Numerical control systems

Abstract

The numerical control system (1) comprises: a numerical control device (5) which generates a machine tool command signal as an instruction for a machine tool (2) according to a numerical control program for a machine tool, and generates a robot command signal as an instruction for a robot (3) according to a numerical control program for a robot; and a robot control device (6) which is capable of communicating with the numerical control device (5) and controlling the movement of the robot (3) according to the robot command signal. The robot control device (6) obtains form information required to determine the form of the robot (3), and transmits the form information to the numerical control device (5). The numerical control device (5) generates a robot command signal based on the form information transmitted from the robot control device (6) and the numerical control program for the robot.

Description

Technical Field

[0001] The present disclosure relates to numerical control systems. Background Art

[0002] Generally speaking, the numerical control programs used to control machine tools and the robot programs used to control robots are written in different programming languages. Therefore, in order to operate the machine tools and robots in parallel, the operator needs to be proficient in both the numerical control programs and the robot programs.

[0003] Patent Document 1 discloses a numerical control device that controls both a machine tool and a robot using a numerical control program. According to the numerical control device of Patent Document 1, an operator familiar with the numerical control program can control the robot without being proficient in the robot program.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent No. 6647472

[0007] Problems to be solved by the invention

[0008] However, the position and posture of a typical six-axis articulated robot are expressed in a joint coordinate format (also called an axis coordinate format) using the rotation angle values ​​of the six joints (J1, J2, J3, J4, J5, and J6) as components, or in a rectangular coordinate format using the coordinate values ​​along the three rectangular coordinate axes (X, Y, and Z) and the rotation angle values ​​around each rectangular coordinate axis (A, B, and C) as components. Therefore, it is preferable that a numerical control program in a numerical control device be created in either the joint coordinate format or the rectangular coordinate format.

[0009] Here, the numerical control program created in the joint coordinate format directly specifies the rotation angle of each robot joint. Therefore, the axis configuration of each robot arm and wrist, and the rotational speed of joints capable of rotating 360 degrees or more (hereinafter collectively referred to as the "robot's form") are also uniquely determined. In contrast, in the rectangular coordinate format, the position and posture of the robot's control point (for example, the tip of the robot's arm) are essentially specified using the aforementioned six coordinate values ​​(X, Y, Z, A, B, C). Therefore, the robot's form cannot be uniquely determined.

[0010] Therefore, when creating numerical control programs in rectangular coordinate format for numerical control devices, operators must specify not only the coordinate values ​​of control points but also the morphological information used to define the robot's morphology, which increases the program size accordingly. Furthermore, if the operator is unfamiliar with robots, creating a numerical control program for the robot can be time-consuming.

[0011] The present disclosure has been made in view of the above-mentioned problems, and provides a numerical control system that can create a numerical control program for controlling a robot without recognizing the form of the robot.

[0012] Means for solving problems

[0013] One method disclosed herein is a numerical control system comprising: a numerical control device that generates instructions for a machine tool, namely, a machine tool instruction signal, in accordance with a first numerical control program, and generates instructions for a robot, namely, a robot instruction signal, in accordance with a second numerical control program; and a robot control device that is capable of communicating with the numerical control device and controlling the movement of the robot according to the robot instruction signal, wherein the robot control device obtains information required to determine the shape of the robot, namely, morphological information, and sends the morphological information to the numerical control device, and the numerical control device generates the robot instruction signal based on the morphological information sent from the robot control device and the second numerical control program.

[0014] Effects of the Invention

[0015] In one embodiment of the present disclosure, a numerical control device generates machine tool command signals for a machine tool according to a first numerical control program and generates robot command signals for a robot according to a second numerical control program. The robot control device is capable of communicating with the numerical control device and controlling the robot's movements based on the robot command signals transmitted from the numerical control device. Furthermore, the robot control device obtains morphological information, which is information required to determine the robot's morphology, and transmits this morphological information to the numerical control device. The numerical control device generates robot command signals based on the morphological information transmitted from the robot control device and the second numerical control program. Thus, according to one embodiment of the present disclosure, the numerical control device can obtain the robot's morphological information as needed. Therefore, an operator can create the second numerical control program without having to identify the robot's morphology, which is convenient for operators unfamiliar with robots. Furthermore, the size of the second numerical control program can be reduced by the amount of robot morphological information. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of a numerical control system according to one embodiment of the present disclosure.

[0017] Figure 2This is a functional block diagram of a numerical controller and a robot controller.

[0018] Figure 3A This is a flowchart showing the procedure of coordinate form information management processing (part 1).

[0019] Figure 3B This is a flowchart showing the procedure of coordinate form information management processing (part 2).

[0020] Figure 4 This is an example of a numerical control program for a robot.

[0021] Figure 5A is based on Figure 4 This is a timing chart (Part 1) showing when a numerical control program for a robot is used to operate a numerical control device.

[0022] Figure 5B is based on Figure 4 This is a timing chart (part 2) showing when the numerical control program for a robot is used to operate the numerical control device. DETAILED DESCRIPTION

[0023] Hereinafter, a numerical control system 1 according to an embodiment of the present disclosure will be described with reference to the drawings.

[0024] Figure 1 This is a schematic diagram of the numerical control system 1 according to the present embodiment.

[0025] Numerical control system 1 includes a machine tool 2, a numerical control (CNC) device 5 that controls the machine tool 2, a robot 3 installed near the machine tool 2, and a robot controller 6 communicatively connected to the numerical control device 5. The numerical control device 5 generates machine command signals (instructions to the machine tool 2) and robot command signals (instructions to the robot 3) in accordance with a predetermined numerical control program, and transmits these machine command signals and robot command signals to the machine tool 2 and the robot controller 6. The robot controller 6 controls the operation of the robot 3 based on the robot command signals transmitted from the numerical control device 5.

[0026] The machine tool 2 processes a workpiece (not shown) according to a machine tool command signal sent from the numerical controller 5. Here, the machine tool 2 is exemplified by, but not limited to, a lathe, a drilling machine, a milling machine, a grinding machine, a laser processing machine, and an injection molding machine.

[0027] The robot 3 operates under the control of the robot controller 6, performing, for example, a predetermined operation on a workpiece processed by the machine tool 2. The robot 3 is, for example, a multi-jointed robot, and a gripping tool 32 for gripping the workpiece is mounted on the distal end 31 of its arm. The following description will focus on a case where the robot 3 grips a workpiece processed by the machine tool 2 at a predetermined location using the gripping tool 32 and transports the workpiece to the predetermined location, but the present invention is not limited to this embodiment. Furthermore, the following description will focus on a case where the robot 3 is a multi-jointed robot with six axes, but the number of axes is not limited to this.

[0028] The numerical controller 5 and the robot controller 6 are each computers comprised of hardware components, including a processing unit such as a CPU (Central Processing Unit), auxiliary storage units such as an HDD (Hard Disk Drive) and an SSD (Solid State Drive) for storing various programs, a main storage unit such as RAM (Random Access Memory) for temporarily storing data required by the processing unit while executing programs, an operating unit such as a keyboard for the operator to perform various operations, and a display unit such as a monitor for displaying various information to the operator. The robot controller 6 and the numerical controller 5 can exchange various signals with each other via, for example, Ethernet (registered trademark).

[0029] Figure 2 This is a functional block diagram of the numerical controller 5 and the robot controller 6 .

[0030] like Figure 2 As shown, in the numerical controller 5 , the hardware configuration described above realizes various functions such as a machine tool control module 51 as a control system for the machine tool 2 , a robot control module 52 as a control system for the robot 3 , and a storage unit 53 .

[0031] The storage unit 53 stores, for example, a plurality of numerical control programs created based on operator operations. More specifically, the storage unit 53 stores a first numerical control program for a machine tool, which is used to control the operation of the machine tool 2, and a second numerical control program for a robot, which is used to control the operation of the robot 3. These numerical control programs for the machine tool and the robot are written in a common programming language (e.g., G-code).

[0032] A numerical control program for a machine tool is written based on a machine tool coordinate system, which serves as a first coordinate system with its origin being a reference point defined on or near the machine tool 2. Specifically, the numerical control program for a machine tool describes the position and posture of control points of the machine tool 2 using coordinate values ​​in the machine tool coordinate system.

[0033] The numerical control program for the robot is described based on the robot coordinate system as a second coordinate system that is different from the machine tool coordinate system. That is, in the numerical control program for the robot, the position and posture of the control point of the robot 3 (for example, the front end portion 31 of the arm of the robot 3) are described by the coordinate values ​​in the robot coordinate system that is different from the machine tool coordinate system. The robot coordinate system is a coordinate system with a reference point determined on the robot 3 or near the robot 3 as the origin. In addition, the following describes the case where the robot coordinate system is different from the machine tool coordinate system, but the present disclosure is not limited to this. The robot coordinate system can also be consistent with the machine tool coordinate system. In other words, the origin and coordinate axis direction of the robot coordinate system can be made consistent with the origin and coordinate axis direction of the machine tool coordinate system.

[0034] Furthermore, in the numerical control program for the robot, the robot coordinate system can be switched between two or more coordinate formats with different control axes. More specifically, in the numerical control program for the robot, the position and posture of the control points of the robot 3 can be specified in either rectangular coordinate format or joint coordinate format.

[0035] In the joint coordinate format, the position and posture of the control point of the robot 3 are specified by a total of six real number coordinate values ​​having the rotation angle values ​​( J1 , J2 , J3 , J4 , J5 , and J6 ) of the six joints of the robot 3 as components.

[0036] In the rectangular coordinate format, the position and posture of the control point of the robot 3 are specified by a total of 6 real number coordinate values ​​consisting of 3 coordinate values ​​(X, Y, Z) along the 3 rectangular coordinate axes and 3 rotation angle values ​​(A, B, C) around each rectangular coordinate axis.

[0037] In the joint coordinate format, the rotation angles of each joint of robot 3 are directly specified. Therefore, the axis configuration of each arm or wrist of robot 3 and the rotational speed of joints capable of rotating more than 360 degrees (hereinafter collectively referred to as "the form of robot 3") are also uniquely determined. In contrast, in the rectangular coordinate format, the position and posture of robot 3's control points are specified using six coordinate values ​​(X, Y, Z, A, B, C). Therefore, the form of robot 3 cannot be uniquely determined. Therefore, in the numerical control program for the robot, the form of robot 3 can be specified using an integer value of a specified number of digits, namely, a form value P. Therefore, the position and posture of robot 3's control points and the form of robot 3 are represented by six coordinate values ​​(J1, J2, J3, J4, J5, J6) in the joint coordinate format and by six coordinate values ​​and one form value (X, Y, Z, A, B, C, P) in the rectangular coordinate format.

[0038] In the numerical control program for the robot, the coordinate format can be set by the G codes "G68.8" and "G68.9". More specifically, by inputting the G code "G68.8", the coordinate format is set to the joint coordinate format, and by inputting the G code "G68.9", the coordinate format is set to the rectangular coordinate format. The G codes "G68.8" and "G68.9" for setting these coordinate formats are modal. Therefore, after the coordinate format is set to the joint coordinate format or the rectangular coordinate format by these G codes, the coordinate format is maintained until the coordinate format is changed again by these G codes. In addition, in the present embodiment, when the G codes for setting these coordinate formats are not recorded in the numerical control program for the robot, the coordinate format is automatically set to the rectangular coordinate format, but is not limited to this.

[0039] The machine tool control module 51 generates commands for the machine tool 2, or machine command signals, according to the machine tool numerical control program. These signals are then input to actuators (not shown) of the machine tool 2. More specifically, the machine tool control module 51 reads the machine tool numerical control program stored in the storage unit 53, analyzes the command types based on the numerical control program, and generates the machine command signals. The machine tool 2 operates according to the machine command signals transmitted from the machine tool control module 51, machining a workpiece (not shown).

[0040] The robot control module 52 generates robot command signals, which are commands to the robot 3, and various request signals to the robot control device 6, according to the numerical control program for the robot, and transmits these signals to the robot control device 6. More specifically, the robot control module 52 includes a program input unit 521, an input analysis unit 522, a coordinate form information control unit 523, a coordinate form information management unit 524, a robot command signal generation unit 525, a memory 526, a coordinate display unit 527, and a data transceiver 528, which generate the robot command signals and various request signals.

[0041] The program input unit 521 reads the numerical control program for the robot from the storage unit 53 and sequentially inputs the program to the input analysis unit 522 .

[0042] The input analysis unit 522 sequentially analyzes the command type based on the numerical control program input from the program input unit 521 for each program block, and sends the analysis result to the coordinate form information control unit 523 and the robot command signal generation unit 525 .

[0043] The coordinate form information control unit 523 determines the coordinate format set by the robot numerical control program, i.e., the designated coordinate format, based on the analysis results input from the input analysis unit 522. As described above, in the robot numerical control program, the coordinate format can be set or changed to a joint coordinate format or a rectangular coordinate format using a specified G-code. The coordinate form information control unit 523 determines the designated coordinate format based on the analysis results input from the input analysis unit 522 and transmits information related to the current designated coordinate format to the coordinate form information management unit 524 and the robot command signal generation unit 525.

[0044] Furthermore, during the execution of the numerical control program for the robot, the coordinate form information control unit 523 writes a reference coordinate value request signal for acquiring a new reference coordinate value corresponding to the current coordinate value of each control axis in the determined designated coordinate format from the robot controller 6, and a reference form value request signal for acquiring a new reference form value corresponding to the current form value of the robot 3 from the robot controller 6, into the data transceiver unit 528 at a predetermined timing, and transmits these reference coordinate value request signals and reference form value request signals to the robot controller 6. The timing of transmitting these reference coordinate value request signals and reference form value request signals to the robot controller 6 will be described in detail later.

[0045] The coordinate form information management unit 524 manages the coordinate information composed of the coordinate values ​​of each control axis in the designated coordinate format determined by the coordinate form information control unit 523 and the form information composed of the form value of the robot 3 through the memory 526. Figure 2 As shown, the memory 526 includes a coordinate information storage area 526a for storing multiple component coordinate values ​​and a morphology information storage area 526b for storing morphology values. The coordinate information storage area 526a of the memory 526 stores multiple sets of coordinate values, while the morphology information storage area 526b stores, for example, one set of morphology values. The number of coordinate value sets that can be stored in the coordinate information storage area 526a, that is, the number of coordinate information components managed by the coordinate morphology information management unit 524 and the memory 526, is preferably less than the sum of the number of control axes in the rectangular coordinate format, which is 6, and the number of control axes in the joint coordinate format, which is 6. The following description will illustrate a case where the number of coordinate value sets that can be stored in the coordinate information storage area 526a is set to the number of control axes in both the rectangular coordinate format and the joint coordinate format, which is 6, but the present invention is not limited to this embodiment.

[0046] When the coordinate format is designated as the joint coordinate format, the coordinate form information management unit 524 will refer to Figure 3A as well as Figure 3BThe process described obtains the coordinate values ​​(J1, J2, J3, J4, J5, J6) of each control axis in the joint coordinate format of the robot 3, and stores these coordinate values ​​in the first component #1, second component #2, third component #3, fourth component #4, fifth component #5 and sixth component #6 of the coordinate information storage area 526a.

[0047] When the coordinate format is designated as the rectangular coordinate format, the coordinate form information management unit 524 will refer to the following Figure 3A as well as Figure 3B The process described above obtains the coordinate values ​​(X, Y, Z, A, B, C) of each control axis in the rectangular coordinate format of the robot 3 and stores these coordinate values ​​in the components #1 to #6 of the coordinate information storage area 526a. In addition, when the coordinate format is specified as the rectangular coordinate format, the coordinate form information management unit 524 will refer to the following Figure 3A as well as Figure 3B In the process described, the form value P of the robot 3 is obtained and stored in the form information storage area 526b.

[0048] Figure 3A as well as Figure 3B This is a flowchart showing the process of managing coordinate information and form information in a specified coordinate format by the coordinate form information management unit 524 and the memory 526 (hereinafter referred to as "coordinate form information management process"). Figure 3A as well as Figure 3B The coordinate form information management process shown is repeatedly executed at a predetermined cycle in the coordinate form information management unit 524 while the numerical control program for the robot is being executed in the robot control module 52 .

[0049] First, in S1, the coordinate form information management unit 524 determines whether the designated coordinate format is the joint coordinate format. If the determination result of S1 is yes, the coordinate form information management unit 524 proceeds to S2, and if the determination result of S1 is no, the coordinate form information management unit 524 proceeds to S4.

[0050] In S2, the coordinate form information management unit 524 determines whether the reference coordinate value information containing the latest reference coordinate value has just been received from the robot control device 6. As mentioned above, the reference coordinate value refers to the current coordinate value of each control axis in the specified coordinate format. As described later, the robot control device 6 obtains the reference coordinate value based on the reference coordinate value request signal sent from the coordinate form information control unit 523 at a specified time, and returns the reference coordinate value information containing the reference coordinate value to the numerical control device 5. The coordinate form information management unit 524 transfers to S3 if the judgment result of S2 is yes, and ends if the judgment result of S2 is no. Figure 3A as well as Figure 3BThe processing shown.

[0051] In S3, the coordinate shape information management unit 524 updates the coordinate information stored in the coordinate information storage area 526a of the memory 526 based on the reference coordinate value sent from the robot control device 6, and then ends. Figure 3A as well as Figure 3B More specifically, the coordinate form information management unit 524 replaces the coordinate values ​​stored in the components # 1 to # 6 in the coordinate information storage area 526 a based on the reference coordinate values ​​sent from the robot controller 6 .

[0052] In S4, the coordinate form information management unit 524 determines whether the reference coordinate value information including the latest reference coordinate value has just been received from the robot controller 6. If the determination result of S4 is yes, the coordinate form information management unit 524 proceeds to S5, and if the determination result of S4 is no, the coordinate form information management unit 524 proceeds to S6.

[0053] In S5, the coordinate form information management unit 524 updates the coordinate information stored in the coordinate information storage area 526a of the memory 526 based on the reference coordinate value sent from the robot control device 6 according to the same process as S3 above, and then transfers to S6.

[0054] In S6, the coordinate form information management unit 524 determines whether reference form value information including the latest reference form value has been received from the robot controller 6. As described above, the reference form value refers to the current form value of the robot 3. As described later, the robot controller 6 obtains the reference form value in response to a reference form value request signal transmitted from the coordinate form information control unit 523 at a predetermined time, and returns the reference form value information including the reference form value to the numerical controller 5. If the result of S6 is yes, the coordinate form information management unit 524 proceeds to S7; if the result of S6 is no, the process proceeds to S8.

[0055] In S7, the coordinate form information management unit 524 updates the form information stored in the form information storage area 526b of the memory 526 based on the reference form value sent from the robot control device 6, and then ends. Figure 3A as well as Figure 3B More specifically, the coordinate form information management unit 524 replaces the form value stored in the form information storage area 526 b of the memory 526 based on the reference form value sent from the robot controller 6 .

[0056] In S8, the coordinate shape information management unit 524 updates the shape information stored in the shape information storage area 526b of the memory 526 based on the shape value specified in the numerical control program input from the input analysis unit 522, and then ends. Figure 3A as well as Figure 3B The processing shown.

[0057] As described above, upon receiving the reference coordinate values ​​transmitted from the robot controller 6 , the coordinate form information management unit 524 updates the coordinate information stored in the coordinate information storage area 526 a of the memory 526 with the reference coordinate values.

[0058] Furthermore, when the designated coordinate format is the rectangular coordinate format, the coordinate form information management unit 524 updates the form information stored in the form information storage area 526 b of the memory 526 based on the reference form value transmitted from the robot controller 6 or the form value specified in the numerical control program. More specifically, when the coordinate form information management unit 524 receives the reference form value transmitted from the robot controller 6, it updates the form information stored in the form information storage area 526 b based on the reference form value. Otherwise, it updates the form information stored in the form information storage area 526 b based on the form value specified in the numerical control program.

[0059] Return to Figure 2 During the execution of the numerical control program for the robot, the coordinate display unit 527 reads the coordinate information stored in the coordinate information storage area 526a of the memory 526 at a predetermined period and displays the coordinate information on a display (not shown) along with the specified coordinate format. This allows the operator to confirm the position and posture of the robot 3 using numerical values.

[0060] The robot command signal generating unit 525 generates a robot command signal corresponding to the numerical control program based on the latest coordinate information and morphological information stored in the memory 526 and the analysis results of the numerical control program input from the input analysis unit 522, writes the generated robot command signal into the data transceiver unit 528, and sends the robot command signal to the robot control device 6.

[0061] Here, we will describe a case where the position and posture of the control point of robot 3, and the shape of robot 3, change depending on the command type of the numerical control program (specifically, for example, when the G code is "G00" corresponding to positioning (rapid forward) or "G01" corresponding to linear interpolation). In this case, the robot command signal generator 525 calculates the endpoint and speed of the control point of robot 3 in a specified coordinate format, using the coordinate values ​​stored in the coordinate information storage area 526a of the memory 526 as the start point of the control point of robot 3, and writes a robot command signal containing information regarding the specified coordinate format, endpoint, and speed to the data transceiver 528. Furthermore, after calculating the coordinate values ​​of the endpoint of the control point of robot 3 as described above, the robot command signal generator 525 updates the start point coordinate values ​​stored in the coordinate information storage area 526a of the memory 526 based on the calculated endpoint coordinate values.

[0062] However, as described above, the form of robot 3 cannot be uniquely determined using the rectangular coordinate format. Therefore, when the designated coordinate format is the rectangular coordinate format, the robot command signal generator 525 uses the coordinate values ​​stored in the coordinate information storage area 526a of the memory 526 as the start point of the robot 3's control point, calculates the end point, velocity, and form value of the control point at the end point, and writes a robot command signal containing information related to the designated coordinate format, end point, velocity, and form value at the end point to the data transceiver 528. Furthermore, after calculating the coordinate values ​​of the end point of the robot 3's control point as described above, the robot command signal generator 525 updates the start point coordinate values ​​stored in the coordinate information storage area 526a of the memory 526 based on the calculated end point coordinate values.

[0063] Next, the timing of generating a reference coordinate value request signal and a reference form value request signal in the coordinate and form information control unit 523 and transmitting these request signals to the robot control unit 6 will be described. As described above, the reference coordinate value request signal and the reference form value request signal trigger the updating of the coordinate information and form information stored in the memory 526 based on information transmitted from the robot control unit 6. Therefore, the coordinate and form information control unit 523 determines whether reference coordinate values ​​and reference form values ​​need to be obtained during the execution of the robot numerical control program in the robot control module 52. If it determines that reference coordinate values ​​need to be obtained, it transmits a reference coordinate value request signal to the robot control unit 6. If it determines that reference form values ​​need to be obtained, it transmits a reference form value request signal to the robot control unit 6.

[0064] More specifically, when the execution of the robot numerical control program is started, when the robot numerical control program is restarted after being interrupted for some reason, when the designated coordinate format is newly set according to the robot numerical control program, or when the designated coordinate format is changed according to the robot numerical control program, the coordinate form information control unit 523 determines that the reference coordinate value needs to be obtained and writes a reference coordinate value request signal to the data transceiver 528. As a result, the reference coordinate value request signal is transmitted from the data transceiver 528 to the robot controller 6.

[0065] Furthermore, the coordinate form information control unit 523 determines that it is necessary to obtain a reference form value, at least when the designated coordinate format is the rectangular coordinate format, and writes a reference form value request signal to the data transceiver 528. Consequently, the reference form value request signal is transmitted from the data transceiver 528 to the robot controller 6. More specifically, the coordinate form information control unit 523 determines that it is necessary to obtain a reference form value, and transmits the reference form value request signal to the robot controller 6, when the robot numerical control program is started with the designated coordinate format being the rectangular coordinate format, or when the designated coordinate format is the rectangular coordinate format and no form value is specified in the numerical control program. Furthermore, when the designated coordinate format is the rectangular coordinate format and form value is specified in the numerical control program, the coordinate form information control unit 523 determines that it is not necessary to obtain a reference form value, and does not transmit the reference form value request signal to the robot controller 6. That is, when a form value is specified in the numerical control program, the coordinate form information control unit 523 prioritizes the form value specified in the numerical control program over the reference form value acquired by the robot controller 6 and generates a robot command signal.

[0066] When the robot command signal generating unit 525 writes a robot command signal, the data transceiver unit 528 transmits the robot command signal to the data transceiver unit 61 of the robot control unit 6. Furthermore, when the coordinate form information control unit 523 writes a reference coordinate value request signal and a reference form value request signal, the data transceiver unit 528 transmits these reference coordinate value request signals and reference form value request signals to the data transceiver unit 61 of the robot control unit 6.

[0067] Upon receiving the reference coordinate value information and the reference form value information transmitted from the data transceiver 61 of the robot controller 6 , the data transceiver 528 transmits these reference coordinate value information and reference form value information to the coordinate form information management unit 524 .

[0068] like Figure 2As shown, in the robot control device 6 , various functions such as the data transceiver 61 , the input analyzer 62 , the robot position control unit 63 , the servo control unit 64 , and the robot position management unit 65 are realized by the hardware configuration.

[0069] Upon receiving the robot command signal, the reference coordinate value request signal, and the reference form value request signal transmitted from the data transceiver 528 of the numerical controller 5 , the data transceiver 61 transmits these signals to the input analysis unit 62 .

[0070] When the reference coordinate value information and the reference form value information are written by the robot position management unit 65 , the data transceiver 61 transmits these reference coordinate value information and reference form value information to the data transceiver 528 of the numerical controller 5 .

[0071] When a robot command signal is transmitted from the data transceiver 61, the input analysis unit 62 converts the robot command signal into a robot program for controlling the robot 3 and transmits the robot program to the robot position control unit 63. Furthermore, when a reference coordinate value request signal or a reference form value request signal is transmitted from the data transceiver 61, the input analysis unit 62 transmits these request signals to the robot position management unit 65.

[0072] The robot position control unit 63 performs kinematic transformation according to the robot program sent from the input analysis unit 62 , thereby generating commands for a plurality of servo motors (not shown) for rotating the joints of the robot 3 , and inputs the commands to the servo control unit 64 .

[0073] The servo control unit 64 performs feedback control on each servo motor of the robot 3 to implement the command input from the robot position control unit 63 .

[0074] Upon receiving the reference coordinate value request signal from the input analysis unit 62, the robot position management unit 65 obtains the detection values ​​of various position sensors (not shown) installed on the robot 3 and calculates the coordinate values ​​of each control axis in the robot coordinate system based on these detection values ​​in a specified coordinate format. The robot position management unit 65 uses the calculated coordinate values ​​as the reference coordinate values ​​and writes reference coordinate value information containing these reference coordinate values ​​to the data transceiver 61. The reference coordinate value information is then transmitted from the data transceiver 61 to the numerical controller 5.

[0075] Furthermore, upon receiving the reference form value request signal from the input analysis unit 62, the robot position management unit 65 obtains the detection values ​​of the various position sensors provided on the robot 3 and calculates the form value of the robot 3 based on these detection values. The robot position management unit 65 uses the calculated form value as the reference form value and writes reference form value information including this reference form value to the data transceiver 61. The reference form value information is then transmitted from the data transceiver 61 to the numerical controller 5.

[0076] Next, refer to Figure 4 、 Figure 5A as well as Figure 5B The flow of various signals and information in the numerical control system 1 configured as above will be described.

[0077] Figure 4 This is an example of a numerical control program for a robot.

[0078] Figure 5A as well as Figure 5B It means according to Figure 4 This is a timing chart showing the flow of signals and information between the numerical controller 5 and the robot controller 6 when the numerical controller 5 is operated by the numerical control program for the robot.

[0079] First, in the program block indicated by sequence number "N10," the command "G68.8" is input to the coordinate form information control unit 523 of the numerical controller 5. In response, the coordinate form information control unit 523 sets the joint coordinate format to the designated coordinate format. Furthermore, in response to the initial setting of the designated coordinate format in this program block, the coordinate form information control unit 523 transmits a reference coordinate value request signal to the robot position management unit 65 of the robot controller 6. In response to receiving the reference coordinate value request signal, the robot position management unit 65 of the robot controller 6 obtains the reference coordinate values ​​(J1, J2, J3, J4, J5, and J6) in the current designated coordinate format and transmits reference coordinate value information containing these reference coordinate values ​​to the coordinate form information management unit 524 of the numerical controller 5. Furthermore, the coordinate form information management unit 524 of the numerical controller 5 updates the coordinate information stored in the coordinate information storage area 526a of the memory 526 based on the received reference coordinate values.

[0080] Next, in the program block indicated by sequence number "N11," the command "G00 J1=_J2=_J3=_J4=_J5=_J6=_" based on the joint coordinate format is input to the robot command signal generator 525 of the numerical controller 5. Furthermore, the coordinate values ​​of the endpoint are input in the underlined portion of the command. Based on the coordinate information stored in the coordinate information storage area 526a of the memory 526 and the input command, the robot command signal generator 525 generates a robot command signal and transmits it to the robot controller 6. The robot controller 6 controls the movement of the robot 3 based on the received robot command signal. Furthermore, the robot command signal generator 525 of the numerical controller 5 subsequently updates the coordinate information stored in the coordinate information storage area 526a according to the numerical control program, using the reference coordinate values ​​obtained in the program block indicated by sequence number "N10," until the coordinate format is changed in sequence number "N20."

[0081] Next, in the program block indicated by sequence number "N20," the command "G68.9" is input to the coordinate form information control unit 523 of the numerical controller 5. In response, the coordinate form information control unit 523 changes the designated coordinate format from the previously used joint coordinate format to the rectangular coordinate format. Furthermore, in response to the change in the designated coordinate format in this program block, the coordinate form information control unit 523 transmits a reference coordinate value request signal to the robot position management unit 65 of the robot controller 6. In response to receiving the reference coordinate value request signal, the robot position management unit 65 of the robot controller 6 obtains the reference coordinate values ​​(X, Y, Z, A, B, C) in the current designated coordinate format and transmits reference coordinate value information containing these reference coordinate values ​​to the coordinate form information management unit 524 of the numerical controller 5. Furthermore, the coordinate form information management unit 524 of the numerical controller 5 updates the coordinate information stored in the coordinate information storage area 526a of the memory 526 based on the received reference coordinate values.

[0082] Next, in the program block indicated by sequence number "N21," the command "G01 X_Y_Z_A_B_C_" in rectangular coordinate format is input to the coordinate form information control unit 523 and the robot command signal generation unit 525 of the numerical controller 5. Furthermore, the command input in this program block does not specify a form value for the robot 3. When the coordinate format is specified as rectangular and the command input in this program block does not specify a form value, the coordinate form information control unit 523 determines that a reference form value must be obtained and transmits a reference form value request signal to the robot position management unit 65 of the robot controller 6. In response to receiving the reference form value request signal, the robot position management unit 65 obtains the current form value (P) of the robot 3 and transmits reference form value information including the reference form value to the coordinate form information management unit 524 of the numerical controller 5. Furthermore, the coordinate form information management unit 524 updates the form information stored in the form information storage area 526b of the memory 526 based on the received reference form value.

[0083] After the configuration information is updated as described above, the robot command signal generator 525 of the numerical controller 5 generates a robot command signal based on the coordinate information stored in the coordinate information storage area 526a of the memory 526, the configuration information stored in the configuration information storage area 526b, and the input command, and transmits it to the robot controller 6. The robot controller 6 controls the movement of the robot 3 based on the received robot command signal. Furthermore, the robot command signal generator 525 of the numerical controller 5 subsequently updates the coordinate information stored in the coordinate information storage area 526a according to the numerical control program, using the reference coordinate values ​​obtained in the program block with sequence number "N20" as a reference, until the coordinate format is changed in the program block with sequence number "N40."

[0084] Next, in the program block indicated by sequence number "N30," the command "G01 X_Y_Z_A_B_C_P_" in rectangular coordinate format is input to the coordinate form information control unit 523 and the robot command signal generation unit 525 of the numerical controller 5. Furthermore, the command input in this program block specifies the form value of the robot 3. Thus, unlike the program block indicated by sequence number "N21," when the form value is specified in the command, the coordinate form information control unit 523 does not transmit a reference form value request signal. Furthermore, in this case, the coordinate form information management unit 524 of the numerical controller 5 updates the form information stored in the form information storage area 526b based on the form value specified in the input command.

[0085] After the configuration information is updated as described above, the robot command signal generation unit 525 of the numerical controller 5 generates a robot command signal based on the coordinate information stored in the coordinate information storage area 526a of the memory 526, the configuration information stored in the configuration information storage area 526b, and the input command, and transmits the signal to the robot controller 6. The robot controller 6 controls the movement of the robot 3 based on the received robot command signal.

[0086] Next, in the program block indicated by sequence number "N40," the command "G68.8" is input to the coordinate form information control unit 523 of the numerical controller 5. In response, the coordinate form information control unit 523 changes the designated coordinate format from the previously used rectangular coordinate format to the joint coordinate format. Furthermore, in response to the change in the designated coordinate format in this program block, the coordinate form information control unit 523 transmits a reference coordinate value request signal to the robot position management unit 65 of the robot controller 6. In response to receiving the reference coordinate value request signal, the robot position management unit 65 obtains the reference coordinate values ​​(J1, J2, J3, J4, J5, and J6) in the current designated coordinate format and transmits reference coordinate value information containing these reference coordinate values ​​to the coordinate form information management unit 524 of the numerical controller 5. Furthermore, the coordinate form information management unit 524 updates the coordinate information stored in the coordinate information storage area 526a of the memory 526 based on the received reference coordinate values.

[0087] Next, in the program block indicated by sequence number "N41," a command "G01 J1=_J2=_J3=_J4=_J5=_J6=_" based on the joint coordinate format is input to the robot command signal generator 525 of the numerical controller 5. Based on the coordinate information stored in the coordinate information storage area 526a of the memory 526 and the input command, the robot command signal generator 525 generates a robot command signal and transmits it to the robot controller 6. The robot controller 6 controls the movement of the robot 3 based on the received robot command signal. Furthermore, the robot command signal generator 525 of the numerical controller 5 subsequently updates the coordinate information stored in the coordinate information storage area 526a according to the numerical control program, using the reference coordinate values ​​obtained in the program block indicated by sequence number "N40," until the designated coordinate format is changed.

[0088] According to this embodiment, the following effects are obtained.

[0089] The numerical controller 5 generates machine command signals for the machine tool 2 according to the numerical control program for the machine tool, and generates robot command signals for the robot 3 according to the numerical control program for the robot. The robot controller 6 can communicate with the numerical controller 5 and control the movement of the robot 3 based on the robot command signals transmitted from the numerical controller 5. Furthermore, the robot controller 6 obtains the form values ​​required to determine the form of the robot 3 and transmits these form values ​​as reference form values ​​to the numerical controller 5. The numerical controller 5 generates robot command signals based on the reference form values ​​transmitted from the robot controller 6 and the numerical control program for the robot. Therefore, according to this embodiment, the numerical controller 5 can obtain the form values ​​of the robot 3 as needed. This allows the operator to create the numerical control program for the robot without having to identify the form of the robot 3, which is very convenient for operators unfamiliar with the robot 3. This also reduces the size of the numerical control program for the robot by the form values ​​of the robot 3.

[0090] The coordinate form information control unit 523 of the numerical controller 5 determines whether it is necessary to obtain a reference form value during the execution of the numerical control program for the robot. If it is determined that the reference form value needs to be obtained from the robot controller 6, it transmits a reference form value request signal to the robot controller 6. Furthermore, in response to receiving the reference form value request signal, the robot controller 6 obtains the reference form value and transmits the reference form value to the numerical controller 5. This minimizes communication between the numerical controller 5 and the robot controller 6, thereby reducing the computational load and, in turn, preventing degradation in the machining performance of the robot 3 and the machine tool 2.

[0091] In the numerical control program for the robot of this embodiment, the position and posture of the robot 3 can be specified using either a rectangular coordinate format or a joint coordinate format. Furthermore, when the rectangular coordinate format is the specified coordinate format, the coordinate form information control unit 523 of the numerical controller 5 determines that it is necessary to obtain a reference form value from the robot controller 6 and transmits a reference form value request signal to the robot position management unit 65 of the robot controller 6. In the joint coordinate format, the form of the robot 3 is uniquely determined, so obtaining a reference coordinate value is unnecessary. Therefore, according to this embodiment, communication between the numerical controller 5 and the robot controller 6 can be minimized, thereby reducing the computational load and, in turn, preventing degradation in the machining performance of the robot 3 and the machine tool 2.

[0092] When the rectangular coordinate format is a designated coordinate format and the robot 3's form value is specified by the robot numerical control program, the coordinate form information control unit 523 of the numerical controller 5 determines that it is not necessary to obtain the reference form value from the robot controller 6. Specifically, when a form value is specified in the numerical control program, the coordinate form information control unit 523 prioritizes the form value specified in the numerical control program over the reference form value obtained from the robot controller 6 and generates a robot command signal. This minimizes communication between the numerical controller 5 and the robot controller 6, thereby reducing the computational load and, in turn, preventing degradation in the machining performance of the robot 3 and the machine tool 2.

[0093] The present disclosure is not limited to the above-described embodiment, and various changes and modifications are possible.

[0094] Explanation of symbols

[0095] 1…Numerical control system

[0096] 2…Machine tools

[0097] 3…Robots

[0098] 5…Numerical control device

[0099] 51…Machine tool control module

[0100] 52…Robot control module

[0101] 521…Program input unit

[0102] 522…Input parsing unit

[0103] 523…Coordinate shape information control unit

[0104] 524…Coordinate Morphological Information Management Department

[0105] 525…Robot command signal generation unit

[0106] 526…Memory

[0107] 526a…Coordinate information storage area

[0108] 526b…morphological information storage area

[0109] 527…Coordinate display unit

[0110] 528…Data transceiver unit

[0111] 53…Storage

[0112] 6…Robot control device

[0113] 61…Data transceiver

[0114] 62…Input analysis unit

[0115] 63…Robot position control unit

[0116] 64…Servo control unit

[0117] 65…Robot Position Management Department.

Claims

1. A numerical control system comprising: a numerical control device that generates a machine tool command signal as an instruction for a machine tool according to a first numerical control program, and generates a robot command signal as an instruction for a robot according to a second numerical control program; and a robot control device capable of communicating with the numerical control device and controlling the movement of the robot according to the robot command signal; It is characterized in that The robot control device obtains configuration information, which is information required to determine the axis configuration of the robot arm and the rotation speed of the robot joint, and sends the configuration information to the numerical control device. The numerical control device generates the robot command signal based on the configuration information sent from the robot control device and the second numerical control program.

2. The numerical control system according to claim 1, characterized in that: The numerical control device determines whether it is necessary to obtain the form information during the execution of the second numerical control program, and sends a predetermined request signal to the robot control device when it is determined that the form information needs to be obtained from the robot control device. The robot control device acquires the configuration information in response to receiving the request signal, and transmits the configuration information to the numerical controller.

3. The numerical control system according to claim 2, characterized in that: In the second numerical control program, the position and posture of the robot can be specified in rectangular coordinate format or joint coordinate format. When the rectangular coordinate format is specified according to the second numerical control program and the form information is not determined according to the second numerical control program, the numerical control device determines that it is necessary to obtain the form information from the robot control device.

4. The numerical control system according to claim 3, characterized in that: When the rectangular coordinate format is designated according to the second numerical control program and the form information is determined according to the second numerical control program, the numerical control device determines that it is not necessary to obtain the form information from the robot control device.

5. A numerical control system comprising: a numerical control device that generates a machine tool command signal as an instruction for a machine tool according to a first numerical control program, and generates a robot command signal as an instruction for a robot according to a second numerical control program; and a robot control device capable of communicating with the numerical control device and controlling the movement of the robot according to the robot command signal; It is characterized in that The robot control device obtains form information required to determine the form of the robot and sends the form information to the numerical control device. The numerical control device generates the robot command signal based on the shape information sent from the robot control device and the second numerical control program. The numerical control device determines whether it is necessary to obtain the form information during the execution of the second numerical control program, and sends a predetermined request signal to the robot control device when it is determined that the form information needs to be obtained from the robot control device. The robot control device acquires the configuration information in response to receiving the request signal, and transmits the configuration information to the numerical controller.

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