JP6043596B2 - Pulse generator and numerical controller - Google Patents

Description

  The present invention relates to a pulse generator and a numerical controller, and more particularly to a device that controls a drive shaft of a machine tool.

  Conventionally, an HMI (Human Machine Interface) display of a numerical control device used for controlling a machine such as a machine tool is used to transmit information in the numerical control device to an operator or to input information by the operator. The

  The operation of the display screen of the display device is, for example, the following 1.2.3. It is made in the form of.

  1. Press the discrete key or function key on the HMI. 2. The keys displayed on the HMI display screen are selected and operated using the touch panel on the HMI display screen. 3. When finely adjusting the machine, an MPG (manual pulse generator; see the reference numeral 62 in FIG. 5 of the prior art document 1) is transported to the vicinity of the workpiece to be machined, for example. To operate.

  A technique is known in which a manual pulse generator is made portable (portable) so that manual pulse feed can be performed by wireless communication even from a location remote from the numerical controller main body (CNC main body). (For example, refer to Patent Document 1).

  The table on the drive shaft of the machine tool moves by a predetermined distance according to the number of pulses sent to the numerical controller main body by wireless communication.

Japanese Patent Laid-Open No. 03-166606

  By the way, the above 1. In this aspect, it is necessary to search and press a key for selecting a screen to be displayed, and it is necessary to keep an eye on the display screen. Moreover, in a large machine, the distance from a workpiece | work to a display is long, and an operator needs to move or it is necessary to provide a general-purpose pendant separately.

  In addition, the above 2. In this aspect, the display screen is touched with a hand or glove soiled with oil, and the screen becomes dirty.

  In addition, the above 3. In this aspect, since a manual pulse generator or the like is necessary, there is a problem that the configuration of the apparatus becomes complicated and the cost increases. In addition, the MPG needs to be transported to the vicinity of the workpiece that is to be processed by the operator, and there is a problem that fatigue accumulates in the operator.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a pulse generator and a numerical controller that have a simple configuration and can prevent an operator from accumulating fatigue.

According to the first aspect of the present invention, there is provided an imaging unit that images an object, and a pulse that generates a pulse instead of a manual pulse generator by a calculated pulse amount according to the operation of the object imaged by the imaging unit. A pulse generator having a generator.

  According to a second aspect of the present invention, in the pulse generator according to the first aspect, the operation of the object photographed by the photographing unit is a pulse generator which is a human gesture.

  According to a third aspect of the present invention, in the pulse generation device according to the first or second aspect of the present invention, the movement of the object to be imaged by the imaging unit is a rotational movement of a part of a human body, A pulse generator that is at least one of reciprocating motions of a part of the body.

  According to a fourth aspect of the present invention, in the pulse generator according to any one of the first to third aspects of the present invention, the motion of the object photographed by the photographing unit is a motion of a portion ahead of a human arm. Alternatively, it is a pulse generator that is the operation of the portion from the person's wrist.

  The invention according to claim 5 is a numerical control device comprising the pulse generator according to any one of claims 1 to 4 and an information display unit for displaying information, the imaging unit Is a numerical control device separated from the main body of the numerical control device provided with the information display section.

  According to a sixth aspect of the present invention, the numerical control apparatus according to the fifth aspect controls a control target having a plurality of drive shafts, and includes a drive shaft selection unit, and the drive shaft selection The unit selects which of the drive shafts is to be controlled in accordance with at least one of the object photographed by the photographing unit and the operation of the object photographed by the photographing unit. The numerical control device is configured in such a manner that the drive shaft selected by the drive shaft selection unit operates in accordance with the number of pulses generated by the pulse generation device.

  The invention according to claim 7 is a numerical control device for controlling a control object having a plurality of drive shafts, and the pulse generator according to any one of claims 1 to 4 and information. An information display unit to be displayed; and a drive axis selection unit, wherein the drive axis selection unit responds to at least one of the object itself imaged by the imaging unit and the operation of the object imaged by the imaging unit. The drive axis selected from the drive axes is selected, and the drive axis selected by the drive axis selection unit is the number of pulses generated by the pulse generator. Is a numerical control device configured to operate according to the above.

  According to the present invention, there is an effect that fatigue can be prevented from being accumulated in an operator with a simple configuration.

It is a front view of the numerical control apparatus which concerns on embodiment of this invention. It is a block diagram which shows schematic structure of the main-body part of the numerical control apparatus which concerns on embodiment of this invention. It is a figure which shows operation | movement of the numerical control apparatus which concerns on embodiment of this invention. It is a figure which shows a person's operation | movement. It is a figure which shows the numerical control apparatus which concerns on a modification.

  The numerical control device 1 according to the embodiment of the present invention controls, for example, a control target (a machine tool or the like that processes a workpiece; not shown) having a plurality of drive shafts using a CPU. A generator 3 and an information display unit (information display unit composed of an LCD or the like) 4 are provided.

  The pulse generator 3 includes an imaging unit 5 and a pulse generator 7. The photographing unit 5 is composed of a camera such as a CCD camera or a camera using a CMOS sensor.

  The pulse generation unit 7 generates a pulse (for example, a signal having a triangular wave shape, a rectangular wave shape, or the like according to an image of the operation of the object (photographing target) photographed by the photographing unit 5 with a constant pattern as time passes. A signal that repeats a steep change in a short cycle).

  An operation of an object to be photographed by the photographing unit 5 is a gesture of a person (for example, an operator) P (Gesture; gesture gesture for conveying something to another person). Is used with words).

  In addition, as an operation of the object to be imaged by the imaging unit 5, a rotation operation (rotation motion) of a part of the body of the person P, a reciprocation operation (reciprocation motion) of a part of the body of the person P At least one of them is adopted.

  Further, as the motion of the object to be photographed by the photographing unit 5, the motion (movement) of the part ahead of the person P's arm or the motion (motion) of the part of the person P from the wrist is adopted. ing.

  In addition, the numerical control device 1 is provided with a drive shaft selection unit 9. The drive shaft selection unit 9 is, for example, any of the drive shafts of the machine tool according to at least one of the object itself imaged by the imaging unit 5 and the operation mode of the object imaged by the imaging unit 5. It is configured to select whether to control the drive shaft.

  The drive axis selected by the drive axis selection unit 9 is configured to operate according to the number of pulses generated by the pulse generator 3.

  In the numerical controller 1, before the drive shaft is driven by the pulse generated by the pulse generator 7, the moving body on the drive shaft corresponding to the pulse generated by the pulse generator 7 (for example, the X-axis table of the machine tool) The amount of movement may be displayed on the information display unit 4.

  Then, after the movement amount of the moving body on the drive shaft is displayed on the information display unit 4, the object itself photographed by the photographing unit 5 (photographing target not related to the operation. For example, hand, arm, ballpoint pen or wrench. The tool itself such as the image of the type of the object photographed) and the movement of the object photographed by the photographing unit 5 (for example, images of finger rotation, reciprocation, etc.) The body may actually be moved.

  It should be noted that the operation of the object for generating the number of pulses, the object for selecting the drive axis and its operation, and the object for starting the operation of the moving body and its operation are naturally different from each other. .

  The numerical control device 1 will be described in more detail with an example.

  The numerical controller 1 includes a main body 11 and a photographing unit 5 of the numerical controller. The photographing unit 5 is provided on the front surface of the housing 17 of the main body 11 of the numerical controller, and photographs a subject (for example, a person P) in front of the housing 17 (see FIG. 1).

  In FIG. 1, what is indicated by reference numeral 19 is a function key, and what is indicated by reference numeral 21 is a numeric keypad or alphabet key.

  Further, as shown in FIG. 2, a servo amplifier 13 (13A, 13B) and a servo motor 15 (15A, 15B) are connected to the numerical controller 1.

  A control signal sent from the numerical control device 1 is input to the servo motor 15 via the servo amplifier 13, and the servo motor 15 is driven. The servo motor 15 is provided with a rotary encoder (not shown), and a signal indicating the rotation angle of the rotation output shaft of the servo motor 15 is input from the rotary encoder to the numerical controller 1, and the servo motor 15 Feedback control is performed.

  The main body 11 of the numerical control apparatus includes a moving image shooting processing unit 23, a moving image memory 25, a moving image analysis unit 27, an axis drive pulse calculation unit 29, an interpolation / distribution processing unit 31, a machining program memory 33, and a machining program analysis unit 35. A servo control unit 37 (37A, 37B) and a drive axis selection unit 9 are provided.

  In the above description, the drive axis selection unit 9 selects the drive axis according to the object imaged by the imaging unit 5, but the drive axis selection is performed by another unit that does not use the imaging unit 5. The unit 9 may be configured. That is, the drive shaft selection unit 9 may be configured by the key 21 shown in FIG.

When automatically cutting a predetermined workpiece, the numerical control apparatus 1 sends a machining program signal stored in advance in the machining program memory 33 to the machining program analysis unit 35, and the machining program analysis unit 35 receives the machining program from the machining program analysis unit 35. Is sent to the interpolation / distribution processing unit 31, and a signal corresponding to the machining program is sent from the interpolation / distribution processing unit 31 to the servomotor 15 via the servo control unit 37 and the servo amplifier 13. but it adapted to the operation corresponding to the machining program.

  On the other hand, when the drive shaft (servo motor 15) is moved by the pulse generator 3 in the manual mode or the like, the motion of the person P is photographed by the camera 5, and a signal corresponding to the photographed video is captured by the moving image photographing processing unit 23. To send to.

  The signal subjected to the image processing by the moving image photographing processing unit 23 is temporarily stored in the moving image memory 25. The signal once stored in the moving image memory 25 is sent to the moving image analysis unit 27 to analyze the operation of the person P.

  The analyzed signal is sent to the shaft drive pulse calculator 29 and the shaft drive pulse calculator 29 calculates the pulse (number of pulses).

  The pulse signal calculated by the shaft drive pulse calculation unit 29 is sent to the servo motor 15 via the interpolation / distribution processing unit 31, the servo control unit 37, and the servo amplifier 13, and the servo motor 15 operates corresponding to the pulse. It is supposed to do.

Since the drive axis (servo motor 15) is selected in advance by the drive axis selection unit 9, only the selected servo motor (for example, servo motor 15A) is actually driven corresponding to the pulse. It has become Let 's that.

  By the way, in the numerical controller 1, the feed magnification can be set in the feed of the drive shaft (servo motor 15) by the pulse generator 3. When the feed magnification is set, for example, 10 triangular pulses should have been output continuously, but 10 times 100 or 100 times 1000 triangular pulses are continuous. Is output.

  The feed magnification is set by, for example, a key or a rotary switch (not shown).

  Note that the feed magnification may be set in accordance with the object photographed by the photographing unit 5 in the same manner as when the drive axis is selected.

  That is, the object itself photographed by the photographing unit 5 (photographing object not related to the operation. For example, a hand, an arm, or a tool such as a ballpoint pen or a wrench; an image of the type of the photographed object), a photographing unit 5, the magnification (number of signal vibrations) generated by the pulse generator 7 changes in accordance with at least one of the movement modes of the object photographed in 5 (for example, images of finger rotation, reciprocation, etc.). It may be configured as follows.

  In addition, a pulse magnification conversion unit that changes the magnification of the pulse generated by the pulse generation unit 7 may be provided, and the magnification of the pulse generated by the pulse generation unit 7 may be changed by the pulse magnification conversion unit.

  Next, the operation of the numerical controller 1 when driving the drive shaft by the pulse generator 3 will be described with reference to FIG.

  First, it is determined whether or not the MPG feed mode is set (S1). If it is not in the MPG feed mode, the process is terminated (S3), and if it is set in the MPG feed mode, it is determined whether or not a drive axis has been selected (S5).

  When the drive axis is selected, the photographed image (video) is analyzed while photographing the action of the object to be photographed (the action of the person P) by the photographing unit (camera) 5 (S7). Based on the above, it is determined whether or not the pulse generation operation is performed (S9).

  When the pulse generation operation is performed, the pulse amount is calculated (S11). For example, as shown in FIG. 4A, one pulse is generated by reciprocating the right hand (right arm) up and down around the right shoulder (n pulses in n reciprocations). Thereby, for example, the X-axis (drive axis) table moves in the plus direction (for example, the right direction) by a distance corresponding to one pulse. Further, as shown in FIG. 4B, one pulse is generated by reciprocating the left hand once in a vertical motion. Thereby, for example, the X-axis (drive axis) table moves in the minus direction (for example, the left direction) by a distance corresponding to one pulse.

  Instead of or in addition to moving the arm up and down, the arm may be rotated to generate a pulse, or the wrist may be moved up and down or rotated to generate a pulse. The pulse may be generated by a finger bending operation or a rotating operation. Furthermore, the pulse may be generated by a combination operation such as moving the arm up and down and simultaneously turning the neck.

  Subsequently, after calculating the pulse amount in step S11, the drive pulse amount is calculated by multiplying by a separately set MPG feed magnification (S13).

  The drive pulse amount calculated in step S13 is output as a drive command to the interpolation / distribution processing unit 31 (S15), and the selected drive axis is moved by the commanded amount (S17).

  By the way, in the numerical control device 1, as shown in FIG. 5, the photographing unit 5 is separated from the main body 11 of the numerical control device in which the information display unit 4 is provided. On the other hand, it may be movable.

  In this case, the emergency stop switch of the machine tool that is the control target of the numerical controller 1 is integrated with the photographing unit 5. Thereby, when unexpected operation | movement generate | occur | produces, a machine tool can be stopped urgently and the safety | security of the person P can be ensured.

  In addition, although the imaging | photography part (camera) 5 and the main-body part 11 of the numerical control apparatus are mutually connected by the wire, they may be mutually connected by radio | wireless communication or infrared communication.

  The case where the numerical control device 1 is configured as shown in FIG. 5 will be further described.

  In the case of the configuration shown in FIG. 5, the operation of the object is imaged by the imaging unit 5, but the object operates because the imaging unit 5 is separated from the main body 11 of the numerical controller. Even if it is not (still), it may be recognized that the object has moved when the camera 5 moves or rotates relative to the object (the camera 5 moves). .

  Even when the camera 5 moves as described above, it may be considered that the object is operated while the camera 5 is stationary. In other words, instead of or in addition to moving the object, the camera 5 is moved or rotated to photograph the object, and the captured image is regarded as an image when the object is operated. You may recognize operation | movement of a target object.

  Alternatively, when the camera 5 moves as described above, it is not necessary to consider that the object has moved. In this case, a reference part of the object (for example, the body of the person P) is determined in advance, and the position of the operation part of the object (part away from the reference part; for example, the arm of the person P) is determined with respect to the reference part. The movement of the object may be recognized depending on the movement.

  Furthermore, by attaching an acceleration sensor to the camera 5, even when the camera 5 moves, correction may be performed so that the camera 5 is in a stationary state.

  According to the pulse generator 3, instead of a rotary encoder (for example, an optical rotary encoder), the pulse generator 7 includes a pulse generator 7 that generates a pulse in accordance with the operation of the object P photographed by the photographing unit 5. The structure of the apparatus is simplified, the apparatus is reduced in weight and easy to carry, and it is possible to prevent the operator from accumulating fatigue.

  In addition, instead of manually driving the machine shaft using a manual pulse generator configured with a rotary encoder, the machine shaft is driven by the camera 5 and moving image analysis technology, so the configuration of the pulse generator 3 is This simplifies the manufacturing cost.

  Further, if the operator can recognize the operation of the operator (operator) within the distance range (within the imaging range of the imaging unit), the operator can approach the workpiece processing position by hand and drive the shaft. It is possible to prevent fatigue from being accumulated in the operator.

  Further, in the configuration shown in FIG. 5, since the manual pulse generator 3 is lighter than the conventional one using an optical rotary encoder or the like, the operation of the operator (operator) can be recognized. Even if it is outside the range of distance, it is only necessary to transport the lightened manual pulse generator 3, so that it is possible to prevent the operator from accumulating fatigue.

  In addition, according to the numerical control device 1, the magnification of the pulse generated by the pulse generation unit 7 is changed according to the object imaged by the imaging unit 5. When it is desired to feed at a low speed, it becomes easy to meet these requirements.

  Further, according to the pulse generator 3, since the action of the object to be photographed by the photographing unit 5 is a human gesture, it is possible to generate a pulse in a hand-held state without using an instrument or the like. The shaft can be driven.

  Further, according to the pulse generator 3, the movement of the object to be imaged by the imaging unit 5 is a rotation operation of a part of the body of the person P or a reciprocation of a part of the body of the person P. The normal motion of an untrained operator can generate pulses and drive the machine shaft.

  Furthermore, according to the pulse generation device 3, the subject to be photographed by the photographing unit 5 is the motion (movement) of the part ahead of the person P's arm or the part of the person P's wrist. Pulses can be generated by sites that can move accurately, and the axis of the machine can be driven more accurately.

  Further, in the numerical control device 1, as shown in FIG. 5, if the photographing unit 5 is separated from the main body unit 11 of the numerical control device provided with the information display unit 4, it is in a wider range. The machine shaft can be driven.

  In this case, if the reference part of the object P is determined in advance and the position of the movement part of the object P moves relative to the reference part, the movement of the object P is recognized. Even when the camera 5 moves in a configuration in which the photographing unit 5 is separated from the main body unit 11 of the numerical controller, it is possible to avoid malfunction by accurately recognizing a human operation.

  In addition, according to the numerical control device 1, the drive shaft selection unit 9 that selects which of the drive shafts is controlled according to the object P photographed by the photographing unit 5 is provided. Therefore, even when a controlled object having a plurality of drive axes is controlled, it is easy to select a drive axis.

  Moreover, according to the numerical control apparatus 1, the moving amount of the moving body on the drive shaft is displayed on the information display unit 4, and then the drive shaft is moved according to the object photographed by the photographing unit 5. Therefore, even if the operation of the operator P (operation for generating a desired pulse) is mistakenly performed, the shaft is moved with the above error before actually driving the shaft. Can be eliminated and accidents can be avoided.

  Further, in the numerical control device 1, the content displayed on the information display unit (display screen) 4 is switched in accordance with the object photographed by the photographing unit 5 in the same manner as when the drive axis is selected. Also good. In this case, since the gesture of the person P is recognized, it becomes easy to express the relationship between the operation of the person P and the switching screen.

DESCRIPTION OF SYMBOLS 1 Numerical control apparatus 3 Pulse generator 4 Information display part 5 Imaging | photography part 7 Pulse generation part 9 Drive axis selection part P Target object

Claims (7)

A shooting section for shooting an object;
According to the operation of the object imaged by the imaging unit, a pulse generation unit that generates a pulse instead of a manual pulse generator by the calculated pulse amount ;
A pulse generator characterized by comprising: The pulse generator according to claim 1,
The pulse generator according to claim 1, wherein the action of the object photographed by the photographing unit is a human gesture. In the pulse generator according to claim 1 or 2,
The operation of the object imaged by the imaging unit is at least one of a rotation operation of a part of the human body and a reciprocation of a part of the human body. apparatus. In the pulse generator according to any one of claims 1 to 3,
The pulse generator according to claim 1, wherein the motion of the object to be photographed by the photographing unit is a motion of a portion ahead of a person's arm or a motion of a portion ahead of a person's wrist. A numerical control device comprising the pulse generator according to any one of claims 1 to 4 and an information display unit for displaying information,
The numerical control device, wherein the photographing unit is separated from a main body of a numerical control device provided with the information display unit. The numerical control device according to claim 5 controls a control object including a plurality of drive shafts, and includes a drive shaft selection unit.
Which of the drive shafts is controlled by the drive axis selection unit in accordance with at least one of the object photographed by the photographing unit and the operation of the object photographed by the photographing unit Configured to make a selection of
The numerical control device, wherein the drive shaft selected by the drive shaft selection unit is configured to operate in accordance with the number of pulses generated by the pulse generator. A numerical control device for controlling a control object having a plurality of drive shafts,
A pulse generator according to any one of claims 1 to 4, an information display unit for displaying information, and a drive axis selection unit,
Which of the drive shafts is controlled by the drive axis selection unit in accordance with at least one of the object photographed by the photographing unit and the operation of the object photographed by the photographing unit Configured to make a selection of
The numerical control device, wherein the drive shaft selected by the drive shaft selection unit is configured to operate in accordance with the number of pulses generated by the pulse generator.

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