JP6424676B2 - Control device - Google Patents

Description

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

  Conventionally, machine tools are equipped with a display. The display device may be detachable from the machine tool. The machine tool described in Patent Document 1 includes an operation display device fixed to the machine tool and an attachment / detachment display device. When the attachment / detachment display device is connected to the machine tool, the operation display device and the attachment / detachment display device display information necessary for the operation of 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 the operation of 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 the operation of the machine tool, for example, by wireless communication, and remotely controls the machine tool using the detachable display device. If it can be done, the convenience of the workers will be improved. When the operator remotely operates the machine tool using wireless communication, the following problems occur. For example, when carrying out test processing with a machine tool, a dangerous accident may occur when a worker who is in a place where it is difficult to visually check the state of the machine tool in detail remotely operates the machine tool. An operator who is in a place where it is difficult to visually check the state of the machine tool in detail is, for example, an operator 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 remote worker is a worker who is in a place where it is difficult to visually check the state of the machine tool in detail, and a worker who is in a place where it is easy to visually check in detail is a nearby worker. When we do not distinguish between distant workers and nearby workers, we simply call them workers. In order to reliably prevent remote workers from remotely operating the machine tool, for example, a communication area in which the machine tool and the detachable display device can communicate wirelessly may be set in the vicinity of the machine tool. However, when it is necessary to immediately stop the machine tool immediately, such as when a disaster occurs or an accident occurs, it is desirable from the viewpoint of convenience and safety that remote workers also remotely control the machine tool. Furthermore, when the attachment / detachment display device and the machine tool are in one-to-many correspondence, both the operator side and the machine tool side that the machine tool that the operator wants to operate and the machine tool with which the attachment / detachment display device is in agreement coincide It must be confirmed by. If the above-mentioned confirmation is not made, although the operator used the detachment display device to perform test processing on a desired machine tool, an accident may occur in which a completely different machine tool operates.

  An object of the present invention is to provide a control device capable of achieving both the convenience and safety of remote control.

A control device according to the present invention is a control device capable of communicating with an operating device separated from a machine tool and operating the machine tool based on an operation received by the operating device, wherein the machine tool performs processing on a workpiece A machine-side communication unit for communicating with the operation device, and a machine-side control unit that controls the operation of the processing unit in accordance with operation information received via the machine-side communication unit; The side control unit transmits an action information indicating an action to be performed by the worker at the position where the machine tool can be viewed to the operation device via the machine side communication unit, and the worker performs the action A first operation acceptance information indicating a first operation that can be received by the machine tool when the action determination unit determines whether or not the worker has executed the action; The machine side through A first transmission unit that transmits via a unit, and a second operation reception that indicates a second operation that is more restricted than the first operation when the behavior determination unit determines that the worker is not executing the action multiple possess a second transmission unit for transmitting the information through the machine-side communication unit, wherein the machine tool further comprises a storage unit for storing a machining program, the machining program for instructing the operation of the processing unit The operation that can be operated by the first operation and can not be operated by the second operation is an operation to modify the machining program being executed by the machining unit, and the action is the machine tool , The action information includes question output information for outputting the question, and the action determination unit determines whether the operator transmits the answer according to the presence or absence of the answer or the error Is the action Determining whether the row.
A control device according to the present invention is a control device capable of communicating with an operating device separated from a machine tool and operating the machine tool based on an operation received by the operating device, wherein the machine tool performs processing on a workpiece A machine-side communication unit for communicating with the operation device, and a machine-side control unit that controls the operation of the processing unit in accordance with operation information received via the machine-side communication unit; The side control unit transmits an action information indicating an action to be performed by the worker at the position where the machine tool can be viewed to the operation device via the machine side communication unit, and the worker performs the action A first operation acceptance information indicating a first operation that can be received by the machine tool when the action determination unit determines whether or not the worker has executed the action; The machine side through A first transmission unit that transmits via a unit, and a second operation reception that indicates a second operation that is more restricted than the first operation when the behavior determination unit determines that the worker is not executing the action The machine tool includes a movable unit and a detection unit that detects the state or position of the movable unit, and the action is a second transmission unit that transmits information via the machine-side communication unit. The action determination unit determines whether or not the action has been performed based on the detection result of the detection unit, including an answer to a question asking the state or position of the movable unit.
A control device according to the present invention is a control device capable of communicating with an operating device separated from a machine tool and operating the machine tool based on an operation received by the operating device, wherein the machine tool performs processing on a workpiece A machine-side communication unit for communicating with the operation device, and a machine-side control unit that controls the operation of the processing unit in accordance with operation information received via the machine-side communication unit; The side control unit transmits an action information indicating an action to be performed by the worker at the position where the machine tool can be viewed to the operation device via the machine side communication unit, and the worker performs the action A first operation acceptance information indicating a first operation that can be received by the machine tool when the action determination unit determines whether or not the worker has executed the action; The machine side through A first transmission unit that transmits via a unit, and a second operation reception that indicates a second operation that is more restricted than the first operation when the behavior determination unit determines that the worker is not executing the action The machine tool includes a movable unit and a detection unit that detects the state or position of the movable unit, and the action is a second transmission unit that transmits information via the machine-side communication unit. The action information includes instruction output information which is an instruction to the worker who executes the action, and the action determination unit is based on the detection result of the detection unit. It is determined whether or not the action has been performed, and the movable part is an open / close part that can be opened and closed manually.
A control device according to the present invention is a control device capable of communicating with an operating device separated from a machine tool and operating the machine tool based on an operation received by the operating device, wherein the machine tool performs processing on a workpiece A machine-side communication unit for communicating with the operation device, and a machine-side control unit that controls the operation of the processing unit in accordance with operation information received via the machine-side communication unit; The side control unit transmits an action information indicating an action to be performed by the worker at the position where the machine tool can be viewed to the operation device via the machine side communication unit, and the worker performs the action A first operation acceptance information indicating a first operation that can be received by the machine tool when the action determination unit determines whether or not the worker has executed the action; The machine side through A first transmission unit that transmits via a unit, and a second operation reception that indicates a second operation that is more restricted than the first operation when the behavior determination unit determines that the worker is not executing the action And a second transmission unit for transmitting information via the machine communication unit, the machine tool has an operation-side operation unit different from the operation device, and the action is the machine-side operation. The action information includes instruction output information for outputting an instruction to a worker who executes the action, and the action determination unit determines that the operation accepted by the machine-side operation unit is the predetermined When it is an operation, it is determined that the action has been performed, and the machine side operation unit is for operating the processing unit, and the predetermined operation is an operation for operating the processing unit.
A control device according to the present invention is a control device capable of communicating with an operating device separated from a machine tool and operating the machine tool based on an operation received by the operating device, wherein the machine tool performs processing on a workpiece A machine-side communication unit for communicating with the operation device, and a machine-side control unit that controls the operation of the processing unit in accordance with operation information received via the machine-side communication unit; The side control unit transmits an action information indicating an action to be performed by the worker at the position where the machine tool can be viewed to the operation device via the machine side communication unit, and the worker performs the action A first operation acceptance information indicating a first operation that can be received by the machine tool when the action determination unit determines whether or not the worker has executed the action; The machine side through A first transmission unit that transmits via a unit, and a second operation reception that indicates a second operation that is more restricted than the first operation when the behavior determination unit determines that the worker is not executing the action And a second transmission unit for transmitting information via the machine communication unit, the machine tool has an operation-side operation unit different from the operation device, and the action is the machine-side operation. The action information includes instruction output information for outputting an instruction to a worker who executes the action, and the action determination unit determines that the operation accepted by the machine-side operation unit is the predetermined When it is an operation, it is determined that the action has been performed, and the machine side operation unit has an enable switch for permitting / prohibiting the operation when the operation is on / off, and the predetermined operation turns the enable switch on or off Operation
A control device according to the present invention is a control device capable of communicating with an operating device separated from a machine tool and operating the machine tool based on an operation received by the operating device, wherein the machine tool performs processing on a workpiece A machine-side communication unit for communicating with the operation device, and a machine-side control unit that controls the operation of the processing unit in accordance with operation information received via the machine-side communication unit; The side control unit transmits an action information indicating an action to be performed by the worker at the position where the machine tool can be viewed to the operation device via the machine side communication unit, and the worker performs the action A first operation acceptance information indicating a first operation that can be received by the machine tool when the action determination unit determines whether or not the worker has executed the action; The machine side through A first transmission unit that transmits via a unit, and a second operation reception that indicates a second operation that is more restricted than the first operation when the behavior determination unit determines that the worker is not executing the action And a second transmission unit for transmitting information via the machine side communication unit, wherein the action transmission unit indicates a plurality of types of different actions to be performed by the operator at a position where the machine tool can be viewed. The action information is sequentially transmitted, and the transmission of the first transmission unit is executed when the action determination unit determines that the corresponding action has been executed for all the transmitted action information, and the second transmission unit Is executed when the behavior determination unit determines that the at least one type of behavior information transmitted via the machine-side communication unit is negative.

  The control device transmits the action information to the operating device. The operating device outputs information on an action to be performed by the operator at a position where the machine tool can be viewed. The action to be performed by the operator at a position where the machine tool can be viewed is, for example, an action that is likely to be near the machine tool when the action is performed. The worker performs an action according to the information output from the controller device. The action determination unit determines whether the worker has performed the action. When the action is properly performed, the current position of the worker is close to the machine tool in communication with the operating device. At this time, the machine tool receives the first operation. When the operator does not execute the action or performs an incorrect action, the current position of the operator is far from the machine tool in communication with the operating device. At this time, the machine tool receives the second operation. The control device limits what is possible in the second operation as compared to what is possible in the first operation. The machine tool controls an operation of the machine tool (for example, an operation of the processing unit) in response to the first operation or the second operation. Therefore, the control device can permit the remote worker to perform an emergency stop operation while preventing the occurrence of a dangerous accident caused by remote control of the remote worker, for example.

  The machine tool controlled by the control device according to the present invention further includes a storage unit for storing a processing program, and the processing program is composed of a plurality of instructions for instructing the operation of the processing unit, the first operation An operation that can be operated by the user and can not be operated by the second operation is an operation of correcting the processing program being executed by the processing unit.

  The control device can not execute the correction operation of the currently executed machining program in the second operation. Since a worker who is not near the machine tool currently being machined can not modify the machining program being machined, the machine tool can be prevented from being damaged.

  The action of the control device according to the present invention includes an answer to a question related to the identification or state of the machine tool, the action information includes question output information for outputting the question, and the action determination unit includes the operation device It is determined whether or not the worker has performed the above-mentioned action according to the presence or the error of the response which has been transmitted.

  The controller causes the operator to answer the question regarding the identification or status of the machine tool. The worker gives the controller an answer to the question. The operating device sends the answer to the machine tool. Identifying the machine tool and grasping the state of the machine tool, etc., are easy for the workers in the vicinity of the machine tool but difficult for the distant workers. The controller determines whether the operator is located near the machine tool according to the presence or absence or correctness of the answer to the question. Therefore, the control device can reliably and easily determine whether or not the operator is in the vicinity of the machine tool operated.

  The machine tool controlled by the control device according to the present invention has an identification display unit for displaying identification information capable of identifying the machine tool among a plurality of machine tools, and the storage unit further stores the identification information The action includes an answer to a question asking the identification information of the machine tool, and the action determination unit determines whether the received answer conforms to the identification information stored in the storage unit. Determine whether you have performed an action.

  The control device asks the operator about the identification information displayed by the identification display unit of the machine tool. The identification information of the machine tool is stored in the storage unit of the machine tool. Therefore, the correctness of the received answer can be easily determined. It is easy for the operator in the vicinity of the operating machine tool to operate to view the identification information displayed by the identification display unit of the machine tool, but also for the remote operator away from the machine tool. Therefore, the control device can reliably and easily determine whether or not the operator is in the vicinity of the machine tool operated.

  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 is performed according to whether the received response conforms to the state of the light source controlled by the machine-side control unit.

  The controller asks the operator a question regarding the condition of the light source of the machine tool. The machine side control unit performs lighting and non-lighting of 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 it is blinking or not) is easy for a worker near the machine tool but difficult for a distant worker. Therefore, the control device can reliably and easily determine that the operator is in the vicinity of the machine tool operated.

  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 is an answer to a question asking the state or position of the movable part And the action determination unit determines whether the action has been performed based on the detection result of the detection unit.

  The control device asks the operator a question (a kind of question regarding the state of the machine tool) asking the state or position of the movable part. The state (or position) of the movable part is detected by the detection part of the machine tool. Therefore, the correctness of the received answer can be easily determined. It is easy for the operator in the vicinity of the machine tool to look at the movable part of the machine tool and determine its state (eg whether it is operating or not) or its position (eg whether it is at a predetermined position). , It is difficult for remote workers. Therefore, the control device can reliably and easily determine that the operator is in the vicinity of the machine tool operated.

  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 the state or change the position. And the action information includes instruction output information which is an instruction to a worker who executes the action, and the action determination unit determines whether the action is performed based on a detection result of the detection unit. .

  The control device causes the worker to change the state or position of the movable part. The state change (or position change) of the movable part corresponds to the change of the detection result of the detection unit of the machine tool. It is an operator in the vicinity of the machine tool to view the movable part of the machine tool and change its state (for example, switch operation / stop) or change its position (for example, move it from the predetermined position by a predetermined distance) It is easy for workers, but difficult for workers who are 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.

  The movable part controlled by the control device according to the present invention is an open / close part which can be opened and closed manually.

  The movable part is, for example, an opening and closing part such as a door or a lid which can be manually opened and closed by an operator. Since the worker manually operates the movable part, the control device can be realized inexpensively without requiring a member for driving the movable part.

  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 The action determination unit determines that the action has been performed when the operation accepted by the machine-side operation unit is the predetermined operation, including instruction output information for outputting an instruction to a worker who executes the action. .

  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 the operator near the machine tool but difficult for the worker 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.

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

  The control device causes the operator to operate the processing unit of the machine tool by 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 the operator near the machine tool but difficult for the worker 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. The control device can be realized inexpensively because the machine tool is already equipped with the processing unit and there is no need to add the processing unit again.

  The machine side operation unit of the control device according to the present invention has an enable switch for permitting / prohibiting an operation when it is on / off, and the predetermined operation is an operation for 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 to confirm the presence or absence of the on / off operation of the enabling switch is shorter than when operating the processing unit. The reason is that, while operating the processing unit, positioning time is required, but switch operation does not require positioning time.

  The action transmission unit of the control device according to the present invention sequentially transmits a plurality of types of action information indicating different actions to be performed by the operator at a position where the machine tool can be viewed, and the transmission of the first transmission unit Is executed when it is determined that the action determining unit has executed the corresponding action for all types of action information transmitted, and the transmission of the second transmission unit is performed by the action determining unit using the machine-side communication unit Is executed when it is determined that the at least one type of action information transmitted via

  The control device receives the first operation when the worker executes all of the plurality of types of actions (for example, when the worker makes all the correct answers). When the operator does not execute even one of the plurality of types of actions (for example, when the operator makes a single mistake), the machine tool receives the second operation. Therefore, the control device can reliably determine whether the operator is near the machine tool.

  The control device of the present invention enables connection of a portable operating device. Therefore, the control device can achieve both the convenience of remote control of the machine tool and the safety at the time of remote control. The reason is that the control device restricts the acceptable operation when the operator who is far from the machine tool uses the operating device, as compared with the case where the operator in the vicinity of the machine tool uses the operating device.

  Even when the operation device and the machine tool are one-to-many compatible, the control device recognizes an operator using the operation device in the vicinity of a machine tool other than the machine tool to be remotely operated as a remote operator. Safety is improved.

  The operator is using the operating device in the vicinity of the machine tool, but when the control device restricts the acceptable operation, the operator is in the vicinity of a machine tool other than the one to be remotely controlled I understand that. That is, the control device can confirm on both the worker side and the control device side that the machine tool that the operator desires to operate and the machine tool with which the operation device is in agreement.

It is a block diagram showing composition of a machine tool and an operation device of an embodiment. It is a perspective view which briefly displays the structure (without a cover) of a machine tool. It is a perspective view which briefly displays the structure (with a cover) of a machine tool. It is a figure which shows an example of the permission denial table which the memory | storage part of a machine tool memorize | stores. It is a figure which shows an example of the vicinity operation screen which the touch panel of an operating device displays. It is a figure which shows an example of the distant operation screen which the touch panel of an operating device displays. It is a figure which shows an example of the vicinity action screen (with answer input presence) which the touch panel of an operating device displays. It is a figure which shows an example of the vicinity action screen (with no answer input) which the touch panel of an operating device displays. It is a flowchart which shows the procedure of the remote control processing performed with an operating device. It is a flowchart of the continuation of FIG. It is a flowchart of the continuation of FIG. It is a flowchart of the continuation of FIG. It is a flowchart which shows the procedure of the permission determination process performed with a machine tool. It is a flowchart of the continuation of FIG. It is a flowchart which shows the procedure of the remote control reception process performed with a machine tool. It is a flowchart which shows the detail of the proximity | contact action processing procedure performed with a machine tool. FIG. 17 is a continuation of FIG. 16 flowchart. FIG. 18 is a continuation of FIG.

  Hereinafter, the present invention will be described in detail based on the drawings. In the following description, upper and lower, front and rear, and left and right indicated by arrows in the drawings are used. FIG. 1 is a block diagram showing the configuration of a machine tool 2 and an operating device 6 according to the embodiment. In the present embodiment, a plurality of machine tools 2 and one operation device 6 perform wireless 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 the like), or may communicate via a dedicated communication network. The machine tool 2 and the operation device 6 may have a one-to-one correspondence configuration. The machine tool 2 may be provided with one or a plurality of machines, and may be configured with a plurality of operation devices 6. The communication is not limited to the 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 assigned a unique identification name and an identification number. The identification name is simple, short and easy for the operator to memorize. The 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. When there is only one machine tool 2, the identifier is not necessary.

  The machine tool 2 will be described with reference to FIGS. 1 to 3. The machine tool 2 includes a base 201, a support column 202, a cover 203, a processing unit 21, a tool exchange unit 22, a holding unit 23, an identification tag 24, a door 25, an open / close detection unit 26, a display unit 4, an operation unit 5, a control device It has three. The base 201 upper portion movably supports the holding portion 23. The holding portion 23 moves in the front-rear direction and the left-right direction. The support portion 202 is fixed to the upper rear end of the base 201. The support portion 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 portion 202. The support portion 202 supports the processing unit 21 so as to be vertically movable. The processing unit 21 is located on the upper side of the holding unit 23 and in the vicinity of the tool replacement unit 22. The cover 203 covers the base 201 upper part, the support | pillar part 202, the process part 21, the tool exchange part 22, and the holding part 23. As shown in FIG. The cover 203 includes a front wall 20 a having a door (movable portion, opening and closing portion) 25, left and right side walls, a rear wall, and a top wall. The operator holds the handle 25 a of the door 25 to open and close the door 25. When the door 25 is opened, an operator can enter into the cover 203. The open / close detection unit 26 is installed on the front wall 20a. The identification label 24 is attached to the front side of the door 25. The display unit 4 and the operation unit 5 are fixed to the surface side of the front wall 20a. The identification tag 24 displays at least an identification number. The identification number is identification information, and the identification tag 24 is an identification display unit. The open / close detection unit (detection unit) 26 has a limit switch. When the door 25 is closed, the door 25 abuts on the open / close detection unit 26, and the open / close detection unit 26 is turned on. When the door 25 is opened, the door 25 is separated from the open / close detection unit 26 and the open / close detection unit 26 is turned off. The detection result of the open / close detection unit 26 is received by the control unit 31 of the control device 3 described later. The processing unit 21 is detachable from the tool 210. The tool 210 mounted on the processing unit 21 is rotated by the drive of the spindle motor 211. The processing unit 21 is moved in the vertical direction by the drive of 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 is rotated by driving of the magazine motor. The tool magazine 221 can have a plurality of tools 210 detachable. The holding unit 23 is a so-called table, and holds a work. The holding unit 23 moves in the front-rear and left-right directions by driving of the X-axis motor and the Y-axis motor. By moving the processing unit 21 upward, the tool 210 mounted on the processing unit 21 is separated from the processing execution position where the processing on the workpiece is performed. By further moving the processing unit 21 upward, the tool 210 mounted on the processing unit 21 is detached from the processing unit 21 and mounted on 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 replacement 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 mounted on the processing unit 21. As the processing unit 21 further moves downward, the tool 210 mounted on the processing unit 21 approaches the processing execution position. The machine tool 2 processes (for example, cuts) the workpiece by rotating the tool 210 at the processing execution position. The display unit 4 has 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 an 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 be configured to have a 7-segment display or a light source or the like different from that of the LED 42.

  The operation unit 5 has 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 each time the operator operates. The emergency stop switch 52 is a switch for stopping the machine tool 2 immediately. The handle (machine side operation unit) 53 uses a manual pulse generator. When the operator rotates the handle 53, the motor of the designated axis (X-axis, Y-axis, Z-axis) is rotated according to the rotation direction and the amount of rotation of the handle 53. 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 housing 30 is supported by a support 202. The housing 30 accommodates the control unit 31, the storage unit 32, and the 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 may be information provided in advance, information generated by the control unit 31 (for example, various flags or production counters) along with the execution of the computer program, or information received via the communication unit 34 (for example, for work processing) A computer program (hereinafter referred to as a processing program) is stored. The machining program is composed of a plurality of instructions for instructing the operation of the machine tool 2. In addition, the storage unit 32 stores in advance data for enabling remote control of the machine tool 2 by the later-described operation device 6 and data such as various operation buttons for remote control (hereinafter referred to as operation reception information). . The operation reception information is described in, for example, HyperText Markup Language (hypertext markup language), and operation reception information for the nearby operation (first operation reception information), operation reception information for the distant operation (second operation) Operation reception information). In addition, information stored in advance by the storage unit 32 is an identification number, a permission / prohibition 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 counts an elapsed time from the time when the nearby operator operates the machine tool 2 using the operation device 6 in the remote control reception process described later. The communication unit 34 has an antenna for wireless communication with the controller device 6. The operating device 6 uses a commercially available portable general-purpose computer (for example, a tablet). The operating device 6 is not limited to a tablet, and may be, for example, a laptop computer. The operating device 6 may be dedicated to the machine tool 2. The controller device 6 includes a control unit 61, a storage unit 62, a communication unit 63, and a touch panel 64. The communication unit 63 has an antenna that wirelessly communicates with the machine tool 2. The touch panel 64 uses a liquid crystal panel and a touch pad stacked 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) for converting the operation reception information received from the machine tool 2 into image information and displaying it on the liquid crystal panel. ing. The near-operation screen 641, the far-operation screen 642, the near-action screen 643, 644 (see FIGS. 5 to 8), etc. are displayed on the liquid crystal panel of the touch panel 64 by the remote control application based on the operation reception information received from the machine tool 2. . The touch panel 64 functions as an apparatus side operation unit, an information output unit, and an answer input unit according to the present embodiment. The near operation screen 641 is an operation screen for a near worker, and the far operation screen 642 is an operation screen for a far worker. The storage unit 62 stores information given in advance, information generated by the control unit 61 along with the 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 6 in accordance with 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 vicinity) of the machine tool 2 to be operated or at a location (far away) away from the machine tool 2 to be operated. An operator who is around the machine tool 2 (i.e., a nearby operator) is in the state of the machine tool 2 (for example, the position in the vertical direction of the processing unit 21 or whether or not the tool 210 mounted on the processing unit 21 is rotating ) Is easy to confirm in detail visually. It is difficult for an operator (i.e., a distant operator) who is at a place away from the machine tool 2 to be operated to visually confirm the state of the machine tool 2 in detail. The control device 3 permits near-field workers without limit to remote control, but prohibits distant workers from performing some remote control.

  In this embodiment, start / stop operation, emergency stop operation, non-execution program operation, unused tool operation, production which will be described next as remote operation (second operation) permitted to both near workers and far workers The counter operation is illustrated. The start / end operation ends the operation of starting / terminating the execution of the remote control application and the display of the near operation screen 641 (or the far operation screen 642) and starts the display of the far operation screen 642 (or the near operation screen 641) It is an operation. The emergency stop operation is an operation to stop the machine tool 2 urgently. The unexecuted program operation is creation of a new machining program, transmission of the created machining program to the machine tool 2, or machining 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. Unused tool operation is an operation related to a change of a tool used for workpiece processing which is not currently executed. The production counter operation is an operation of changing (for example, resetting) the counter value of the production counter indicating the number of processed workpieces. The reset is usually to zero the value. Since the start / end operation, unexecuted program operation, unused tool operation, and production counter operation are highly safe operations, there is no special problem even if the condition of the machine tool 2 is not confirmed in detail by visual inspection. . It is desirable that a nearby worker performs the emergency stop operation. However, since the emergency stop operation is an operation which a worker who has detected a risk immediately executes, the control device 3 permits even a remote worker. As a remote operation (first operation) permitted to a nearby worker and prohibited to a distant worker, a test machining operation, a program operation under execution, and a tool operation during use will be described. The test processing operation is an operation related to the execution of the test processing. The in-execution program operation is an operation relating to the correction of the machining program which controls the workpiece machining currently being executed 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 a change of a tool used in the currently-working workpiece processing. Since the test processing operation and the program operation under execution and the tool operation during use are operations with high risk, it is essential to carry out while visually confirming the state of the machine tool 2 in detail.

  FIG. 4 shows an example of the permission / disapproval table 321 stored in the storage unit 32. Permissibility table 321 includes near and far operators, various remote control (start / stop operation, emergency stop operation, running program operation, unexecuted program operation, used tool operation, unused tool operation, production counter operation , Test processing operation) and each permission or denial are stored in association with each other. In the figure, ○ means permission, and x means prohibition.

  The operator uses the touch panel 64 to activate the remote control application. The touch panel 64 displays a machine tool specification screen (not shown) for specifying the machine tool 2 for which remote control is desired. The operator uses the touch panel 64 to enter or select the 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 a machine tool specification screen is included in the remote control application.

  Next, an operation selection to select whether the touch panel 64 performs remote control around the machine tool 2 (hereinafter referred to as near operation) or remote control at a location away from the machine tool 2 (hereinafter referred to as far operation) Display a screen (not shown). Information for generating the operation selection screen is included in the operation reception information, and the remote control application displays it on the touch panel 64. When the worker selects the proximity operation and properly executes the proximity action described later, the control device 3 recognizes that the worker is a proximity worker. Thereafter, the control device 3 transmits operation reception information for a nearby worker to the operation device 6, and the touch panel 64 displays the nearby operation screen 641. FIG. 5 shows an example of the proximity operation screen 641 displayed by the touch panel 64 of the operation device 6. The neighborhood operation screen 641 includes an operation button 64a for program operation being executed, an operation button 64b for tool operation in use, an operation button 64c for program operation not executed, an operation button 64d for unused tool operation, an operation button 64e for test processing operation, production The display of the operation button 64f for counter operation, the operation button 64g for emergency stop operation, and the near operation screen 641 is ended and the display of the far operation screen 642 is started (in other words, the near operation is ended and the far operation is started ) The operation button 64 h has an operation button 64 j for terminating the remote operation application (ie, terminating the remote operation itself regardless of near operation and far operation). When the operator presses any of the operation buttons 64a to 64h and 64j, the remote control corresponding to the operation button is realized. The neighborhood operation screen 641 is generated based on the manipulation acceptance information for neighborhood operation transmitted from the machine tool 2 to the manipulation device 6. If the worker selects a far operation, or if the worker selects a near operation and mistakes one near action, the control device 3 recognizes that the worker is a far worker.

  As shown in FIG. 6, the touch panel 64 displays a far operation screen 642. FIG. 6 shows an example of the far operation screen 642. The distant operation screen 642 has operation buttons 64c, 64d, 64f, 64g and 64j as well as the proximity operation screen 641. Distant operation screen 642 is different from proximity operation screen 641 and instead of operation button 64h, display of distant operation screen 642 is ended and display of proximity operation screen 641 is started (in other words, far operation is terminated and proximity operation is performed) Start operation button 64k. Furthermore, those corresponding to the operation buttons 64a, 64b and 64e are dimmed. When the operator presses any of the operation buttons 64c, 64d, 64f, 64g, 64j, and 64k, the control device 3 realizes remote control corresponding to the pressed operation button. The control device 3 does not realize remote control even when the dimmed operation button is pressed. The far operation screen 642 is based on the operation reception information for far operation transmitted from the machine tool 2 to the operation device 6. The near operation screen 641 and the far operation screen 642 may be provided with operation buttons for switching the machine tool 2 to be remotely operated. When an operation for near operation or distant 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 in accordance with the received operation information. That is, the control device 3 realizes remote control using the operating device 6. At this time, the control device 3 determines whether the transmitted operation information is operation information related to near-field operation or operation information related to far-distance operation after receiving the operation information.

  Explain neighborhood behavior. The proximity action is an action in which the worker performs the machine tool 2 at a position where the machine tool 2 can be visually observed, and the nearby worker is easy but the distant worker exhibits a difficult action. Specifically, the first proximity action is to answer a question asking the machine tool 2 identification number. The second nearby action is to answer a question asking whether the door 25 is open. The third proximity action is to answer a question regarding the light emission state of the LED 42. The fourth nearby action is to open and close the door 25. The fifth nearby action is to rotate the handle 53 in a predetermined direction and in a predetermined direction. The sixth proximity action is to perform the on / off switching operation of the enable switch 54. Explain the first neighborhood action. The identification number of the machine tool 2 is displayed on an identification label 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 tag 24 and answer correctly. It is difficult for a distant worker to correctly answer the identification number displayed on the identification tag 24. Explain the fourth proximity action. A nearby worker can open and close the door 25 easily. It is difficult for a distant worker to open and close the door 25. The first to sixth neighborhood actions are given to the worker in this order but may be given at random. The control device 3 recognizes the worker who correctly performed all of the first to sixth proximity actions as the proximity worker, and separates the worker who missed the proximity action by one or the worker who did not execute the proximity action. Recognize as a worker. Neighborhood actions are not limited to the first to sixth neighborhood actions. For example, the proximity action may be an on / off switching operation of the activation switch 51 or the emergency stop switch 52. Furthermore, the proximity action may be to answer a question asking the one-time password displayed on the display panel 41. The proximity action may be to answer a question asking the number of flashing 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 “near action screen”) on the touch panel 64 so as to execute the near action for the operator. 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 for entering an answer to a question, and the input button 64n is a button for deciding to enter an answer for a question. For example, the neighborhood action screen 643 displays a question asking the identification number of the machine tool 2, and after looking at the identification tag 24, the operator operates numerical keys (not shown) provided on the touch panel 64 and answers in the answer entry field 64 m. Fill out. Thereafter, the operator operates the input button 64n to input a response. A second proximity action screen (not shown) of the second proximity action displays a question asking whether the door 25 is open or closed. The proximity action screen of the second proximity action has an answer selection button for selecting an answer (the open / close state of the door 25). The operator looks at the door 25 and operates the answer selection button to input an answer to the control device 3. The proximity action screen (not shown) of the third proximity action displays a question asking which one of the plurality of LEDs 42 is on. The proximity action screen of the third proximity action has an answer input button for inputting an answer (information for determining the number of lit LEDs 42). After looking at 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 proximity action screen 644. The touch panel 64 displays the proximity action screen 644 when causing the worker to execute the fourth proximity action. When the door 25 is already closed, the proximity action screen 644 displays a message instructing the operator to open the door 25 and then close it. When the door 25 is already open, the proximity action screen 644 displays a message instructing the operator to close the door 25 and then open the door 25. Instead of the proximity action screen 644, the control device 3 may display the touch panel 64 or the display panel 41 of the machine tool 2 when the door 25 is opened and closed. The fifth neighborhood action screen (not shown) is a word instructing rotation operation in a predetermined direction and a predetermined amount of the handle 53 (for example, “10 divisions in the right direction, then 5 divisions in the left direction, rotation operation Please display "). The operator rotates the handle 53 as instructed while confirming the movement of the processing unit 21. A sixth near field action screen (not shown) of the near field action displays a word instructing the on / off switching operation of the enable switch 54. The proximity action screen as described above displays on the touch panel 64 action information to be transmitted from the machine tool 2 to the operation device 6. The action information indicates near action. 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 voice input an answer to a microphone (an answer input unit) (not shown).

  FIGS. 9 to 12 are flowcharts showing the procedure of the remote control process executed by the controller device 6. The flowchart shows transmission and reception of various types of information between the machine tool 2 and the operation device 6 by double-dashed arrows. The remote control process is started when the remote control application is activated and one machine tool 2 is designated by entering or selecting the identification name of the 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 near operation selection button for selecting a near operation and a far operation selection button (not shown) for selecting a far operation. Next, the control unit 61 determines whether the worker has operated the remote operation selection button (S12). When the worker does not operate the far operation selection button (NO in S12), the control unit 61 determines whether the worker operates the near operation selection button (S13). When the worker 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 operator selects remote operation to the machine tool 2 (S14). The control unit 61 determines whether or not the operation acceptance information has been received (S15), and when not received yet (NO in S15), performs the process of S15 again. When distant selection information is transmitted to the machine tool 2, the operation reception information received by the controller device 6 is operation reception information for remote operation. Therefore, when the operation reception information is received (YES in S15), the control unit 61 displays the far operation screen 642 on the touch panel 64 (S31 in FIG. 10). The process of S31 is a process of accepting remote operation corresponding to each of the operation buttons 64c, 64d, 64f, 64g, 64j, 64k included in the remote operation screen 642. The control unit 61 that executes the process of S31 functions as an operation output unit according to the present embodiment. The controller 61 determines whether the operator has operated any of the operation buttons 64c, 64d, 64f, 64g (S32). The process of S32 means that it is determined whether 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, 64g (YES in S32), the control unit 61 performs remote operation corresponding to the operated operation button, that is, for remote operation indicating the received remote operation. The operation information is transmitted to the machine tool 2 (S33). After execution of the process of S33, or when the operator does not operate any of the operation buttons 64c, 64d, 64f, 64g (NO in S32), the control unit 61 may receive various information transmitted by the machine tool 2 It is determined (S34). When the 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 completion of the process of S35, or when the various information transmitted by the machine tool 2 is not received (NO in S34), the control unit 61 determines whether the operator operates the operation button 64k (S36). The process of S36 means that it is determined whether the worker has selected the end of the far operation and the start of the near operation. When the operator does not operate the operation button 64k (NO in S36), the control unit 61 determines whether the operator operates the operation button 64j (S37). The process of S37 means that it is determined whether the worker has selected termination of the remote control application. When the worker does not operate the operation button 64j (NO in S37), the control unit 61 returns the process to S32. When the worker operates the operation button 64j (YES in S37), the control unit 61 transmits termination information indicating that the worker has selected termination of the remote control application to the machine tool 2 (S38), and the remote control processing Finish. 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 selects the proximity operation by the operator Is transmitted to the machine tool 2 (S16). As described above, when the operator selects the remote operation, immediately and surely, the operation acceptance information for the remote operation is sent from the machine tool 2. This is because there is no problem in providing the distant operation screen 642 based on the operation reception information for the distant operation to either the nearby worker or the distant worker. When the worker selects the proximity operation, the control device 3 sends operation reception information for proximity operation from the machine tool 2 after recognizing that the worker is the proximity worker. This is because it is dangerous to provide the near-field operation screen 641 based on the operation reception information for near-field operation to the distant worker.

  In this embodiment, the control device 3 sends the operation reception information for the remote operation from the machine tool 2 when the control device 3 does not recognize that the operator is the near operator even if the operator selects the near operation. Do. Although the operator selects the near operation, the touch panel 64 displays the far operation screen 642, so it can be understood that he / she has performed the wrong near action. At this time, the operator may select the near operation again or perform the far operation. If the control device 3 does not recognize the worker as the nearby worker even if the worker selects the proximity operation, the control device 3 may only notify the worker of an error.

  The processes from S17 to S56 (FIG. 11) to be described next are processes in which the control device 3 receives a certification. As shown in FIG. 9, the control unit 61 determines whether or not the action information has been received (S17), and when not received yet (NO in S17), the process of S17 is performed again. When the action information is received (YES in S17), the control unit 61 determines whether the received action information includes the question output information and the 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 sees the proximity action screen displayed in the process of S52 and answers the question. The control unit 61 determines whether the operator operates the touch panel 64 to input an answer (S53), and when it is determined that an answer has not been input yet (NO in S53), the process of S53 is executed again. Do. In addition, even if predetermined time passes after displaying a vicinity action screen, when it determines with NO by S53, you may transfer a process to S57 mentioned later. At this time, the control device 3 recognizes that the worker is a distant worker, and transmits from the machine tool 2 operation reception information for remote operation. When the worker inputs a response (YES in S53), the control unit 61 transmits response information (for example, response information indicating the identification number entered in the response entry column 64m) indicating the input response to the machine tool 2 ( S54). The control unit 61 that executes the process of S54 functions as an answer transmission unit of this embodiment. When the received action information does not include the question output information and the answer acceptance information (NO in S51), the received action information includes the instruction output information. Therefore, the control unit 61 displays the proximity action screen (for example, the proximity action screen 644 shown in FIG. 8) like the fourth to sixth proximity actions on the touch panel 64 (S55). The operator sees the proximity action screen displayed in the process of S55 and executes the proximity action. After the end of the process of S54 or S55, the control unit 61 determines whether or not the action information is newly received (S56), and when it is received (YES in S56), returns the process to S51. The time when the action information is newly received in the process of S56 is the time when the proximity action performed by the worker is correct and the proximity action to be performed by the worker still remains. When the action information is not received (NO in S56), the control unit 61 determines whether the operation reception information is received (S57), and when 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 the received operation reception information is operation reception information for nearby operation (S58). When the received operation reception information is the operation reception information for the remote operation (NO in S58), the control unit 61 shifts the processing to S31 shown in FIG. The time when the operation reception information for the distant operation is received in the process of S57 is a time when the neighborhood action performed by the operator immediately before is incorrect. The time of receiving the operation reception information for proximity operation in the process of S57 is a time when all the plural types of proximity actions executed by the worker are correct and the proximity actions to be executed by the worker are not left already.

  When the received operation reception information is operation reception information for 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 receiving the remote control corresponding to each of 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 according to the present embodiment. The control unit 61 determines whether the operator has operated any of the operation buttons 64a to 64g included in the nearby operation screen 641 (S72). The process of S72 determines whether the operator has selected a program operation under execution, a tool operation in use, an unexecuted program operation, an unused tool operation, a test processing 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 works the remote operation corresponding to the operated operation button, that is, the operation information for nearby operation indicating the received remote operation. Send to machine (S73). After execution of 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 the 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 completion of the process of S75, or when various information transmitted by the machine tool 2 is not received (NO in S74), the control unit 61 determines whether the operator has operated the operation button 64h (S76). The process of S76 means that it is determined whether the worker has selected the end of the near operation and the start of the far operation. When the operator operates the operation button 64h (YES in S76), the control unit 61 shifts the process to S14. When the operator does not operate the operation button 64h (NO in S76), the control unit 61 determines whether the operator operates the operation button 64j (S77). The process of S77 means that it is determined whether the worker has selected termination of the remote control 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 worker operates the operation button 64j (YES in S77), the control unit 61 shifts the process to S38 shown in FIG.

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

  As shown in FIG. 13, when the correct answer flag is in the reset state (NO in S94), the control unit 31 determines that the worker is a distant worker. The control unit 31 shifts the processing to S112. The control unit 31 resets the proximity flag (S112), and sets the far flag (S113). The control unit 31 transmits the operation reception information for the remote operation to the controller device 6 (S114). The control unit 31 that executes the process of S114 functions as a second transmission unit of the present embodiment. After completion of the process of S114, the control unit 31 returns the process to S91. When distant 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 the time measurement result of the timer 33 is equal to or more than a predetermined time (S116). When the time measurement result of the timer 33 is equal to or longer than the predetermined time (YES in S116), the control unit 31 ends the time measurement of the timer 33 and resets the time measurement result of the timer 33 (S117), and moves the process to S112. When the time measurement result of the timer 33 is equal to or longer than a predetermined time, the next operator operates the machine tool 2 using the operation device 6 and there is no next operation for a predetermined time or more. Therefore, the control device 3 recertifies the nearby worker as the distant worker, and transmits the operation reception information for the distant operation. As a result, the controller device 6 switches the near operation screen 641 to the far operation screen 642. That is, the controller device 6 receives the remote control operation acceptance information in the process of S74 shown in FIG. 12, and switches the proximity operation screen 641 to the remote control screen 642 in the process of S75.

  In S115, when the proximity flag is not set (NO in S115), or when the time measurement 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. It determines (S118). When the end information is received (YES in S118), the control unit 31 resets both the proximity flag and the far flag (S119). After the end of the process of S119, or when the end information is not received (NO in S118), the control unit 31 shifts the process to S91.

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

  After completion of the process of S134, or when the received operation information is remote operation information (NO in S132), the control unit 31 executes a process ("operation process" in the figure) according to the received operation information. (S135). When the remote control accepted in S72 is, for example, a program operation under execution (that is, when the operator operates the operation button 64a), the processing program stored in the storage unit 32 is transmitted to the controller 6 in S135. The touch panel 64 displays the processing program according to the process of S35. Thereafter, the operation device 6 corrects the machining program by the operator and transmits the corrected machining program to the machine tool 2, and the machine tool 2 uses the received machining program in 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 control accepted in S72 is an emergency stop operation (that is, when the operator operates the operation button 64g), the control unit 31 executes the processing of S135 and the operator of the machine tool 2 performs the emergency stop switch 52. Stop as soon as you operate. At this time, the machine tool 2 transmits emergency stop information indicating that the emergency stop has been performed to the controller device 6. The control unit 61 causes the touch panel 64 to display based on the emergency stop information according to the process of S35. The machine tool 2 and the operating device 6 each execute appropriate processing even 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, and the machine tool 2 and the operation are operated. Appropriate information is transmitted and received between the devices 6. As shown in FIG. 15, the control unit 31 determines whether both the proximity flag and the far flag have been reset (S136). When at least one is set (NO in S136), since the near operation or the far operation is continuing, the control unit 31 returns the process to S131. When both the near field flag and the far field flag are reset (YES in S136), the execution of the remote control application is completed, so the control unit 31 ends the remote control reception process. When the proximity flag is reset although the received operation information is operation information for 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 receiving the error information at S34 (or S74), the controller device 6 displays an error (not shown) based on the error information received at S35 (or S75).

  16 to 18 are flowcharts showing the details of the proximity action processing procedure executed by the machine tool 2. As shown in FIG. 16, the control unit 31 generates action information of the first proximity action (answering the identification number) (S151), and transmits the generated action information to the controller device 6 (S152). The control unit 31 determines whether the response information has been received (S153). When the reply 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 is correct based on the read identification number (worker Determines whether the first neighborhood action has been correctly executed (S 155). When the worker does not correctly execute the first proximity action (NO in S155), the control unit 31 ends the proximity action processing and returns to the permission determination process (S94 in FIG. 13). When the worker properly executes the first proximity action (YES in S155), the control unit 31 generates action information of the second proximity action (answering the open / close state of the door 25) (S156), and the generated action The information is transmitted to the controller 6 (S157). The control unit 31 determines whether or not the response information has been received (S158). When the reply information is not received (NO in S158), the control unit 31 executes the process of S158 again. When the answer information is received (YES in S158), the control unit 31 acquires the detection result of the open / close detection unit 26 (S159), and whether the answer indicated by the received answer information is correct based on the acquired detection result ( It is determined whether the worker has properly executed the second proximity action (S160). When the worker does not properly execute the second proximity action (NO in S160), the control unit 31 returns the proximity action process to the permission determination process (see FIG. 13). When the worker correctly executes the second proximity 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 proximity action (answer to the LED 42) (S172), and transmits the generated action information to the controller device 6 (S173). The control unit 31 determines whether or not the response information has been received (S174). When the reply information is not received (NO in S174), the control unit 31 executes the process of S174 again. Even if a predetermined time has elapsed since the action information was transmitted in the process of S152, S157, or S173, when the process of S153, S158, or S174 determines NO, the control unit 31 ends the proximity action process and the permission or rejection The process may return to the determination process (see FIG. 13). When the response information is received (YES in S174), the control unit 31 determines whether the response indicated by the received response information is correct or not based on the LED 42 lit in S171, that is, the operator correctly executed the third proximity action It is determined whether or not (S175). When the worker does not properly execute the third proximity action (NO in S175), the control unit 31 ends the proximity action processing and returns to the permission determination process (see FIG. 13). When the worker properly executes the third proximity action (YES in S175), the control unit 31 acquires the detection result of the open / close detection unit 26 (S176), and the fourth proximity action ( The action information of 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 the worker has properly executed the fourth proximity action by executing the processes of the following steps S179 to S181. The control unit 31 starts counting of an elapsed time from the time of transmitting the action information (S179). The control unit 31 determines whether the worker correctly opens and closes the door 25 (for example, the closed door 25 is once opened and closed again) by acquiring the detection result of the open / close detection unit 26 (S180). When the open / close state of the door 25 does not change or changes only once (NO in S180), the control unit 31 determines whether or not the elapsed time from which the clocking started in S179 is a predetermined time or more S181). When the elapsed time is less than the predetermined time (NO in S181), control unit 31 returns the process to S180. When the elapsed time is equal to or longer than the predetermined time (YES in S181), the operator does not correctly execute the fourth proximity action, and the control unit 31 ends the time counting started in S179 (S182). And return to the permission determination process (see FIG. 13). When the door 25 opens and closes properly, that is, when the opening and closing state of the door 25 changes twice (YES in S180), the operator correctly executes the fourth proximity action, and the control unit 31 counts the time started in S179. It ends (S183). The control unit 31 generates action information of the fifth nearby action (rotation 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 executes the processing of the following S193 to S195 to determine whether the worker has properly executed the fifth proximity action. The control unit 31 starts counting of an elapsed time from the time of transmitting the action information (S193). The control unit 31 monitors the amount of operation of the handle 53 and the operation direction so that the operator correctly rotates the handle 53 in the predetermined direction by a predetermined amount (for example, ten divisions in the right direction and then five divisions in the left direction) It is determined whether or not the rotation operation has been performed (S194). When the operator does not rotate the handle 53 or is in the process of rotating (NO in S194), the control unit 31 determines whether the elapsed time from which the clocking is started in S193 is equal to or longer than the 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), the operator does not correctly execute the fifth proximity action, and the control unit 31 ends the time counting started in S193 (S196) and proximity action processing And return to the permission determination process (see FIG. 13). When the operator rotates the steering wheel 53 correctly (YES in S194), the fifth proximity action is correctly performed, and the control unit 31 ends the time counting started in S193 (S197). The control unit 31 generates action information of the sixth near action (switching operation of the on / off 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 executes the processing of the next S200 to S202 to determine whether the worker has properly executed the sixth proximity action. The control unit 31 starts counting of an elapsed time from the time of transmitting the action information (S200). The control unit 31 monitors the operation status of the enable switch 54, and determines whether the operator has correctly operated the enable switch 54 (for example, it has been turned on once and turned off again (S201)). When the operator does not operate the enable switch 54 or operates only once (NO in S201), the control unit 31 determines whether the elapsed time from which the clocking started 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), the operator does not correctly execute the sixth proximity action, so the control unit 31 ends the time counting started in S200 (S203) and proximity action processing And return to the permission determination process (see FIG. 13). When the operator operates the enable switch 54 correctly (YES in S201), the operator properly executes the sixth proximity action, and the control unit 31 ends the time counting started in S200 (S204), and the correct flag is set. It sets (S205). The control unit 31 ends the proximity 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, 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 the convenience of remote control of the machine tool 2 using the operating device 6 and the safety at the time of remote control. The reason is that the control device 3 permits the proximity operation when the proximity worker is using the operation device 6, and allows only the far distance operation which is more restricted than the proximity operation when the distance worker is using the manipulation device 6 It is because it does not.

  In order to determine whether the worker using the operation device 6 is a near worker or a far worker, the control device 3 causes the worker to execute a plurality of types of near action. Since each nearby action is a difficult action for the distant worker, the possibility that the distant worker correctly performs all the nearby actions, that is, the possibility that the distant worker is misidentified as the nearby worker is low. Therefore, remote workers can not perform remote control with danger.

  The control device 3 recognizes an operator 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 operator, and the touch panel 64 displays the remote operation screen 642. When the touch panel 64 of the worker near the machine tool 2 displays the far operation screen 642, the worker can know that he / she is near the machine tool 2 other than the machine tool 2 to be remotely controlled. That is, it can be confirmed on both the operator side and the control device 3 side that the machine tool 2 whose operation is desired by the operator and the machine tool 2 with which the controller 6 is in communication are in agreement.

  The hardware configuration of the machine tool 2 is the same as that of the conventional one, and the operating device 6 uses a commercially available general purpose computer. That is, any proximity action performed by the operator can determine the presence or absence or correctness without adding new hardware to the machine tool 2 or the general-purpose computer on the market.

  The remote control 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 transmits that the operation device 6 is activated to the machine tool 2, and thereafter, the machine tool 2 transmits the remote operation application to the operation device 6.

  In the present embodiment, the controller device 6 determines whether the action information received in S51 includes the question output information and the answer acceptance information, and distributes the control based on the determination. The controller 6 may only display the information received from the controller 3 on the screen. In this case, S51 and S55 of FIG. 11 become unnecessary, and S52 becomes only the process of near action screen display. Furthermore, when there is no answer input (NO in S53), the process proceeds to S56. The proximity action screen 643 is displayed or the proximity action screen 644 is displayed in the process of S52. The control device 3 switches the display. Furthermore, in S58, it is determined whether or not it is for proximity operation, but this determination is also unnecessary. In S58, instead of the determination, the screen display processing for remote control is performed, 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 of FIG. 10 and S71 to S77 of FIG. 12 become unnecessary.

2 machine tool 21 processing unit 24 number plate (identification display unit)
25 door (movable part, opening and 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 unit)
54 Enable switch (machine side operation unit)
6 Controller

Claims (17)

A control device capable of communicating with an operating device remote from the machine tool and operating the machine tool based on an operation received by the operating device,
The machine tool controls an operation of the processing unit in accordance with a processing unit that performs processing on a workpiece, a machine-side communication unit for communicating with the operation device, and operation information received via the machine-side communication unit. Has a machine-side controller,
The machine-side control unit
An action transmitting unit that transmits action information indicating an action to be performed by the operator at a position where the machine tool can be viewed, to the operation device via the machine side communication unit;
An action determination unit that determines whether the worker has performed the action;
A first transmission for transmitting, via the machine side communication unit, first operation reception information indicating a first operation that can be received by the machine tool when the action determination unit determines that the worker has performed the action Department,
When the action determination unit determines that the worker is not executing the action, the second operation reception information indicating the second operation more restricted than the first operation is transmitted via the machine side communication unit possess a second transmission unit,
The machine tool further comprises a storage unit for storing a processing program,
The machining program is composed of a plurality of instructions for instructing the operation of the machining unit,
An operation that can be operated by the first operation and can not be operated by the second operation is an operation of correcting the processing program being executed by the processing unit,
The action includes an answer to a question regarding the identification or status of the machine tool,
The action information includes question output information for outputting the question,
The control device according to claim 1, wherein the action determination unit determines whether the worker has performed the action according to presence or absence or correctness of the response transmitted by the operation device. A control device capable of communicating with an operating device remote from the machine tool and operating the machine tool based on an operation received by the operating device,
The machine tool controls an operation of the processing unit in accordance with a processing unit that performs processing on a workpiece, a machine-side communication unit for communicating with the operation device, and operation information received via the machine-side communication unit. Has a machine-side controller,
The machine-side control unit
An action transmitting unit that transmits action information indicating an action to be performed by the operator at a position where the machine tool can be viewed, to the operation device via the machine side communication unit;
An action determination unit that determines whether the worker has performed the action;
A first transmission for transmitting, via the machine side communication unit, first operation reception information indicating a first operation that can be received by the machine tool when the action determination unit determines that the worker has performed the action Department,
When the action determination unit determines that the worker is not executing the action, the second operation reception information indicating the second operation more restricted than the first operation is transmitted via the machine side communication unit With the second transmitter
Have
The machine tool is
A movable part,
A detection unit that detects the state or position of the movable unit;
The action includes an answer to a question asking the state or position of the movable part,
The control device according to claim 1, wherein the action determination unit determines whether the action is performed based on a detection result of the detection unit. A control device capable of communicating with an operating device remote from the machine tool and operating the machine tool based on an operation received by the operating device,
The machine tool controls an operation of the processing unit in accordance with a processing unit that performs processing on a workpiece, a machine-side communication unit for communicating with the operation device, and operation information received via the machine-side communication unit. Has a machine-side controller,
The machine-side control unit
An action transmitting unit that transmits action information indicating an action to be performed by the operator at a position where the machine tool can be viewed, to the operation device via the machine side communication unit;
An action determination unit that determines whether the worker has performed the action;
A first transmission for transmitting, via the machine side communication unit, first operation reception information indicating a first operation that can be received by the machine tool when the action determination unit determines that the worker has performed the action Department,
When the action determination unit determines that the worker is not executing the action, the second operation reception information indicating the second operation more restricted than the first operation is transmitted via the machine side communication unit With the second transmitter
Have
The machine tool is
A movable part,
A detection unit that detects the state or position of the movable unit;
The action includes changing the position or changing the position of the movable portion,
The action information includes instruction output information that is an instruction to a worker performing the action,
The action determination unit determines whether the action has been performed based on the detection result of the detection unit,
The control unit is characterized in that the movable part is an open / close part that can be opened and closed manually. A control device capable of communicating with an operating device remote from the machine tool and operating the machine tool based on an operation received by the operating device,
The machine tool controls an operation of the processing unit in accordance with a processing unit that performs processing on a workpiece, a machine-side communication unit for communicating with the operation device, and operation information received via the machine-side communication unit. Has a machine-side controller,
The machine-side control unit
An action transmitting unit that transmits action information indicating an action to be performed by the operator at a position where the machine tool can be viewed, to the operation device via the machine side communication unit;
An action determination unit that determines whether the worker has performed the action;
A first transmission for transmitting, via the machine side communication unit, first operation reception information indicating a first operation that can be received by the machine tool when the action determination unit determines that the worker has performed the action Department,
When the action determination unit determines that the worker is not executing the action, the second operation reception information indicating the second operation more restricted than the first operation is transmitted via the machine side communication unit With the second transmitter
Have
The machine tool has a machine-side operation unit that accepts operations and is different from the operation device,
The action includes a predetermined operation in the machine side operation unit,
The action information includes instruction output information for outputting an instruction to a worker who executes the action,
The action determination unit determines that the action is performed when the operation accepted by the machine-side operation unit is the predetermined operation,
The machine side operation unit is for operating the processing unit,
The control device, wherein the predetermined operation is an operation of operating the processing unit. A control device capable of communicating with an operating device remote from the machine tool and operating the machine tool based on an operation received by the operating device,
The machine tool controls an operation of the processing unit in accordance with a processing unit that performs processing on a workpiece, a machine-side communication unit for communicating with the operation device, and operation information received via the machine-side communication unit. Has a machine-side controller,
The machine-side control unit
An action transmitting unit that transmits action information indicating an action to be performed by the operator at a position where the machine tool can be viewed, to the operation device via the machine side communication unit;
An action determination unit that determines whether the worker has performed the action;
A first transmission for transmitting, via the machine side communication unit, first operation reception information indicating a first operation that can be received by the machine tool when the action determination unit determines that the worker has performed the action Department,
When the action determination unit determines that the worker is not executing the action, the second operation reception information indicating the second operation more restricted than the first operation is transmitted via the machine side communication unit With the second transmitter
Have
The machine tool has a machine-side operation unit that accepts operations and is different from the operation device,
The action includes a predetermined operation in the machine side operation unit,
The action information includes instruction output information for outputting an instruction to a worker who executes the action,
The action determination unit determines that the action is performed when the operation accepted by the machine-side operation unit is the predetermined operation,
The machine side operation unit has an enable switch for permitting / prohibiting an operation when it is on / off,
The control device, wherein the predetermined operation is an operation to turn on or off the enable switch. A control device capable of communicating with an operating device remote from the machine tool and operating the machine tool based on an operation received by the operating device,
The machine tool controls an operation of the processing unit in accordance with a processing unit that performs processing on a workpiece, a machine-side communication unit for communicating with the operation device, and operation information received via the machine-side communication unit. Has a machine-side controller,
The machine-side control unit
An action transmitting unit that transmits action information indicating an action to be performed by the operator at a position where the machine tool can be viewed, to the operation device via the machine side communication unit;
An action determination unit that determines whether the worker has performed the action;
A first transmission for transmitting, via the machine side communication unit, first operation reception information indicating a first operation that can be received by the machine tool when the action determination unit determines that the worker has performed the action Department,
When the action determination unit determines that the worker is not executing the action, the second operation reception information indicating the second operation more restricted than the first operation is transmitted via the machine side communication unit With the second transmitter
Have
The action transmitting unit sequentially transmits a plurality of types of action information indicating different actions to be performed by the operator at a position where the machine tool can be viewed.
The transmission of the first transmission unit is performed when it is determined that the corresponding action has been performed for all types of the action information transmitted by the action determination unit,
The control device is characterized in that the transmission of the second transmission unit is performed when the behavior determination unit determines that the at least one type of behavior information transmitted via the machine-side communication unit is negative. The machine tool further comprises a storage unit for storing a processing program,
The machining program is composed of a plurality of instructions for instructing the operation of the machining unit,
The first operation can not be operated and the second operation can be operated by the operation, either one of claims 2 to 6, wherein the processing unit is an operation of the modification of the machining program being executed Control device described in. The action includes an answer to a question regarding the identification or status of the machine tool,
The action information includes question output information for outputting the question,
The control device according to claim 7 , wherein the action determination unit determines whether the worker has performed the action according to presence or absence or correctness of an answer transmitted by the operation device. The machine tool is
It has an identification display unit that displays identification information that can identify 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 the identification information of the machine tool,
The action determination unit, according to claim 1 which answers the received depending on whether conform to the identification information stored in the storage unit, and judging whether the execution of the action Or the control apparatus as described in 8 . 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 performed according to whether the received response conforms to the state of the light source controlled by the machine-side control unit. Item 9. A control device according to item 1 or 8 . The machine tool is
A movable part,
A detection unit that detects the state or position of the movable unit;
The action includes an answer to a question asking the state or position of the movable part,
The control device according to any one of claims 1 to 6, wherein the action determination unit determines whether the action is performed based on a detection result of the detection unit. The machine tool is
A movable part,
A detection unit that detects the state or position of the movable unit;
The action includes changing the position or changing the position of the movable portion,
The action information includes instruction output information that is an instruction to a worker performing the action,
The control device according to any one of claims 1 to 6, wherein the action determination unit determines whether or not the action is performed based on a detection result of the detection unit. . The control device according to claim 2, 11, or 12 , wherein the movable portion is an open / close portion which can be opened and closed manually. The machine tool has a machine-side operation unit that accepts operations and is different from the operation device,
The action includes a predetermined operation in the machine side operation unit,
The action information includes instruction output information for outputting an instruction to a worker who executes the action,
The action determination unit, the control device according to claims 1 to 3 or 6, characterized in that it determines that the operation of the machine side operation unit receives executes the action when the a predetermined operation. The machine side operation unit is for operating the processing unit,
The control device according to claim 5 or 14 , wherein the predetermined operation is an operation for operating the processing unit. The machine side operation unit has an enable switch for permitting / prohibiting an operation when it is on / off,
The control device according to claim 4 or 14 , wherein the predetermined operation is an operation to turn on or off the enable switch. The action transmitting unit sequentially transmits a plurality of types of action information indicating different actions to be performed by the operator at a position where the machine tool can be viewed.
The transmission of the first transmission unit is performed when it is determined that the corresponding action has been performed for all types of the action information transmitted by the action determination unit,
Transmitting the second transmission unit, one of claims 1 to 5, characterized in that to execute when the action determination unit determines that not the at least one action information transmitted via the machine-side communication unit The control device according to any one of the preceding claims.

Images