JPH1015864A - Manual pulse generator - Google Patents

Abstract

(57) [Problem] To provide a manual pulse generator capable of sensing the operation state of an operation target not only visually but also by touch. SOLUTION: This is a manual pulse generator 10 that generates a pulse according to the rotation of a shuttle 13 and manually controls a motor M of the manipulator based on the number of pulses, and inputs information on the operation of the motor M from a servo amplifier 30. And a motor 15 for applying a load to the shuttle 13 in accordance with the information. It further includes a memory 23 for storing a specific position among the operating positions of the manipulator. When the manipulator approaches the position stored in the memory 15, the load applied to the shuttle 13 increases. Shuttle 13
The moving speed of the manipulator fluctuates in accordance with the rotation speed of the motor, and the load applied to the shuttle 13 also fluctuates in accordance with the fluctuation in the manipulator moving speed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manual pulse generator used for an NC machine tool or the like.

[0002]

2. Description of the Related Art Conventionally, a manual pulse generator 10 of this kind
Has an axis selection switch 11 for selecting the drive axes X, Y, and Z, a magnification selection switch 12 for selecting the moving speed, and a shuttle 13, as shown in FIG. To manually operate a manipulator such as an NC machine tool. That is, when the operator selects the desired drive axes X to Z and the moving speed with the axis selection switch 11 and the magnification selection switch 12, respectively, and rotates the shuttle 13 in either direction, a pulse corresponding to the rotation is generated. Is done. This pulse is sent to the pulse counter 22 of the controller 20, the number of pulses is counted, and the CPU 21 determines a target value according to the number of pulses. The target value is sent to the servo amplifier 30 as a speed command, and the current value is used to rotate the drive motor 40 of the manipulator.

[0003]

However, in the conventional manual pulse generator 10, the manipulator moves by a distance corresponding to the number of pulses due to the rotation of the shuttle 13, so that the operator needs to operate while looking at the manipulator. Was. For this reason, when visual observation is difficult, there is a possibility that the teaching operation or the like takes a long time, such as moving to a visible position, or the manipulator interferes with a work or another object, and may be damaged. Further, although the moving speed selection switch 12 is provided, the speed may be changed during a series of operations, and in such a case, it is extremely complicated to operate the magnification selecting switch 12 each time.

The present invention has been made in view of such problems of the prior art, and provides a manual pulse generator capable of detecting not only the visual state but also the tactile state of the operation target. The purpose is to:

[0005]

In order to achieve the above object, a manual pulse generator according to the present invention generates a pulse corresponding to the rotation of a shuttle, and controls a manipulator based on the number of pulses. In the manual pulse generator for manually controlling, there is provided a means for inputting information relating to the operation of the manipulator from a servo amplifier which sends a current command to the manipulator, and applying a load corresponding to the information to the shuttle.

In the manual pulse generator according to the first aspect, a load is applied to the shuttle based on the information on the operation of the manipulator, so that the operation of the manipulator can be sensed not only visually but also by tactile sensation.

Further, the manual pulse generator according to a second aspect of the present invention further comprises storage means for storing a specific position among the operation positions of the manipulator, wherein the manipulator approaches the position stored in the storage means. In this case, a load applied to the shuttle increases when the shuttle is performed.

In the manual pulse generator according to the second aspect of the present invention, the storage means for storing a specific position is provided. When the manipulator approaches, a large load can be applied to the shuttle. By doing so, the operator can sense by touching that the interference position has approached while the shuttle is rotating, so that it is possible to prevent the manipulator from interfering even in a situation where it cannot be seen.

According to a third aspect of the present invention, in the manual pulse generator, a moving speed of the manipulator varies according to a rotation speed of the shuttle.

In the manual pulse generator according to the third aspect, the moving speed of the manipulator can be varied by the rotation speed of the shuttle. Therefore, when the manipulator is moved at high speed, the shuttle is rotated at high speed, and the manipulator is moved. When moving at low speed, rotate the shuttle at low speed. By doing so, the speed of the manipulator can be selected only by a series of operations for rotating the shuttle without operating the speed selection switch each time, which is extremely convenient and the work efficiency is improved.

According to a fourth aspect of the present invention, there is provided a manual pulse generator, wherein a load applied to the shuttle changes in accordance with a change in a moving speed of the manipulator.

In the manual pulse generator according to the present invention, when the manipulator moves at a high speed, a large load is applied to the shuttle, and when the manipulator is at a low speed, only a small load is applied to the shuttle. Therefore, even in a situation where visual observation is difficult, the operator can feel the moving speed of the manipulator and can prevent interference and breakage of the manipulator. In addition, the higher the moving speed, the greater the load on the shuttle and the more difficult it is to rotate the shuttle, so that there is also an effect of preventing rapid operation of the manipulator.

[0013]

According to the manual pulse generator of the first aspect, a load is applied to the shuttle based on the information on the operation of the manipulator, and the operation of the manipulator can be sensed not only visually but also by touch. It is possible to grasp the state of the manipulator even in a situation where it is difficult to visually recognize, and the efficiency of teaching work and the like is improved.

According to the manual pulse generator according to the second aspect, the operator can sense that the specific position has approached while the shuttle is rotating by tactile sensation. And breakage can be prevented.

According to the manual pulse generator according to the third aspect, the manipulator speed can be selected only by a series of operations for rotating the shuttle without operating the speed selection switch each time. Work efficiency is improved.

According to the manual pulse generating device of the present invention, the operator can feel the moving speed of the manipulator even in a situation where it is difficult to visually recognize the manipulator, so that interference and breakage of the manipulator can be prevented. it can. In addition, the higher the moving speed, the greater the load on the shuttle and the more difficult it is to rotate the shuttle, so that there is also an effect of preventing rapid operation of the manipulator.

[0017]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of a manual pulse generator according to the present invention, and shows a specific example in a case where a motor 40 of a manipulator is manually controlled. The operation of the motor 40 is controlled by converting a speed command sent from the controller 20 into a current command by the servo amplifier 30, and the servo amplifier 30 performs speed feedback control. In addition, a current command sent from the servo amplifier 30 to the motor 40 and a speed corresponding to the current command are feedback-controlled to the controller 20, and the motor 40 sends the current position from the encoder 41 for detecting the actual position to the controller 20. The value is feedback controlled. Such a control loop is
The control is performed between the controller 20 and the motor 40 of the manipulator regardless of the automatic control and the manual control. In the case of the automatic control, a control device such as an NC machine tool is connected in place of the manual pulse generator 10, and the automatic operation is performed. Command signal is sent to the controller 20.

The manual pulse generator 10 according to the present embodiment comprises:
A manual pulse generator 10 that is preferably applied to a case where a manipulator is manually operated, such as when performing a teaching operation, and includes a drive shaft X, Y, Z of the manipulator as shown in FIGS. And a magnification selection switch 12 for selecting the operation speed of the manipulator, and any selection information is sent to the CPU 21 of the controller 20.

For example, when the manipulator is operated only in the X-axis, the axis selection switch 11 is set to a button corresponding to "X-axis". As a result, the manual pulse signal is transmitted only to the X-axis motor of the manipulator.

The magnification selection switch 12 is a switch for appropriately changing the moving speed of the manipulator in response to a pulse input from the shuttle 13, and is a unity magnification, a magnification of ten times, and a magnification of one.
It can be selected in a range such as 00 times. For example,
Even if the rotation angle of the shuttle 13 is the same, the manipulator moves at a low speed when the button is set to “1 ×”, and moves at a high speed when set to “100 ×”. An automatic mode is provided in addition to the constant magnification. When the automatic mode is set, the speed of the manipulator is changed according to the rotation speed of the shuttle 13.

Further, the manual pulse generator 1 of the present embodiment
0 has a shuttle 13 for generating a pulse serving as an operation signal of the manipulator, and a pulse signal from an encoder 14 attached to the shuttle 13 is transmitted to the controller 2.
It is sent to the zero pulse counter 22. This shuttle 1
3, a motor 15 is attached, and the load on the motor 15 fluctuates according to a current command given to the motor 15 from the controller 20, and as a result, the load on the shuttle 13 fluctuates accordingly, that is, the shuttle becomes heavier. Or become lighter.

On the other hand, the controller 20 for controlling the manipulator receives a pulse signal from the encoder 14 attached to the shuttle 13 and has a pulse counter 22 for counting the number of pulses. The number of pulses is sent to the CPU 21 and subjected to a predetermined calculation.
Sent to In the CPU 21, the axis selection switch 11,
Based on input signals from the magnification selection switch 12 and the pulse counter 22, a speed corresponding to the number of pulses and the magnification is calculated.

At this time, the number of pulses per unit time is simultaneously calculated by the internal timer of the CPU 21, and the shuttle 1
The rotation speed of No. 3 is also calculated. Then, as shown in FIG. 4 (D), the speed command signal to the servo amplifier 30 is changed to 1 ×, 10 ×,... According to the rotation speed of the shuttle 13. That is, when the rotation speed of the shuttle 13 is high, the manipulator is operated at high speed, and when the rotation speed of the shuttle 13 is low, the manipulator is operated at low speed. The speed command according to the rotation speed of the shuttle 13 is executed only when the "automatic mode" is set by the magnification selection switch 12.

The CPU 21 of the controller 20 receives the feedback signal of the current command output from the servo amplifier 30, the speed feedback signal, and the current value signal from the encoder 41 of the motor 40, and calculates the above-mentioned speed command signal. Is executed based on these feedback signals.

In particular, the manual pulse generator 1 of the present embodiment
In the case of 0, a memory 23 is provided for storing a specific position, such as when the manipulator interferes with a work or the like, so that coordinates as a dead point can be stored.

Further, in this embodiment, the controller 2
0 outputs a current command from the CPU 21 to the motor 15 attached to the shuttle 13.
The weight when rotating is fluctuated. For example, when the dead point stored in the memory 23 approaches,
This is calculated in U21, and the load on the motor 15 is increased to increase the rotational load of the shuttle 13.
When the shuttle 13 is rotated at a high speed, the manipulator also operates at a high speed. However, as shown in FIG. 4D, as the rotational speed of the shuttle 13 increases, the load applied to the shuttle 13 increases accordingly.

Next, the operation will be described. First, a desired drive axis X,
After selecting the Y, Z and operation speed, the shuttle 13 is rotated in any direction as shown in FIG. As a result, the selected drive axis signal and the speed magnification signal are sent to the CPU 21 of the controller 20, and the pulse signal emitted from the encoder 14 is counted by the pulse counter 22 of the controller 20, and the pulse number is sent to the CPU 21. Sent out. Then, the CPU 21 calculates the speed based on the drive shaft signal, the speed magnification signal, and the number of pulses. In this speed calculation, a current command and speed feedback from the servo amplifier 30 and a current value from the encoder 41 are considered. The speed command signal calculated in this manner is sent from the CPU 21 to the servo amplifier 30, where it is converted into a current command as shown in FIG. The speed feedback signal accompanying the operation of the manipulator M is a response signal according to the current command from the servo amplifier 30 as shown in FIG. In this case, a current command for setting the load to 0 is sent from the CPU 21 to the motor 15 of the shuttle 13 to reduce the weight of the shuttle 13.

Next, the manipulator M continues to operate,
Due to operator error or inability to see, FIG.
As shown in (B), the light may interfere with an object W such as a work. At this time, the current command continues to be output as it is, but since the manipulator M stops, the speed feedback signal of the manipulator M continues Lo. When the actual speed feedback signal does not respond to the current command as described above, the CPU 21 sends the current command to the motor 15 of the shuttle 13 and
To increase the load. Accordingly, the operator determines that some abnormality has occurred and, for example, rotates the shuttle 13 in the reverse direction to thereby operate the manipulator M or the work W.
Can be prevented beforehand.

In the state shown in FIG. 3B, when the operator does not notice the weight of the shuttle 13 and further rotates the shuttle 13 in the same direction, as shown in FIG. Indicates an abnormal value, the CPU 21 sends a current command to the motor 15 of the shuttle 13 to increase the load and apply a brake so that the shuttle 13 does not rotate. As a result, the rotation of the shuttle 13 is prevented and no pulse is output, so that the manipulator M stops at that position. Therefore, the shuttle 13 from the CPU 21
A current command is sent to the motor 15 and the load applied to the shuttle 13 is set to zero. Thus, the operator determines that the manipulator M has interfered with any object W, and FIG.
As shown in (D), the interference is released by turning the shuttle 13 in the opposite direction. At the same time, the controller 20
The position coordinates are stored as a dead point in the memory 23 of FIG.

When the manipulator M is operated by rotating the shuttle 13, as shown in FIG. 3E, the closer to the interference position previously stored in the memory 23,
The load applied to the shuttle 13 is gradually increased. By feeling of the shuttle 13, the operator operates the manipulator M
Is approaching the interference object W other than by visual observation.

Next, the case where the magnification selection switch 12 is set to the "auto mode" will be described. First, FIG.
As shown in (D), when the rotation speed of the shuttle 13 is low, the operation speed of the manipulator M is set to low (×
1), and as the rotation speed of the shuttle 13 increases, the speed is sequentially increased to 10, 100, 200, and 300 times. In addition, as shown in the drawing, the load applied to the shuttle 13 is sequentially increased in accordance with the operation speed of the manipulator M. For example, when the moving distance of the manipulator M is medium as shown in FIG.
Is rotated at medium speed, the manipulator M
Also operates at medium speeds. At this time, a moderate load is applied to the shuttle 13 to urge the operator to move the manipulator M at a high speed.

On the other hand, when the shuttle 13 is rotated at a high speed, for example, when the moving distance of the manipulator M is long as shown in FIG. 3B, the manipulator M also operates at a high speed. At this time, a large load is applied to the shuttle 13 to evoke that the manipulator M is operating at a high speed. At the same time, by making the shuttle 13 heavy, the speed of the manipulator M is prevented from being excessively increased.

If the manipulator M has a short moving distance as shown in FIG. 3C and moves at high speed, problems such as stop position accuracy and interference may occur, the shuttle 13 is rotated at low speed. . Thereby, the shuttle 13
Since the manipulator M also rotates at a low speed in accordance with the low-speed rotation, the manipulator M can be stopped at a target position. In this case, since the load applied to the shuttle 13 is zero, the shuttle 13 can be easily rotated.

The embodiments described above are described for the purpose of facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of a manual pulse generator according to the present invention.

FIG. 2 is a perspective view showing an embodiment of the manual pulse generator of the present invention.

FIG. 3 is a schematic diagram showing a mode of use of the manual pulse generator of the present invention.

FIG. 4 is a schematic diagram showing another mode of use of the manual pulse generator according to the present invention.

FIG. 5 is a block diagram showing a conventional manual pulse generator.

[Explanation of symbols]

 M: Manipulator 10: Manual pulse generator 11: Axis selection switch 12: Magnification selection switch 13: Shuttle 14: Encoder 15: Motor (means for applying a load to the shuttle) 20: Controller 21: CPU 22, Pulse counter 23: Memory ( Storage means) 30 servo amplifier 40 drive motor 41 encoder

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification number Agency reference number FI Technical display location G05D 3/12 G05D 3/12 N Q 305 305B

Claims (4)

[Claims] 1. A manual pulse generator for generating a pulse according to the rotation of a shuttle and manually controlling a manipulator based on the number of pulses, wherein information relating to the operation of the manipulator is transmitted from a servo amplifier that sends a current command to the manipulator. And enter
A manual pulse generator comprising means for applying a load corresponding to the information to the shuttle. 2. A storage device for storing a specific position among the operation positions of the manipulator, wherein a load applied to the shuttle when the manipulator approaches the position stored in the storage device increases. The manual pulse generator according to claim 1, wherein: 3. The manual pulse generator according to claim 1, wherein a moving speed of the manipulator varies according to a rotation speed of the shuttle. 4. The manual pulse generator according to claim 3, wherein a load applied to the shuttle changes according to a change in a moving speed of the manipulator.