WO2021166843A1 - 数値制御装置 - Google Patents

数値制御装置 Download PDF

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Publication number
WO2021166843A1
WO2021166843A1 PCT/JP2021/005487 JP2021005487W WO2021166843A1 WO 2021166843 A1 WO2021166843 A1 WO 2021166843A1 JP 2021005487 W JP2021005487 W JP 2021005487W WO 2021166843 A1 WO2021166843 A1 WO 2021166843A1
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WO
WIPO (PCT)
Prior art keywords
program
haptic feedback
unit
haptic
execution state
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/005487
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English (en)
French (fr)
Japanese (ja)
Inventor
庸士 大西
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to DE112021001142.1T priority Critical patent/DE112021001142T5/de
Priority to US17/759,982 priority patent/US12271176B2/en
Priority to JP2022501872A priority patent/JP7506148B2/ja
Priority to CN202180014936.8A priority patent/CN115136084A/zh
Publication of WO2021166843A1 publication Critical patent/WO2021166843A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23053—Knob with tactile feedback, representing clicks, detents programmed

Definitions

  • the present invention relates to a numerical control device.
  • Patent Document 1 discloses a machine tool including a control means for changing the type of sound or vibration of the notification means according to the magnitude of the detection load by the load detecting means.
  • the machine tool may have a function to execute the program according to the rotation of the manual handle.
  • a machine tool performs such a function, the operator needs to look at the screen displaying the program in order to check the execution status of the program. Therefore, in a numerical control device that controls a machine tool, a numerical control device that can more intuitively check the execution state of a program is desired.
  • the numerical control device is a numerical control device that controls a machine tool based on a program, and includes a program execution unit having a predetermined function of executing the program in response to rotation of a manual handle of the machine tool. , An execution state specifying unit that specifies the execution state of the program, and a haptic control unit that generates haptic feedback at the manual handle based on the predetermined function and the execution state of the program.
  • the execution state of the program can be confirmed more intuitively.
  • FIG. 1 is a diagram showing a configuration of a numerical control device 1 and a machine tool 2.
  • the numerical control device 1 and the machine tool 2 are connected by a bus (not shown) or the like, and the machine tool 2 operates according to the control of the numerical control device 1.
  • the numerical control device 1 includes a control unit 11, a storage unit 12, a servo amplifier 13, and a PLC (Programmable Logical Controller) 14.
  • the control unit 11 is a processor such as a CPU (Central Processing Unit), and by executing a program stored in the storage unit 12, the manual handle control unit 111, the operation definition unit 112, the program execution unit 113, and the execution state identification It functions as a unit 114, a selection unit 115, a parameter determination unit 116, and a haptic control unit 117.
  • a CPU Central Processing Unit
  • the storage unit 12 is composed of a ROM (read only memory), a RAM (random access memory), a non-volatile memory, a hard disk drive, and the like, and stores various types of data.
  • the storage unit 12 stores operation definition data, parameters, and the like, which will be described later.
  • the servo amplifier 13 amplifies the axis movement command received from the control unit 11 and drives the servomotor 21 of the machine tool 2.
  • the PLC 14 receives an M (auxiliary) function signal, an S (spindle speed control) function signal, a T (tool selection) function signal, and the like from the control unit 11 via a bus. Then, the PLC 14 processes these signals by the sequence program and outputs the processed output signals to the machine tool 2.
  • the PLC 14 controls a pneumatic device, a hydraulic device, an electromagnetic actuator, etc. in the machine tool 2 by an output signal.
  • the PLC 14 receives various signals such as a button signal, a switch signal, and a manual handle signal of the machine operation panel 22 of the machine tool 2, and sequentially processes the received various signals. Then, the PLC 14 transmits various sequence-processed signals to the control unit 11 via the bus.
  • the machine tool 2 includes a servomotor 21 and a machine operation panel 22. Although other configurations of the machine tool 2 are omitted in the present specification for the sake of simplification of description, the machine tool 2 has a general machine tool configuration.
  • the servomotor 21 drives the shaft by the movement command of the shaft received from the servo amplifier 13.
  • the machine control panel 22 includes a button and a switch 221 and a manual handle 222. Buttons and switches 221 include mechanical buttons and switches. The button and switch 221 outputs a button signal and a switch signal to the PLC 14 when the mechanical button or switch is pressed.
  • the manual handle 222 moves one or more axes manually.
  • the manual handle 222 includes a pulse generation unit 2221, a driver 2222, an actuator 2223, and a handle unit 2224.
  • the pulse generation unit 2221 When the handle unit 2224 is rotated in the + direction or the-direction, the pulse generation unit 2221 outputs a pulse signal according to the rotation.
  • This pulse signal is a two-phase pulse for determining the rotation direction, and is transmitted to the control unit 11 via the bus. Then, the manual handle control unit 111 of the control unit 11 transmits a movement command of the axis of the machine tool 2 to the servo amplifier 13 based on this pulse signal.
  • the driver 2222 receives a control signal from the haptic control unit 117 of the control unit 11 and outputs a drive signal for generating haptic feedback to the actuator 2223.
  • the actuator 2223 is driven by a drive signal from the driver 2222 to generate haptic feedback.
  • the actuator 2223 may be, for example, an electric motor, an electromagnetic actuator, a shape memory alloy, an electroactive polymer, a solenoid, an eccentric motor, a linear resonance actuator, a piezoelectric actuator, or the like. Further, the actuator 2223 may be composed of a plurality of different actuators.
  • the handle portion 2224 is composed of a mechanical manual handle, and is operated by, for example, an operator.
  • the manual handle control unit 111 receives the pulse signal output from the pulse generation unit 2221. Then, the manual handle control unit 111 transmits a movement command of the axis of the machine tool 2 to the servo amplifier 13 based on the pulse signal.
  • the motion definition unit 112 sets the motion definition data that defines the haptic feedback generated in the manual handle 222.
  • the action definition data associates a predetermined function with a program execution state and a type of haptic feedback.
  • the operation definition data is stored in the storage unit 12.
  • the program execution unit 113 has a predetermined function of executing a program in response to the rotation of the manual handle 222 of the machine tool 2.
  • the program execution unit 113 can make the program execution proceed by rotating the manual handle 222 in the normal direction, and the axis movement of the machine tool 2 proceeds accordingly.
  • the program execution unit 113 can reverse the execution of the program by reversing the manual handle 222, and the axial movement of the machine tool 2 reverses accordingly.
  • the worker can modify and check the created program.
  • the program can be executed at a speed synchronized with the rotation speed of the manual handle 222.
  • the execution state specifying unit 114 specifies the execution state of the program. Specifically, the execution state specifying unit 114 specifies what kind of execution state the program being executed is in. For example, when a predetermined function is a manual handle retrace function, the execution state specifying unit 114 identifies a block during execution of a program or a block end point. Further, the execution state specifying unit 114 may specify the command speed of the block of the program.
  • the selection unit 115 selects the type of haptic feedback based on the operation definition data, a predetermined function, and the execution state of the program. For example, the selection unit 115 selects a resistance tactile sensation such as a detent associated with a predetermined function and the program end point in the action definition data from the information of the running block and the block end point as the type of haptic feedback.
  • the parameter determination unit 116 determines the parameters related to the haptic feedback based on the type of the haptic feedback selected by the selection unit 115.
  • the type of haptic feedback is associated with the parameters related to haptic feedback.
  • the type of haptic feedback and the parameters related to the haptic feedback are determined based on the information stored in the storage unit 12 and the program execution state.
  • Parameters related to haptic feedback include magnitude, direction, frequency, duration, amplitude, intensity, density, etc. of haptic feedback.
  • the haptic control unit 117 generates haptic feedback at the manual handle based on a predetermined function and the execution state of the program. Specifically, the haptic control unit generates a control signal using the parameters determined by the parameter determination unit 116 based on a predetermined function and the execution state of the program, and notifies the driver 2222 of the control signal. As a result, the haptic control unit 117 causes the manual handle 222 to generate haptic feedback.
  • FIG. 2 is a diagram showing an example of a program execution state.
  • the example of FIG. 2 shows the program execution state when the predetermined function is the manual handle retrace function.
  • the selection unit 115 sets the manual handle retrace function and the program in the operation definition data. Select the detent-like resistance tactile sensation associated with the endpoint as the type of haptic feedback.
  • the parameter determination unit 116 determines the parameters related to the haptic feedback based on the type of the haptic feedback selected by the selection unit 115.
  • the haptic control unit 117 uses the determined parameters to generate a detent-like resistance tactile sensation by haptic feedback.
  • the haptic control unit 117 changes the resistance tactile sensation of the haptic feedback so that the resistance tactile sensation decreases at the end points A, B, and C. Further, the haptic control unit 117 changes the resistance tactile sensation of the haptic feedback so that the resistance tactile sensation becomes larger than the end points A, B and C except for the end points A, B and C.
  • FIG. 3 is a diagram showing an example of the program execution state.
  • the example of FIG. 3 shows the program execution state when the predetermined function is the manual handle retrace function.
  • the selection unit 115 performs the manual handle retrace function and the resistance tactile sensation associated with the command speed of the program block in the operation definition data. Is selected as the type of haptic feedback.
  • the parameter determination unit 116 determines the parameters related to the haptic feedback based on the type of the haptic feedback selected by the selection unit 115.
  • the haptic control unit 117 uses the determined parameters to generate a resistance tactile sensation according to the command speed by haptic feedback.
  • the command speed is F500, which is a relatively high speed.
  • the haptic control unit 117 changes the resistance and tactile sensation of the haptic feedback so that the resistance and tactile sensation of the haptic feedback becomes relatively small.
  • the command speed is F200, which is slower than block 1.
  • the haptic control unit 117 changes the resistance and tactile sensation of the haptic feedback so that the resistance and tactile sensation of the haptic feedback is larger than that of the block 1.
  • the command speed is F300, which is faster than block 1 and slower than block 2.
  • the haptic control unit 117 changes the resistance and tactile sensation of the haptic feedback so that the resistance and tactile sensation of the haptic feedback is larger than that of the block 1 and smaller than that of the block 2.
  • the command speed is F500, which is the same as block 1.
  • the haptic control unit 117 changes the resistance and tactile sensation of the haptic feedback so that the resistance and tactile sensation is the same as that of the block 1.
  • the haptic control unit 117 may generate haptic feedback in another mode in which the user can identify a specific position of the manual handle 222, instead of the above-described haptic feedback mode.
  • FIG. 4 is a flowchart showing a processing flow of the numerical control device 1.
  • the motion definition unit 112 sets the motion definition data that defines the haptic feedback generated in the manual handle 222.
  • the program execution unit 113 executes the program in response to the rotation of the manual handle 222 of the machine tool 2 in a predetermined function.
  • step S3 the execution state specifying unit 114 specifies the execution state of the program being executed.
  • step S4 the selection unit 115 selects the type of haptic feedback based on the operation definition data, the predetermined function, and the execution state of the program.
  • step S5 the parameter determination unit 116 determines the parameters related to the haptic feedback based on the type of the haptic feedback selected by the selection unit 115.
  • step S6 the haptic control unit 117 generates a control signal using the parameter determined by the parameter determination unit 116, and notifies the driver 2222 of the control signal.
  • step S7 the driver 2222 receives the control signal from the haptic control unit 117 of the control unit 11 and outputs the drive signal for generating the haptic feedback to the actuator 2223.
  • the actuator 2223 is then driven by a drive signal from the driver 2222 to generate haptic feedback.
  • the numerical control device 1 that controls the machine tool 2 based on the program has a predetermined function of executing the program in response to the rotation of the manual handle 222 of the machine tool 2. It includes a program execution unit 113, an execution state specifying unit 114 that specifies the execution state of the program, and a haptic control unit 117 that generates haptic feedback at the manual handle 222 based on a predetermined function and the execution state of the program.
  • a program execution unit 113 an execution state specifying unit 114 that specifies the execution state of the program
  • a haptic control unit 117 that generates haptic feedback at the manual handle 222 based on a predetermined function and the execution state of the program.
  • the haptic control unit 117 changes the resistance and tactile sensation of the haptic feedback at the end point of the block of the program. As a result, the operator can intuitively grasp the end point of the block of the program.
  • the haptic control unit 117 changes the haptic feedback according to the command speed of the program. As a result, the operator can intuitively grasp the command speed of the program.
  • the predetermined function includes a manual handle retrace function or a handle synchronous feed function.
  • the numerical control device 1 is based on the action definition unit 112 that sets the action definition data that defines the haptic feedback output to the manual handle 222, the action definition data, a predetermined function, and the execution state of the program.
  • a selection unit 115 for selecting the type of haptic feedback and a parameter determination unit 116 for determining parameters related to the haptic feedback based on the type of haptic feedback are further provided, and the haptic control unit 117 uses the parameters to manually handle 222. To generate haptic feedback. As a result, the numerical control device 1 can appropriately generate haptic feedback on the manual handle 222.
  • the present invention is not limited to the above-described embodiments. Further, the effects described in the present embodiment merely list the most preferable effects arising from the present invention, and the effects according to the present invention are not limited to those described in the present embodiment.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
PCT/JP2021/005487 2020-02-20 2021-02-15 数値制御装置 Ceased WO2021166843A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE112021001142.1T DE112021001142T5 (de) 2020-02-20 2021-02-15 Numerische Steuervorrichtung
US17/759,982 US12271176B2 (en) 2020-02-20 2021-02-15 Numerical control device
JP2022501872A JP7506148B2 (ja) 2020-02-20 2021-02-15 数値制御装置
CN202180014936.8A CN115136084A (zh) 2020-02-20 2021-02-15 数值控制装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-027522 2020-02-20
JP2020027522 2020-02-20

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WO2021166843A1 true WO2021166843A1 (ja) 2021-08-26

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US (1) US12271176B2 (https=)
JP (1) JP7506148B2 (https=)
CN (1) CN115136084A (https=)
DE (1) DE112021001142T5 (https=)
WO (1) WO2021166843A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023175799A1 (ja) * 2022-03-16 2023-09-21 株式会社ジェイテクト 研削盤

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JP2001038578A (ja) * 1999-08-04 2001-02-13 Honda Motor Co Ltd 力覚提示式工作機械
JP2011005623A (ja) * 2009-05-27 2011-01-13 Fanuc Ltd 消費電力推定装置
JP2014050950A (ja) * 2012-09-06 2014-03-20 Fanuc Robotics America Inc 触覚教示ペンダント
WO2015129516A1 (ja) * 2014-02-25 2015-09-03 株式会社ジェイテクト 研削盤
JP2017117278A (ja) * 2015-12-25 2017-06-29 ファナック株式会社 ハンドル操作に応じてｎｃプログラムを実行する機能において、プログラム実行状態を確認する手段を備えた数値制御装置

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Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
JP2001038578A (ja) * 1999-08-04 2001-02-13 Honda Motor Co Ltd 力覚提示式工作機械
JP2011005623A (ja) * 2009-05-27 2011-01-13 Fanuc Ltd 消費電力推定装置
JP2014050950A (ja) * 2012-09-06 2014-03-20 Fanuc Robotics America Inc 触覚教示ペンダント
WO2015129516A1 (ja) * 2014-02-25 2015-09-03 株式会社ジェイテクト 研削盤
JP2017117278A (ja) * 2015-12-25 2017-06-29 ファナック株式会社 ハンドル操作に応じてｎｃプログラムを実行する機能において、プログラム実行状態を確認する手段を備えた数値制御装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023175799A1 (ja) * 2022-03-16 2023-09-21 株式会社ジェイテクト 研削盤
JPWO2023175799A1 (https=) * 2022-03-16 2023-09-21
JP7816489B2 (ja) 2022-03-16 2026-02-18 株式会社ジェイテクト 研削盤

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CN115136084A (zh) 2022-09-30
US20230066756A1 (en) 2023-03-02
US12271176B2 (en) 2025-04-08
DE112021001142T5 (de) 2022-12-29
JP7506148B2 (ja) 2024-06-25
JPWO2021166843A1 (https=) 2021-08-26

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