns the process to S12. When the operator operates the remote operation selection button (YES in S12), the control unit 61 transmits remote selection information indicating that the worker has selected the remote operation to the machine tool 2 (S14). The control unit 61 determines whether or not the operation acceptance information has been received (S15). When it has not been received yet (NO in S15), the process of S15 is performed again. When the remote selection information is transmitted to the machine tool 2, the operation reception information received by the operation device 6 is operation reception information for remote operation. Therefore, when the operation acceptance information is received (YES in S15), the control unit 61 displays the remote operation screen 642 on the touch panel 64 (S31 in FIG. 10). The process of S31 is a process of accepting remote operations corresponding to the operation buttons 64c, 64d, 64f, 64g, 64j, and 64k included in the remote operation screen 642. The control unit 61 that executes the process of S31 functions as an operation output unit of the present embodiment. The control unit 61 determines whether or not the operator has operated any of the operation buttons 64c, 64d, 64f, and 64g (S32). The process of S32 means determining whether or not the operator has selected an unexecuted program operation, an unused tool operation, a production counter operation, or an emergency stop operation. When the operator operates any of the operation buttons 64c, 64d, 64f, and 64g (YES in S32), the control unit 61 performs a remote operation corresponding to the operated operation button, that is, a remote operation indicating a received remote operation. The operation information is transmitted to the machine tool 2 (S33). Whether or not the control unit 61 has received various information transmitted by the machine tool 2 after the execution of the process of S33 or when the operator does not operate any of the operation buttons 64c, 64d, 64f, and 64g (NO in S32). Is determined (S34). When various information transmitted by the machine tool 2 is received (YES in S34), the control unit 61 performs processing based on the received various information (S35). After the process of S35 is completed or when various information transmitted by the machine tool 2 is not received (NO in S34), the control unit 61 determines whether or not the operator has operated the operation button 64k (S36). The process of S36 means determining whether or not the operator has selected the end of the remote operation and the start of the proximity operation. When the operator is not operating the operation button 64k (NO in S36), the control unit 61 determines whether or not the operator has operated the operation button 64j (S37). The process of S37 means determining whether or not the operator has selected to end the remote operation application. When the operator does not operate the operation button 64j (NO in S37), the control unit 61 returns the process to S32. When the operator operates the operation button 64j (YES in S37), the control unit 61 transmits end information indicating that the operator has selected the end of the remote operation application to the machine tool 2 (S38), and performs a remote operation process. Exit. When the operator operates the operation button 64k (YES in S36) or when the operator operates the proximity operation selection button (YES in S13 of FIG. 9), the control unit 61 indicates that the operator has selected the proximity operation. Is transmitted to the machine tool 2 (S16). As described above, when the operator selects the remote operation, immediately and always, the operation acceptance information for the remote operation is sent from the machine tool 2. This is because there is no problem even if the remote operation screen 642 based on the operation reception information for remote operation is provided to either the nearby worker or the remote worker. When the operator selects the proximity operation, the control device 3 sends operation acceptance information for the proximity operation from the machine tool 2 after determining that the worker is the proximity operator. This is because it is dangerous to provide a remote operation screen 641 based on operation reception information for the proximity operation to a remote worker.

  In the present embodiment, even if the operator selects the proximity operation, the control device 3 exemplifies a configuration in which operation acceptance information for remote operation is transmitted from the machine tool 2 when the operator does not recognize that the operator is a proximity worker. To do. Although the operator has selected the proximity operation, the touch panel 64 displays the remote operation screen 642, so that it is understood that he / she has performed an erroneous proximity action. At this time, the operator may select the proximity operation again or perform the remote operation. Even if the operator selects the vicinity operation, when the control device 3 does not recognize the worker as the vicinity worker, the control device 3 may only notify the operator of the error.

  The processing from S17 to S56 (FIG. 11) described next is processing in which the control device 3 accepts authorization. As shown in FIG. 9, the control unit 61 determines whether or not action information has been received (S17). When the action information has not been received (NO in S17), the process of S17 is performed again. When the behavior information is received (YES in S17), the control unit 61 determines whether the received behavior information includes question output information and answer acceptance information (S51). When the received action information includes the question output information and the answer acceptance information (YES in S51), the control unit 61 displays the neighborhood action screen of the first to third neighborhood actions (for example, the neighborhood action screen 643 shown in FIG. 7). ) Is displayed on the touch panel 64 (S52). The control unit 61 that executes the process of S52 functions as an output control unit of the present embodiment. The worker answers the question by looking at the neighborhood action screen displayed in the process of S52. The control unit 61 determines whether or not the operator has input an answer by operating the touch panel 64 (S53). When it is determined that no answer has been input yet (NO in S53), the process of S53 is executed again. To do. In addition, when it determines with NO by S53 even if predetermined time passes after displaying a neighborhood action screen, you may transfer a process to S57 mentioned later. At this time, the control device 3 recognizes that the worker is a remote worker, and transmits operation reception information for remote operation from the machine tool 2. When the worker inputs an answer (YES in S53), the control unit 61 transmits answer information indicating the input answer (for example, answer information indicating an identification number entered in the answer entry field 64m) to the machine tool 2 ( S54). The control unit 61 that executes the process of S54 functions as an answer transmission unit of the present embodiment. When the received behavior information does not include the question output information and the answer acceptance information (NO in S51), the received behavior information includes the instruction output information. Therefore, the control unit 61 displays a neighborhood action screen (for example, the neighborhood action screen 644 shown in FIG. 8) such as the fourth to sixth neighborhood actions on the touch panel 64 (S55). The worker sees the neighborhood action screen displayed in the process of S55 and executes the neighborhood action. After the process of S54 or S55 is completed, the control unit 61 determines whether or not action information is newly received (S56). When the action information is received (YES in S56), the process returns to S51. The time when the behavior information is newly received in the process of S56 is when the neighborhood behavior executed by the worker is correct and the neighborhood behavior to be executed by the worker still remains. When the behavior information is not received (NO in S56), the control unit 61 determines whether or not the operation acceptance information is received (S57). When the behavior information is not received yet (NO in S57), the process proceeds to S56. return. When the operation reception information is received (YES in S57), the control unit 61 determines whether or not the received operation reception information is operation reception information for the proximity operation (S58). When the received operation reception information is operation reception information for remote operation (NO in S58), the control unit 61 moves the process to S31 shown in FIG. The time when the operation acceptance information for remote operation is received in the process of S57 is the time when the neighborhood action performed immediately before by the worker is wrong. The time when the operation acceptance information for the near operation is received in the process of S57 is when all of the plurality of types of neighborhood actions executed by the operator are correct and there are no remaining neighborhood actions to be executed by the worker.

  When the received operation reception information is operation reception information for the proximity operation (YES in S58), the control unit 61 displays the proximity operation screen 641 (see FIG. 5) on the touch panel 64 (S71). The process of S71 is a process of accepting remote operations corresponding to the operation buttons 64a to 64h and 64j included in the proximity operation screen 641. The control unit 61 that executes the process of S71 functions as an operation output unit of the present embodiment. The control unit 61 determines whether or not the operator has operated any of the operation buttons 64a to 64g included in the proximity operation screen 641 (S72). The process of S72 determines whether or not the operator has selected an executing program operation, an in-use tool operation, an unexecuted program operation, an unused tool operation, a test machining operation, a production counter operation, or an emergency stop operation. means. When the operator operates any of the operation buttons 64a to 64g (YES in S72), the control unit 61 operates the remote operation corresponding to the operated operation button, that is, the operation information for the nearby operation indicating the received remote operation. Transmit to the machine (S73). After executing the process of S73 or when the operator does not operate any of the operation buttons 64a to 64g (NO in S72), the control unit 61 determines whether or not various information transmitted by the machine tool 2 has been received. (S74). When various information transmitted by the machine tool 2 is received (YES in S74), the control unit 61 performs processing based on the received various information (S75). After the process of S75 is completed or when various information transmitted by the machine tool 2 is not received (NO in S74), the control unit 61 determines whether or not the operator has operated the operation button 64h (S76). The process of S76 means determining whether or not the operator has selected the end of the proximity operation and the start of the remote operation. When the operator operates the operation button 64h (YES in S76), the control unit 61 moves the process to S14. When the operator is not operating the operation button 64h (NO in S76), the control unit 61 determines whether or not the operator has operated the operation button 64j (S77). The process of S77 means determining whether or not the operator has selected to end the remote operation application. When the operator does not operate the operation button 64j (NO in S77), the control unit 61 returns the process to S72. When the operator operates the operation button 64j (YES in S77), the control unit 61 moves the process to S38 shown in FIG.

  FIG. 13 and FIG. 14 are flowcharts showing the procedure of permission / refusal determination processing executed by the machine tool 2. The control unit 31 determines whether or not the neighborhood selection information has been received (S91). When the neighborhood selection information is received (YES in S91), the control unit 31 resets the correct answer flag indicating that all of the first to sixth neighborhood actions have been correctly executed (value is set to 0) (S92). After the process of S92 is completed, the control unit 31 executes a neighborhood action process (see FIGS. 16 to 18) described later (S93). In the neighborhood action process of S93, the first to sixth neighborhood actions are executed by the worker, and when the worker correctly executes all six kinds of neighborhood actions, the correct flag is set (value is set to 1). . After the process of S93 ends, the control unit 31 determines whether or not the correct answer flag is set (S94). When the correct flag is set (YES in S94), the control unit 31 recognizes that the worker is a nearby worker. The control unit 31 sets a proximity flag indicating that the worker is a nearby worker (value is set to 1) (S95), and resets a remote flag indicating that the worker is a remote worker (value is set to 0). (S96). The control unit 31 transmits operation acceptance information for the proximity operation to the operation device 6 (S97), and returns the process to S91. The control unit 31 that executes the process of S97 functions as the first transmission unit of the present embodiment. When the proximity selection information is not received (NO in S91), the control unit 31 determines whether or not the remote selection information has been received (S111). When the remote selection information is received (YES in S111), the control unit 31 recognizes that the worker is a remote worker or a nearby worker who desires a remote operation. The control unit 31 moves the process to S112 described later.

  As shown in FIG. 13, when the correct flag is in the reset state (NO in S94), the control unit 31 recognizes that the worker is a remote worker. The control unit 31 moves the process to S112. The control unit 31 resets the proximity flag (S112) and sets the far flag (S113). The control unit 31 transmits operation reception information for remote operation to the operation device 6 (S114). The control unit 31 that executes the process of S114 functions as a second transmission unit of the present embodiment. After the process of S114 ends, the control unit 31 returns the process to S91. When the remote selection information is not received in S111 (NO in S111), the control unit 31 determines whether or not the proximity flag is set (S115). When the proximity flag is set (YES in S115), the control unit 31 determines whether or not the time measurement result of the timer 33 is equal to or longer than a predetermined time (S116). When the time count result of the timer 33 is equal to or longer than the predetermined time (YES in S116), the control unit 31 ends the time count of the timer 33 and resets the time count result of the timer 33 (S117), and moves the process to S112. The time when the time measured by the timer 33 is equal to or longer than the predetermined time is a time when there is no next operation for a predetermined time or longer after the nearby worker operates the machine tool 2 using the operation device 6. Therefore, the control device 3 re-authorizes the nearby worker as a remote worker and transmits operation reception information for remote operation. As a result, the controller device 6 switches the proximity operation screen 641 to the remote operation screen 642. That is, the controller device 6 receives the operation reception information for remote operation in the process of S74 shown in FIG. 12, and switches the near operation screen 641 to the remote operation screen 642 in the process of S75.

  In S115, when the proximity flag is not set (NO in S115), or when the time count result of the timer 33 is less than the predetermined time (NO in S116), the control unit 31 determines whether or not the end information is received. Determination is made (S118). When the end information is received (YES in S118), the control unit 31 resets both the near flag and the far flag (S119). After the process of S119 ends or when the end information is not received (NO in S118), the control unit 31 moves the process to S91.

  FIG. 15 is a flowchart showing a procedure of remote operation reception processing executed by the machine tool 2. The remote operation acceptance process is executed in parallel with the permission determination process shown in FIGS. 13 and 14 when at least one of the proximity flag and the far flag is set. The control unit 31 determines whether or not the operation information has been received (S131), and when not received (NO in S131), executes the process of S131 again. When the operation information is received (YES in S131), the control unit 31 determines whether or not the received operation information is operation information for the proximity operation (S132). When the received operation information is operation information for proximity operation (YES in S132), the control unit 31 determines whether or not the proximity flag is set (S133). When the proximity flag is set (YES in S133), the control unit 31 starts counting the elapsed time after resetting the timer 33 (S134).

  After the process of S134 is completed or when the received operation information is operation information for remote operation (NO in S132), the control unit 31 executes a process corresponding to the received operation information ("operation process" in the figure). (S135). When the remote operation accepted in S72 is, for example, a program operation being executed (that is, when the operator operates the operation button 64a), the machining program stored in the storage unit 32 is transmitted to the operation device 6 in S135. The touch panel 64 displays the machining program according to the process of S35. Thereafter, the operation device 6 performs correction of the machining program by the operator and transmission of the corrected machining program to the machine tool 2, and the machine tool 2 converts the received machining program into the machining program stored in the storage unit 32. Overwrite (not shown). The nearby worker corrects the machining program using the touch panel 64 and transmits the correction result to the machine tool 2 (not shown). When the remote operation accepted in S72 is an emergency stop operation (that is, when the operator operates the operation button 64g), the control unit 31 executes the process of S135, and the machine tool 2 allows the operator to set the emergency stop switch 52. Stops immediately as if it were operated. At this time, the machine tool 2 transmits emergency stop information indicating that an emergency stop has been executed to the operation device 6. The control unit 61 displays on the touch panel 64 based on the emergency stop information according to the process of S35. When a tool operation in use, an unexecuted program operation, an unused tool operation, a test machining operation, or a production counter operation is received, the machine tool 2 and the operation device 6 execute appropriate processes, and the machine tool 2 and the operation are performed. Appropriate information is transmitted and received between the devices 6. As shown in FIG. 15, the control unit 31 determines whether or not both the near flag and the far flag are reset (S136). When at least one is set (NO in S136), since the near operation or the remote operation is continuing, the control unit 31 returns the process to S131. When both the proximity flag and the distant flag have been reset (YES in S136), the execution of the remote operation application has ended, and the control unit 31 ends the remote operation reception process. When the proximity flag is reset even though the received operation information is the operation information for the proximity operation (NO in S133), the distant worker requests the proximity operation. Therefore, the control unit 31 transmits error information indicating an error to the controller device 6 (S137), and moves the process to S136. When the error information is received in S34 (or S74), the controller device 6 displays an error (not shown) based on the error information received in the process of S35 (or S75).

  16 to 18 are flowcharts showing details of the neighborhood action processing procedure executed by the machine tool 2. As illustrated in FIG. 16, the control unit 31 generates action information of the first neighboring action (replying the identification number) (S151), and transmits the generated action information to the operation device 6 (S152). The control unit 31 determines whether or not answer information has been received (S153). When the answer information is not received (NO in S153), the control unit 31 executes the process of S153 again. When the answer information is received (YES in S153), the control unit 31 reads the identification number from the storage unit 32 (S154), and whether or not the answer indicated by the received answer information based on the read identification number is correct (worker Whether or not the first neighborhood action has been correctly executed) (S155). When the worker does not correctly execute the first neighborhood action (NO in S155), the control unit 31 ends the neighborhood action process and returns to the permission determination process (S94 in FIG. 13). When the worker correctly executes the first nearby action (YES in S155), the control unit 31 generates action information of the second nearby action (answers the open / closed state of the door 25) (S156), and the generated action Information is transmitted to the controller device 6 (S157). The control unit 31 determines whether or not answer information has been received (S158). When the answer information is not received (NO in S158), the control unit 31 executes the process of S158 again. When the response information is received (YES in S158), the control unit 31 acquires the detection result of the open / close detection unit 26 (S159), and whether or not the response indicated by the received response information based on the acquired detection result is correct ( It is determined whether or not the worker has correctly executed the second neighborhood action (S160). When the worker does not correctly execute the second neighborhood action (NO in S160), the control unit 31 returns the neighborhood action process to the permission determination process (see FIG. 13). When the worker correctly executes the second neighborhood action (YES in S160), the control unit 31 determines the LED 42 to be lit among the plurality of LEDs 42 and lights it (S171). The control unit 31 generates action information of the third nearby action (answer regarding the LED 42) (S172), and transmits the generated action information to the operation device 6 (S173). The control unit 31 determines whether or not reply information has been received (S174). When the answer information is not received (NO in S174), the control unit 31 executes the process of S174 again. Even if the predetermined time has elapsed after the action information is transmitted in the process of S152, S157, or S173, if it is determined NO in the process of S153, S158, or S174, the control unit 31 ends the neighborhood action process and permits or rejects it. You may return to a determination process (refer FIG. 13). When the answer information is received (YES in S174), the control unit 31 determines whether or not the answer indicated by the received answer information is correct, that is, the worker correctly executes the third neighborhood action based on the LED 42 lit in S171. It is determined whether or not (S175). When the worker does not correctly execute the third neighborhood action (NO in S175), the control unit 31 ends the neighborhood action process and returns to the permission determination process (see FIG. 13). When the worker correctly executes the third neighborhood action (YES in S175), the control unit 31 acquires the detection result of the open / close detection unit 26 (S176), and based on the obtained detection result, the fourth neighborhood action ( Action information on the opening / closing operation of the door 25 is generated (S177). The control unit 31 transmits the behavior information generated in S177 to the controller device 6 (S178). The control unit 31 determines whether or not the worker has correctly executed the fourth neighboring action by executing the following processes of S179 to S181. The control unit 31 starts counting elapsed time from the time when the behavior information is transmitted (S179). The control unit 31 obtains the detection result of the open / close detection unit 26, and determines whether or not the operator has correctly opened and closed the door 25 (for example, the closed door 25 is once opened and closed again) (S180). When the open / closed state of the door 25 has not changed or has changed only once (NO in S180), the control unit 31 determines whether or not the elapsed time from the start of timing in S179 is equal to or longer than a predetermined time ( S181). When the elapsed time is less than the predetermined time (NO in S181), the control unit 31 returns the process to S180. When the elapsed time is equal to or longer than the predetermined time (YES in S181), since the worker does not correctly execute the fourth proximity action, the control unit 31 ends the time measurement started in S179 (S182), and the proximity action process. To return to the permission / rejection determination process (see FIG. 13). When the door 25 opens and closes correctly, that is, when the opening and closing state of the door 25 changes twice (YES in S180), the operator correctly executes the fourth neighborhood action, so the control unit 31 counts the time started in S179. The process ends (S183). The control unit 31 generates action information of the fifth nearby action (rotating operation of the handle 53) (S191). The control unit 31 transmits the behavior information generated in S191 to the controller device 6 (S192). Thereafter, the control unit 31 determines whether or not the worker has correctly executed the fifth neighborhood action by executing the following processes of S193 to S195. The control unit 31 starts measuring the elapsed time from the time when the behavior information is transmitted (S193). The control unit 31 monitors the operation amount and the operation direction of the handle 53 so that the operator correctly rotates the handle 53 by a predetermined amount in a predetermined direction (for example, ten scales in the right direction and then five scales in the left direction). It is determined whether or not a rotation operation has been performed (S194). When the operator does not rotate the handle 53 or is rotating (NO in S194), the control unit 31 determines whether or not the elapsed time starting the time measurement in S193 is equal to or longer than a predetermined time ( S195). When the elapsed time is less than the predetermined time (NO in S195), the control unit 31 returns the process to S194. When the elapsed time is equal to or longer than the predetermined time (YES in S195), since the worker has not correctly executed the fifth neighborhood action, the control unit 31 ends the time measurement started in S193 (S196) and the neighborhood action process. And the process returns to the permission determination process (see FIG. 13). When the operator correctly rotates the handle 53 (YES in S194), since the fifth neighborhood action is correctly executed, the control unit 31 ends the time measurement started in S193 (S197). The control unit 31 generates action information of the sixth neighbor action (the ON / OFF switching operation of the enable switch 54) (S198). The control unit 31 transmits the behavior information generated in S198 to the controller device 6 (S199). Thereafter, the control unit 31 determines whether or not the worker has correctly executed the sixth neighborhood action by executing the processing of the next S200 to S202. The control unit 31 starts measuring the elapsed time from the time when the behavior information is transmitted (S200). The control unit 31 monitors the operation status of the enable switch 54 and determines whether or not the operator has correctly operated the enable switch 54 (for example, the switch is turned on once and then turned off again (S201)). When the operator has not operated the enable switch 54 or has operated it only once (NO in S201), the control unit 31 determines whether or not the elapsed time from the start of timing in S200 is equal to or longer than a predetermined time ( S202). When the elapsed time is less than the predetermined time (NO in S202), the control unit 31 returns the process to S201. When the elapsed time is equal to or longer than the predetermined time (YES in S202), since the worker has not correctly executed the sixth proximity action, the control unit 31 ends the time measurement started in S200 (S203) and the neighborhood action process. And the process returns to the permission determination process (see FIG. 13). When the operator correctly operates the enable switch 54 (YES in S201), the operator has correctly executed the sixth neighborhood action. Therefore, the control unit 31 ends the time measurement started in S200 (S204), and sets the correct flag. Set (S205). The control unit 31 ends the neighborhood action process and returns to the permission determination process (see FIG. 13).

  The control part 31 which performs each process of S152, S157, S173, S178, S192, and S199 functions as an action transmission part of this embodiment. The control part 31 which performs each process of S155, S160, S175, S180, S194, S201 functions as an action determination part of this embodiment.

  As described above, the control device 3 can achieve both convenience of remote operation of the machine tool 2 using the operation device 6 and safety during remote operation. This is because the control device 3 permits the near operation when the nearby worker is using the operation device 6, and allows only the remote operation limited to the near operation when the remote worker is using the operation device 6. Because it does not.

  In order to determine whether the worker using the operation device 6 is a nearby worker or a distant worker, the control device 3 causes the worker to perform a plurality of types of nearby actions. Since each nearby action is a difficult action for a distant worker, there is a low possibility that the distant worker correctly executes all the nearby actions, that is, a possibility that the distant worker is mistaken as a nearby worker. Therefore, a distant worker cannot perform dangerous remote operation.

  The control device 3 recognizes a worker using the operation device 6 in the vicinity of the machine tool 2 other than the machine tool 2 to be remotely operated as a remote worker, and the touch panel 64 displays a remote operation screen 642. When the touch panel 64 of the worker in the vicinity of the machine tool 2 displays the remote operation screen 642, it can be seen that the worker is in the vicinity of the machine tool 2 other than the machine tool 2 to be remotely operated. That is, it is possible to confirm both the operator side and the control device 3 side that the machine tool 2 that the operator desires to operate matches the machine tool 2 with which the operation device 6 communicates.

  The hardware configuration of the machine tool 2 is the same as the conventional one, and the operating device 6 is a commercially available general-purpose computer. That is, it is possible to determine the presence or absence or correctness of any of the nearby actions performed by the worker without adding new hardware to the machine tool 2 or a commercially available general-purpose computer.

  The remote operation application is stored in the storage unit 62 of the operation device 6, but may be stored in the storage unit 32 of the control device 3. In this case, when the operation device 6 is activated, the activation application is transmitted to the machine tool 2 by the activation application, and then the remote operation application is transmitted from the machine tool 2 to the operation device 6.

  In the present embodiment, it is determined whether the action information received by the controller device 6 in S51 includes question output information and answer acceptance information, and control is distributed based on the determination. The operation device 6 may simply display the information received from the control device 3 on the screen. In this case, S51 and S55 in FIG. 11 are not necessary, and S52 is only the neighborhood action screen display process. Further, in S53, when there is no answer input (NO in S53), the process proceeds to S56. In the process of S52, the neighborhood action screen 643 is displayed or the neighborhood action screen 644 is displayed. The display device is switched by the control device 3. Furthermore, in S58, it is determined whether or not it is for the proximity operation, but this determination is also unnecessary. S58 is a remote operation screen display process instead of the determination, and the screen information transmitted by the control device 3 is displayed. The screen information transmitted by the control device 3 is either the near operation screen 641 or the far operation screen 642. After the process of S58, the control unit 61 shifts the process to S32 of FIG. In this case, S31 in FIG. 10 and S71 to S77 in FIG. 12 are unnecessary.

2 Machine tools 21 Processing section 24 Number plate (identification display section)
25 Door (movable part, opening / closing part)
26 Open / close detection unit (detection unit)
3 Control device 31 Control unit (machine side control unit)
32 storage unit 34 communication unit (machine side communication unit)
42 LED (light source)
53 Handle (machine side operation part)
54 Enable switch (machine operation section)
6 Operation device

Claims (12)

In a control device that can communicate with an operation device separated from a machine tool and operates the machine tool based on an operation received by the operation device.
The machine tool controls the operation of the machining unit in accordance with a machining unit that performs machining on a workpiece, a machine-side communication unit for communicating with the operation device, and operation information received via the machine-side communication unit. It has a machine side control unit,
The machine side controller is
An action transmitting unit that transmits action information indicating an action to be performed by a worker at a position where the machine tool can be visually observed to the operation device via the machine side communication unit;
An action determination unit for determining whether or not the worker has executed the action;
When the behavior determination unit determines that an operator has performed the behavior, first transmission is performed to transmit first operation reception information indicating a first operation that can be received by the machine tool via the machine-side communication unit. And
When the behavior determination unit determines that the worker is not executing the behavior, second operation reception information indicating a second operation that is more restricted than the first operation is transmitted via the machine-side communication unit. And a second transmission unit. The machine tool further includes a storage unit for storing a machining program,
The machining program is composed of a plurality of instructions that command the operation of the machining unit,
The control apparatus according to claim 1, wherein the operation that can be performed by the first operation and cannot be performed by the second operation is an operation that corrects the machining program being executed by the machining unit. The action includes an answer to a question regarding the identification or status of the machine tool;
The behavior information includes question output information for outputting the question,
The control device according to claim 2, wherein the behavior determination unit determines whether or not an operator has performed the behavior according to the presence / absence or correctness of an answer transmitted by the operation device. The machine tool is
An identification display unit for displaying identification information for identifying the machine tool from among a plurality of machine tools;
The storage unit further stores the identification information,
The action includes an answer to a question asking for identification information of the machine tool;
The said action determination part determines whether the said action was performed according to whether the said received reply suits the identification information memorize | stored in the said memory | storage part. The control device described in 1. The machine tool has a light source;
The machine side control unit controls lighting and non-lighting of the light source,
The action includes an answer to a question regarding the state of the light source;
The behavior determination unit determines whether or not the behavior has been executed according to whether or not the received answer matches a state of the light source controlled by the machine-side control unit. Item 4. The control device according to Item 3. The machine tool is
Moving parts;
A detection unit for detecting the state or position of the movable unit,
The action includes an answer to a question asking about the state or position of the movable part,
The control device according to claim 1, wherein the behavior determination unit determines whether or not the behavior is executed based on a detection result of the detection unit. The machine tool is
Moving parts;
A detection unit for detecting the state or position of the movable unit,
The action includes changing the state or position of the movable part,
The behavior information includes instruction output information that is an instruction to a worker who performs the behavior,
The control device according to claim 1, wherein the behavior determination unit determines whether or not the behavior is executed based on a detection result of the detection unit.   The control device according to claim 6, wherein the movable portion is an openable / closable portion that can be manually opened and closed. The machine tool has a machine side operation unit that accepts an operation and is different from the operation device,
The action includes a predetermined operation in the machine side operation unit,
The behavior information includes instruction output information for outputting an instruction to a worker who performs the behavior,
The control device according to claim 1, wherein the behavior determination unit determines that the behavior is executed when the operation received by the machine side operation unit is the predetermined operation. The machine side operation unit is for operating the processing unit,
The control apparatus according to claim 9, wherein the predetermined operation is an operation of operating the processing unit. The machine side operation unit has an enable switch for permitting / prohibiting operation when being on / off,
The control device according to claim 9, wherein the predetermined operation is an operation of turning on or off the enable switch. The behavior transmitting unit sequentially transmits a plurality of types of behavior information indicating different behaviors to be executed at a position where the operator can visually see the machine tool,
The transmission of the first transmission unit is performed when the behavior determination unit determines that the corresponding behavior has been performed for all types of behavior information transmitted,
The control according to claim 1, wherein the transmission of the second transmission unit is executed when the behavior determination unit determines NO for at least one type of behavior information transmitted via the machine-side communication unit. apparatus.

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