Processing Program Creation Device and Processing Program Creation Method

Abstract

The machining program creation device creates a machining program for controlling a machine tool (70) and a robot (60). The machining program creation device includes: an instruction discrimination unit (39) that discriminates whether an instruction including a string input through an input operation is an instruction for the machine tool (70) or an instruction for the robot (60), and stores the string associated with the discrimination result; and a screen processing unit (31) that performs processing to display the instruction for the machine tool (70) and the instruction for the robot (60) on the screen in a visually distinguishable manner based on the discrimination result.

Description

Technical Field

[0001] The present invention relates to a machining program creation device and a machining program creation method for creating a machining program for controlling a machine tool and a robot. Background Art

[0002] Generally, programs for controlling a machine tool and programs for controlling a robot use different programming languages from each other. In a system having a machine tool and a robot, if the program for controlling the machine tool and the program for controlling the robot are created separately from each other, it is sometimes difficult to understand the linked operations between the machine tool and the robot from these programs, and the burden of work at the time of starting the system becomes large. Therefore, a technique for controlling both the machine tool and the robot by one machining program has been proposed.

[0003] In Patent Document 1, there is disclosed a control device that is input with a machining program including both an instruction to a machine tool and an instruction to a robot, forwards the instruction to the machine tool to the machine tool, and forwards the instruction to the robot to the robot.

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2014 - 241018 Summary of the Invention

[0005] In the case of creating a machining program including both an instruction to a machine tool and an instruction to a robot, such as the machining program used in the technique of Patent Document 1, instructions are generally described continuously in time series. Therefore, there is a problem that it is difficult to confirm only the instruction to the machine tool or only the instruction to the robot when desired.

[0006] The present invention has been made in view of the above circumstances, and an object thereof is to obtain a machining program creation device that enables a user to easily confirm an instruction to a machine tool and an instruction to a robot when creating or editing a machining program on a screen.

[0007] The machining program creation device according to the present invention creates a machining program for controlling a machine tool and a robot. The machining program creation device according to the present invention includes: an instruction discrimination unit that discriminates which of an instruction to a machine tool and an instruction to a robot an instruction including a character string input by an input operation is, and stores the character string associated with the discrimination result; and a screen processing unit that performs processing for displaying the instruction to the machine tool and the instruction to the robot in the screen so as to be visually distinguishable from each other based on the discrimination result.

[0008] Effects of the Invention

[0009] The machining program creation device according to the present invention has the following effect, that is, when creating or editing a machining program on a screen, etc., it enables a user to easily confirm instructions to a machine tool and instructions to a robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 FIG. is a diagram showing a structural example of a system including the machining program creation device according to Embodiment 1.

[0011] Figure 2 FIG. is a diagram showing a structural example of a numerical control device according to Embodiment 1.

[0012] Figure 3 FIG. 1 is an example of a screen displayed by the numerical control device according to Embodiment 1.

[0013] Figure 4 FIG. 2 is an example of a screen displayed by the numerical control device according to Embodiment 1.

[0014] Figure 5 FIG. is a flowchart showing the sequence of operations performed by the instruction discrimination unit of the numerical control device according to Embodiment 1.

[0015] Figure 6 FIG. is a flowchart showing the sequence of operations performed by the screen processing unit of the numerical control device according to Embodiment 1.

[0016] Figure 7 FIG. is a flowchart showing the sequence of operations performed by the instruction discrimination unit of the numerical control device according to Embodiment 2.

[0017] Figure 8 FIG. 1 is an example of a screen displayed by the numerical control device according to Embodiment 3.

[0018] Figure 9 FIG. 2 is an example of a screen displayed by the numerical control device according to Embodiment 3.

[0019] Figure 10 FIG. is a diagram showing a structural example of a control circuit according to Embodiments 1 to 3.

[0020] Figure 11 FIG. is a diagram showing a structural example of a dedicated hardware circuit according to Embodiments 1 to 3. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] Hereinafter, a machining program creation device and a machining program creation method according to the embodiments will be described in detail based on the drawings.

[0022] Embodiment 1.

[0023] Figure 1 This is a diagram showing a structural example of a system including the machining program creation device according to Embodiment 1. The machining program creation device according to Embodiment 1 creates a machining program for controlling the machine tool 70 and the robot 60. In Embodiment 1, an example in which the numerical control device 1X for controlling the machine tool 70 and the robot 60 has the function of the machining program creation device will be described.

[0024] The control system 100A is a system that controls the machine tool 70 and the robot 60 using a numerical control (NC) program as a machining program. The control system 100A includes the machine tool 70, the numerical control device 1X, the robot controller 50X, and the robot 60. The numerical control device 1X includes a CNC (Computer Numerical Control) unit 6 and an input operation unit 3X. In Embodiment 1, the machine tool 70 for metal machining will be mainly described, but the type of the machine tool 70 is not limited thereto.

[0025] The CNC unit 6 is connected to the machine tool 70, the input operation unit 3X, and the robot controller 50X. The robot controller 50X is connected to the robot 60. The CNC unit 6 and the robot controller 50X are connected via a network such as a LAN (Local Area Network), for example.

[0026] In the control system 100A, communication is performed among the machine tool 70, the numerical control device 1X, and the robot controller 50X, and communication is performed between the robot controller 50X and the robot 60. As described above, in the control system 100A, the numerical control device 1X and the robot 60 are connected via the robot controller 50X. The numerical control device 1X controls the robot 60 via the robot controller 50X. Hereinafter, when describing the control of the robot 60 implemented by the numerical control device 1X, the description related to passing through the robot controller 50X may sometimes be omitted.

[0027] The numerical control device 1X is disposed on the machine tool 70. The numerical control device 1X is a computer that causes the machine tool 70 to perform machining of a workpiece using a tool and causes the robot 60 to perform conveyance of the workpiece. The numerical control device 1X controls the machine tool 70 and the robot 60 using an NC program such as a G-code program.

[0028] The NC program contains a first instruction that is an instruction for the machine tool 70 described in a first programming language, and a second instruction that is an instruction for the robot 60 described in the first programming language. The numerical control device 1X converts the second instruction in the NC program into a third instruction that is an instruction of a robot program described in a second programming language, and controls the robot 60 using the third instruction.

[0029] The input operation unit 3X is a unit that inputs information to the control arithmetic unit 2X of the CNC unit 6. The control arithmetic unit 2X will be described later. The input operation unit 3X has an input unit such as a keyboard, a touch panel, buttons, or a mouse. Figure 1 The keyboard and the touch panel are shown as examples of the input unit. The touch panel is, for example, a liquid crystal touch panel.

[0030] The numerical control device 1X sends the robot program containing the third instruction to the robot controller 50X. The robot controller 50X controls the robot 60 according to the robot program sent from the numerical control device 1X.

[0031] The robot 60 grasps a workpiece with the robot hand 61 and conveys the grasped workpiece. The robot 60 loads the workpiece before machining onto the machine tool 70 and unloads the workpiece after machining from the machine tool 70. In addition, the robot 60 can also perform processes other than the conveyance of the workpiece.

[0032] The CNC unit 6 is composed of the control arithmetic unit 2X described later and the display unit 4 described later. The CNC unit 6 controls the machine tool 70 and the robot 60 using the NC program. In addition, when the CNC unit 6 receives a signal from the input operation unit 3X, it causes the machine tool 70 to execute a process corresponding to the received signal. Further, the CNC unit 6 displays information indicating the state of the machine tool 70, information indicating the state of the robot 60, and the like.

[0033] The machine tool 70 is an NC machine tool. The machine tool 70 moves a tool and a workpiece relative to each other while moving the tool and the workpiece in at least two drive axes, and machines the workpiece using the tool. The coordinate system of the machine tool 70, i.e., the first coordinate system, and the coordinate system of the robot 60, i.e., the second coordinate system, are different coordinate systems from each other. The machine tool 70 is controlled in an orthogonal coordinate system, and moves the tool or the workpiece in three axial directions, for example. The robot 60 has a rotating axis and is driven in at least four axial directions, for example. The robot 60 has a plurality of joints and a plurality of arms, and one joint moves one arm in at least one axial direction.

[0034] Figure 2This is a diagram showing a structural example of the numerical control device 1X according to Embodiment 1. The numerical control device 1X includes a control arithmetic unit 2X, an input operation unit 3X, a display unit 4, and a PLC operation unit 5 such as a machine operation panel for operating a PLC (Programmable Logic Controller). In Figure 2 the numerical control device 1X, the machine tool 70, the robot controller 50X, and the robot 60 are shown.

[0035] The machine tool 70 has a drive unit 90 for driving a tool and a workpiece. An example of the drive unit 90 is a drive mechanism that rotates the workpiece while driving the tool. In Embodiment 1, the drive directions of the tool are, for example, two directions: a direction parallel to the X-axis direction and a direction parallel to the Z-axis direction. In addition, since the axial direction is related to the device structure, the axial direction is not limited to the above directions.

[0036] The drive unit 90 includes: servo motors 901 and 902 that move the tool in the respective axial directions defined on the numerical control device 1X; and detectors 97 and 98 that detect the positions and speeds of the servo motors 901 and 902. The detector 97 outputs a signal representing the detection results of the position and speed of the servo motor 901. The detector 98 outputs a signal representing the detection results of the position and speed of the servo motor 902. The drive unit 90 has a servo control unit that controls the servo motors 901 and 902 based on instructions from the numerical control device 1X. The drive unit 90 has servo control units related to the respective axial directions. The servo control units in the respective axial directions perform feedback control of the servo motors 901 and 902 based on signals from the detectors 97 and 98.

[0037] The X-axis servo control unit 91 among the servo control units controls the movement of the tool in the X-axis direction by controlling the servo motor 901. The Z-axis servo control unit 92 among the servo control units controls the movement of the tool in the Z-axis direction by controlling the servo motor 902.

[0038] In addition, the drive unit 90 includes: a main spindle motor 911 that rotates a main spindle for rotating the workpiece; a main spindle servo control unit 93 that controls the main spindle motor 911; and a detector 99 that detects the position and rotational speed of the main spindle motor 911. The rotational speed is the number of rotations per unit time. The rotational speed detected by the detector 99 corresponds to the rotational speed of the main spindle motor 911.

[0039] As described above, the input operation unit 3X has an input unit for inputting information to the control arithmetic unit 2X. The input operation unit 3X receives commands and the like for the numerical control device 1X issued by the user. In addition, the input operation unit 3X receives NC programs or parameters and the like. The display unit 4 is composed of a display unit such as a liquid crystal display device, and displays the information processed by the control arithmetic unit 2X on the screen. An example of the display unit 4 is a liquid crystal touch panel. In this case, a part of the functions of the input operation unit 3X is configured in the display unit 4.

[0040] The control arithmetic unit 2X, which is a control unit, uses the NC program defined in the coordinate system of the machine tool 70 to control the machine tool 70 and the robot 60. The control arithmetic unit 2X has a screen processing unit 31, an input control unit 32, a storage unit 34, a control signal processing unit 35X, a PLC 36, an analysis processing unit 37, an interpolation processing unit 38, an instruction discrimination unit 39, and a robot control unit 41X. In addition, the PLC 36 may also be configured outside the control arithmetic unit 2X.

[0041] The storage unit 34 is a device for storing data such as a non-volatile memory or a hard disk. The storage unit 34 has: a program storage area 341 that stores NC program lines; a display data storage area 344 that stores screen display data lines; and a shared area 345 that stores data lines used temporarily. In addition, a machine tool instruction code list 342 and a robot instruction code list 343 are stored in the storage unit 34.

[0042] The program storage area 341 has: an instruction string area 3411 that stores strings as instructions; and a discrimination result area 3412 that stores discrimination results. In the instruction string area 3411, the strings received as instructions by the input operation unit 3X are stored. In the discrimination result area 3412, the discrimination results obtained by discriminating either the instruction to the machine tool 70 or the instruction to the robot 60 by the instruction discrimination unit 39 are stored. Each line of the strings stored in the instruction string area 3411 is associated with any one line of the data of the discrimination results stored in the discrimination result area 3412.

[0043] The screen display data stored in the display data storage area 344 is the data of the screen displayed in the display unit 4. The machine tool instruction code list 342 is a list of codes used in the instructions to the machine tool 70. The robot instruction code list 343 is a list of codes used in the instructions to the robot 60.

[0044] The input control unit 32 receives the information input from the input operation unit 3X, and stores the received information in the storage unit 34 via the instruction discrimination unit 39. That is, the input information received by the input operation unit 3X is written into the storage unit 34 via the input control unit 32 and the instruction discrimination unit 39.

[0045] The instruction discrimination unit 39 discriminates whether the instruction including the string input by the input operation is an instruction for the machine tool 70 or an instruction for the robot 60, and stores the string associated with the discrimination result.

[0046] The screen processing unit 31 performs the following control, that is, it causes the screen display data stored in the display data storage area 344 to be displayed on the display unit 4. The screen processing unit 31 performs the following processing, that is, based on the discrimination result obtained by the instruction discrimination unit 39, it displays the instructions for the machine tool 70 and the instructions for the robot 60 on the screen in a way that can be visually distinguished from each other.

[0047] The control signal processing unit 35X is connected to the PLC 36. The PLC 36 outputs signal information such as signals of relays that cause the machine tool 70 to operate to the control signal processing unit 35X. The control signal processing unit 35X receives the signal information from the PLC 36 and writes the received signal information into the shared area 345. The interpolation processing unit 38 refers to this signal information during machining operation. In addition, if the analysis processing unit 37 outputs an auxiliary instruction to the shared area 345, the control signal processing unit 35X reads the auxiliary instruction from the shared area 345 and sends it to the PLC 36. The auxiliary instruction is an instruction other than an instruction that causes the drive shaft, which is a numerical control axis, to operate. Examples of the auxiliary instruction are the M code or the T code.

[0048] In the control arithmetic unit 2X, the control signal processing unit 35X, the analysis processing unit 37, the interpolation processing unit 38, the instruction discrimination unit 39, and the robot control unit 41X are connected via the storage unit 34, and information is written and read via the storage unit 34. Hereinafter, when explaining the writing and reading of information among the control signal processing unit 35X, the analysis processing unit 37, the interpolation processing unit 38, the instruction discrimination unit 39, and the robot control unit 41X, the description related to passing through the storage unit 34 may sometimes be omitted.

[0049] The analysis processing unit 37 reads out the NC program from the program storage area 341 and performs analysis processing related to each program block of the NC program, that is, each line of the NC program. When the analyzed line contains a G code for the machine tool 70, the analysis processing unit 37 sends the analysis result to the interpolation processing unit 38 via the shared area 345. Specifically, the analysis processing unit 37 generates movement conditions corresponding to the G code and sends them to the interpolation processing unit 38. In addition, the analysis processing unit 37 sends the spindle speed specified by the S code to the interpolation processing unit 38. The spindle speed is the number of rotations of the spindle per unit time.

[0050] The analysis processing unit 37 includes a robot instruction analysis unit 371. The robot instruction analysis unit 371 is a unit that analyzes the actions of the connected robot 60. The robot instruction analysis unit 371 analyzes the robot instructions included in the NC program and sends the analysis result to the robot control unit 41X.

[0051] The interpolation processing unit 38 uses the instructions for the machine tool 70 among the analysis results obtained by the analysis processing unit 37 to generate data for controlling the machine tool 70. The interpolation processing unit 38 includes a robot instruction waiting unit 381 as a first waiting unit. When waiting processing is performed between the robot 60 and the machine tool 70, the robot instruction waiting unit 381 makes the instructions for the machine tool 70, such as motion instructions, wait until a specific timing is reached. The waiting processing between the robot 60 and the machine tool 70 will be described later.

[0052] The robot control unit 41X includes an NC instruction waiting unit 413 as a second waiting unit, a program transformation unit 414, and a robot program buffer 415. When waiting processing is performed between the robot 60 and the machine tool 70, the NC instruction waiting unit 413 makes the instructions for the robot 60 wait until a specific timing is reached.

[0053] The program transformation unit 414, as a transformation unit, transforms the second instruction specified in the coordinate system of the machine tool 70 into the third instruction specified in the coordinate system of the robot 60, thereby generating a robot program used when controlling the robot 60. The robot program buffer 415 temporarily stores the instructions for the robot 60.

[0054] Next, the detailed content of the processing performed by the instruction discrimination unit 39 will be described. In the numerical control device 1X, generally, before machining starts, an NC program, parameters, etc. are received in the input operation unit 3X. The user of the control system 100A inputs, via the operation of the input operation unit 3X, a string as an instruction to the machine tool 70 and a string as an instruction to the robot 60 to the control arithmetic unit 2X. The instruction discrimination unit 39 obtains, via the input control unit 32, the string input by the user's input operation. The instruction discrimination unit 39 discriminates whether the instruction including the string input by the input operation is an instruction to the machine tool 70 or an instruction to the robot 60.

[0055] The instruction discrimination unit 39 refers to the machine tool instruction code list 342 and the robot instruction code list 343, and thereby discriminates whether the instruction including the input string is an instruction to the machine tool 70 or an instruction to the robot 60. When the input string includes a code in the machine tool instruction code list 342, the instruction discrimination unit 39 determines that the instruction including the input string is an instruction to the machine tool 70. When the input string includes a code in the robot instruction code list 343, the instruction discrimination unit 39 determines that the instruction including the input string is an instruction to the robot 60.

[0056] The instruction discrimination unit 39 associates the discrimination result, which is the result of determining whether the instruction including the input string is an instruction to the machine tool 70 or an instruction to the robot 60, with the input string. The instruction discrimination unit 39 stores the string associated with the discrimination result in the instruction string area 3411. The instruction discrimination unit 39 stores the discrimination result associated with the string in the discrimination result area 3412.

[0057] The screen processing unit 31 performs the following processing: based on the discrimination result obtained by the instruction discrimination unit 39, it displays the instructions to the machine tool 70 and the instructions to the robot 60 on the screen in a visually distinguishable manner. Here, the detailed content of the processing performed by the screen processing unit 31 will be described.

[0058] When the screen processing unit 31 displays the NC program on the screen, it refers to the information in the instruction string area 3411 and the information in the discrimination result area 3412, and thereby identifies the instructions to the machine tool 70 included in the NC program and the instructions to the robot 60 included in the NC program. The screen processing unit 31 depicts the instructions to the machine tool 70 and the instructions to the robot 60 separately.

[0059] The screen processing unit 31 separates the area for displaying instructions for the opposing machine tool 70 and the area for displaying instructions for the opposing robot 60, thereby displaying the instructions for the opposing machine tool 70 and the instructions for the robot 60 separately. In the first embodiment, the screen processing unit 31 arranges the area for displaying instructions for the opposing machine tool 70 and the area for displaying instructions for the opposing robot 60 vertically on the screen, thereby separately displaying the area for displaying instructions for the opposing machine tool 70 and the area for displaying instructions for the opposing robot 60.

[0060] The screen processing unit 31, for example, displays instructions for the opposing machine tool 70 at the lower part within the area for displaying the NC program, and displays instructions for the opposing robot 60 at the upper part within the area for displaying the NC program. The area for displaying instructions for the opposing machine tool 70 and the area for displaying instructions for the opposing robot 60 are separated, so that when the user creates or edits a machining program on the screen, the user can easily confirm the instructions for the opposing machine tool 70 and the instructions for the robot 60.

[0061] Furthermore, the screen processing unit 31 makes the display colors of the strings that are instructions for the machine tool 70 and the strings that are instructions for the robot 60 different from each other, thereby displaying the instructions for the machine tool 70 and the instructions for the robot 60 separately. For example, each character of the string that is an instruction for the machine tool 70 is displayed in a dedicated first display color when the instruction for the machine tool 70 is displayed. Each character of the string that is an instruction for the robot 60 is displayed in a dedicated second display color when the instruction for the robot 60 is displayed. The display color of the instruction for the machine tool 70 and the display color of the instruction for the robot 60 are different from each other, so that when the user observes the screen, the user can easily confirm the instruction for the machine tool 70 and the instruction for the robot 60.

[0062] In the above description, the display color of the string is set as the color of the character, but the display color of the string can also be the color of the background of the character. That is, the screen processing unit 31 can also make the background colors of the characters different in addition to making the colors of the characters different in the instructions for the machine tool 70 and the instructions for the robot 60. In this case, when the user observes the screen, the user can also easily confirm the instruction for the machine tool 70 and the instruction for the robot 60.

[0063] Figure 3 FIG. 1 is an example of a screen displayed by the numerical control device 1X according to the first embodiment. In Figure 3 an example of a screen during the editing of the NC program is shown. In Figure 3In the displayed screen, a display area 300 for displaying instructions for the robot 60 is arranged in the upper part of the area for displaying the NC program. Figure 3 In the displayed screen, a display area 310 for displaying instructions for the machine tool 70 is arranged in the lower part of the area for displaying the NC program. As described above, the display area 300 and the display area 310 are arranged vertically on the screen.

[0064] In addition, Figure 3 In the example shown, each character of the string of instructions for the robot 60 is displayed in green, which is the second display color. Each character of the string of instructions for the machine tool 70 is displayed in blue, which is the first display color. The strings of each row in the display area 300 are displayed in green, and the strings of each row in the display area 310 are displayed in blue.

[0065] In Figure 3 is shown a state before the input of the line 301 containing "G1001" as an instruction is input and before the input of the line 301 is confirmed. The line 301 is the line input by the current input operation. In addition, the input operation performed one time before the current input operation is called the previous input operation. In the previous input operation, the last line of the display area 310, which is the instruction for the machine tool 70, was input and the input of that line was confirmed. In addition, by pressing the input confirmation key in the input operation unit 3X, the input of the line as an instruction is confirmed.

[0066] The position of the line for the current input operation is set to be the position following the discrimination result in the previous input operation. In Figure 3 In the example shown, since the instruction input by the previous input operation is determined to be an instruction for the machine tool 70, the position of the line 301 when the line 301 is input is set to be the position below the last line of the display area 310. In addition, before the input of the line 301 is confirmed, each character of the line 301 is displayed in a color other than the first display color and the second display color. Each character before the input is confirmed is displayed in black, for example.

[0067] Figure 4 FIG. 2 is an example of a screen displayed by the numerical control device 1X according to Embodiment 1. In Figure 4 is shown a screen when the input confirmation key is pressed from the Figure 3 state shown.

[0068] After the input in line 301, when the input confirmation key is pressed, the instruction discrimination unit 39 discriminates whether the instruction in line 301 is an instruction for the machine tool 70 or an instruction for the robot 60. Here, "G1001" is set as the code used in the instruction for the robot 60. Since "G1001" is a code in the robot instruction code list 343, the instruction discrimination unit 39 determines that the instruction in line 301 is an instruction for the robot 60.

[0069] The instruction discrimination unit 39 associates the discrimination result indicating that it is an instruction for the robot 60 with the instruction in line 301. The instruction discrimination unit 39 stores the instruction in line 301 in the instruction string area 3411. The instruction discrimination unit 39 stores the discrimination result associated with the instruction in line 301 in the discrimination result area 3412. As described above, when the input of the string is determined, the instruction discrimination unit 39 discriminates whether the instruction including the input string is an instruction for the machine tool 70 or an instruction for the robot 60, and stores the string associated with the discrimination result.

[0070] Based on the discrimination result related to line 301, the screen processing unit 31 reconfigures line 301 in the display area 300. That is, the screen processing unit 31 moves line 301 to below the last line of the display area 300. In addition, the screen processing unit 31 changes the color of the characters in line 301 from black to green. Thus, the screen Figure 3 shown state to Figure 4 shown state transition.

[0071] For example, it is assumed that line 301 input through the current input operation is an instruction including "G28". "G28" is the code used in the instruction for the machine tool 70. Since "G28" is a code in the machine tool instruction code list 342, the instruction discrimination unit 39 determines that the instruction in line 301 is an instruction for the machine tool 70. Based on the discrimination result related to line 301, the screen processing unit 31 reconfigures line 301 in the display area 310. In Figure 3 shown example, line 301 is input below the last line of the display area 310, so even if the input confirmation key is pressed, the position of line 301 does not change. In addition, the screen processing unit 31 changes the color of the characters in line 301 from black to blue.

[0072] When the line 301 input through the current input operation is a line of only position information such as "X10.Y20", it is impossible to determine whether the instruction of the input line 301 is an instruction for the machine tool 70 or an instruction for the robot 60. In this case, the instruction determination unit 39 applies the determination result of the previous input operation to the determination of line 301. In addition, the determination result output by the instruction determination unit 39 can be changed by manual input to the input operation unit 3X by the user. The determination result can be manually changed even in the state after automatic determination.

[0073] In addition, in Figure 3 and Figure 4 In the example shown, in the screen, it is assumed that the display area 300 for displaying the instruction for the robot 60 is arranged in the upper part, and the display area 310 for displaying the instruction for the machine tool 70 is arranged in the lower part, but the arrangement of the display areas 300 and 310 is not limited to this. It is also possible that the display area 310 for displaying the instruction for the machine tool 70 is arranged in the upper part, and the display area 300 for displaying the instruction for the robot 60 is arranged in the lower part.

[0074] The automatic determination of the instruction and the automatic display process based on the determination result in the above description are effective in a specific section specified by a special code in the NC program. The special code is, for example, a G code such as "G197" and "G199". The specific section in this case is the section from "G197" to "G199". In addition, the special code is not limited to the G code. The specific section is not limited to being specified by the special code, and can also be specified by a unit such as a region selection unit.

[0075] The set of instructions that cause the machine tool 70 and the robot 60 to operate in parallel contains one or more instructions in a specific section. That is, in the specific section, the set of instructions related to the parallel operation can be one or multiple. Inside the set of instructions related to the parallel operation, the instructions for the robot 60 are automatically output to the storage unit 34 in such a way that the first half of the set becomes the instruction for the robot 60, and the second half of the set becomes the instruction for the machine tool 70.

[0076] Next, the operation of the numerical control device 1X when executing the NC program will be described. If the operation of the machine tool 70 starts, the analysis processing unit 37 obtains the NC program line by line from the program storage area 341 of the storage unit 34.

[0077] When the line obtained in the NC program is an instruction for the robot 60, the parsing processing unit 37 forwards the instruction to the robot program buffer 415. On the other hand, when the line obtained in the NC program is an instruction for the machine tool 70, the parsing processing unit 37 notifies the interpolation processing unit 38 of the information of the end point information.

[0078] The parsing processing unit 37 discriminates between the instruction for the robot 60 and the instruction for the machine tool 70 by referring to the information in the discrimination result area 3412, for example. Alternatively, the parsing processing unit 37 can also refer to the machine tool instruction code list 342 and the robot instruction code list 343 in the same manner as when editing the NC program, thereby discriminating between the instruction for the robot 60 and the instruction for the machine tool 70.

[0079] Next, the waiting of the machine tool 70 and the robot 60 will be described. The parsing processing unit 37 automatically performs the waiting process between the machine tool 70 and the robot 60 at the end of the set of instructions related to the parallel operation of the machine tool 70 and the robot 60. When the line obtained from the storage unit 34 in the NC program is an instruction for the machine tool 70, after waiting until the movement of the machine tool 70 is completed, the next line is obtained.

[0080] On the other hand, when the line obtained from the storage unit 34 in the NC program is an instruction for the robot 60, the next line is obtained without waiting for the movement of the robot 60 to be completed. However, when the parsing processing unit 37 obtains an instruction for the robot 60 for the first time after an instruction for the machine tool 70, the processing is temporarily interrupted. And the parsing processing unit 37 waits for the forwarding of a new instruction until the movement of the robot 60 is completed and the robot program buffer 415 becomes empty. The robot control unit 41X sends the instruction for the robot 60 to the robot controller 50X. The sent instruction is deleted from the robot program buffer 415.

[0081] Next, the operation sequence of the instruction discrimination unit 39 for implementing the above functions will be described. Figure 5 It is a flowchart showing the operation sequence performed by the instruction discrimination unit 39 of the numerical control device 1X according to Embodiment 1. In Figure 5 The operation sequence when the input confirmation key is pressed after inputting one line as an instruction is shown.

[0082] In step S1, the instruction discrimination unit 39 initializes the discrimination result. The instruction discrimination unit 39 initializes by substituting the previous discrimination result into the current discrimination result. In addition, when the numerical control device 1X is started, it is initialized assuming that the previous discrimination result is a discrimination result indicating an instruction for the machine tool 70.

[0083] In step S2, the instruction discrimination unit 39 acquires the character string input by the user to the numerical control device 1X. The instruction discrimination unit 39 acquires the character string of one line as an instruction.

[0084] In step S3, the instruction discrimination unit 39 determines whether the character string acquired in step S2 is an instruction for the machine tool 70. The instruction discrimination unit 39 compares the code included in the character string with each code in the machine tool instruction code list 342, and retrieves the code that matches the code included in the character string in the machine tool instruction code list 342. When the code included in the character string matches the code included in the machine tool instruction code list 342, the instruction discrimination unit 39 determines that the character string is an instruction for the machine tool 70.

[0085] When the character string is an instruction for the machine tool 70 (step S3, Yes), in step S4, the instruction discrimination unit 39 holds the discrimination result indicating that it is an instruction for the machine tool 70. That is, the instruction discrimination unit 39 temporarily stores the discrimination result indicating that it is an instruction for the machine tool 70. If step S4 is completed, the instruction discrimination unit 39 advances the sequence to step S7.

[0086] On the other hand, when the character string is not an instruction for the machine tool 70 (step S3, No), in step S5, the instruction discrimination unit 39 determines whether the character string acquired in step S2 is an instruction for the robot 60. The instruction discrimination unit 39 compares the code included in the character string with each code in the robot instruction code list 343, and retrieves the code that matches the code included in the character string in the robot instruction code list 343. When the code included in the character string matches the code included in the robot instruction code list 343, the instruction discrimination unit 39 determines that the character string is an instruction for the robot 60.

[0087] When the character string is an instruction for the robot 60 (step S5, Yes), in step S6, the instruction discrimination unit 39 holds the discrimination result indicating that it is an instruction for the robot 60. That is, the instruction discrimination unit 39 temporarily stores the discrimination result indicating that it is an instruction for the robot 60. If step S6 is completed, the instruction discrimination unit 39 advances the sequence to step S7.

[0088] On the other hand, when the character string is not an instruction for the robot 60 (step S5, No), the instruction discrimination unit 39 follows the discrimination result of the previous input operation for the character string acquired in step S2. The instruction discrimination unit 39 advances the sequence to step S7.

[0089] In step S7, the instruction discrimination unit 39 stores the string in the instruction string area 3411. In step S8, the instruction discrimination unit 39 associates the discrimination result with the string and stores the discrimination result in the discrimination result area 3412. The instruction discrimination unit 39 associates the discrimination result temporarily stored in step S4 or the discrimination result temporarily stored in step S6 with the string. The instruction discrimination unit 39 stores the discrimination result temporarily stored in step S4 or the discrimination result temporarily stored in step S6 in the discrimination result area 3412. Thus, the instruction discrimination unit 39 saves the current discrimination result. Above, the instruction discrimination unit 39 ends Figure 5 the operations related to the sequence shown

[0090] Next, the operation sequence of the screen processing unit 31 for implementing the above functions will be described. Figure 6 is a flowchart showing the operation sequence performed by the screen processing unit 31 of the numerical control device 1X according to the first embodiment. In Figure 6 the operation sequence when the input confirmation key is pressed after one line of the instruction is input is shown.

[0091] In step S11, the screen processing unit 31 obtains one line of string from the instruction string area 3411. In step S12, the screen processing unit 31 obtains the discrimination result associated with the string obtained in step S11 from the discrimination result area 3412.

[0092] In step S13, the screen processing unit 31 determines whether the string obtained in step S11 is an instruction for the machine tool 70. The screen processing unit 31 determines whether the string is an instruction for the machine tool 70 based on the discrimination result obtained in step S12.

[0093] When the string is an instruction for the machine tool 70 (step S13, Yes), in step S14, the screen processing unit 31 changes the display color of the string to the second display color, which is the dedicated color for the machine tool 70. In addition, in step S15, the screen processing unit 31 re-arranges the string in the display area 310 of the program of the machine tool 70. The position of the display area 310 is set in the lower part of the area where the NC program is displayed. If step S15 is completed, the screen processing unit 31 advances the sequence to step S18.

[0094] On the other hand, when the string is not an instruction for the machine tool 70 (step S13, No), in step S16, the screen processing unit 31 changes the display color of the string to the dedicated color of the robot 60, i.e., the first display color. Further, in step S17, the screen processing unit 31 re-arranges the string in the display area 300 of the program of the robot 60. The position of the display area 300 is set at the upper part of the area where the NC program is displayed. If step S17 is completed, the screen processing unit 31 advances the sequence to step S18.

[0095] In step S18, the screen processing unit 31 updates the screen displayed on the display unit 4. In step S19, the screen processing unit 31 determines whether the processing of the last line among the NC programs stored in the program storage area 341 has ended. When the processing of the last line has not ended (step S19, No), the screen processing unit 31 returns the sequence to step S11 to obtain the next line string. The screen processing unit 31 repeats the sequence from step S11 to step S19. On the other hand, when the processing of the last line has ended (step S19, Yes), the screen processing unit 31 ends Figure 6 the operation related to the sequence shown.

[0096] In addition, in the first embodiment, an example in which the numerical control device 1X has the function of a machining program creation device has been described. That is, in the first embodiment, the numerical control device 1X functions as a machining program creation device. The machining program creation device is not limited to being implemented by the numerical control device 1X, and may also be implemented by another device different from the numerical control device 1X. In this case, the NC program created by the machining program creation device is input to the numerical control device 1X. The numerical control device 1X controls the machine tool 70 and the robot 60 based on the input NC program.

[0097] According to the first embodiment, the machining program creation device discriminates between the instruction for the machine tool 70 and the instruction for the robot 60, and based on the discrimination result, displays the instruction for the machine tool 70 and the instruction for the robot 60 on the screen in a manner that can be visually distinguished from each other. As described above, the machining program creation device has the following effect: when creating or editing a machining program on the screen, the user can easily confirm the instruction for the machine tool 70 and the instruction for the robot 60.

[0098] According to the first embodiment, it is easy to distinguish and identify the instruction for the machine tool 70 and the instruction for the robot 60. Therefore, for example, when the machine tool 70 and the robot 60 operate in parallel, or when it is desired to make the machine tool 70 and the robot 60 execute a waiting process at a specific timing, it is possible to easily search for the end points of the parallel operations in the machine tool 70 and the robot 60 respectively.

[0099] In addition, in Embodiment 1, it is assumed that each instruction is reconfigured in the display area 300 or the display area 310. However, the machining program creation device may also be configured to return each instruction to the chronological state from the reconfigured state. In this case, compared with the case where only the instructions to the machine tool 70 and the instructions to the robot 60 are distinguished, the convenience for the user when creating or editing the machining program is further improved.

[0100] Embodiment 2.

[0101] In Embodiment 2, an example in which, in the middle of a line of the NC program input by the user, it is determined which of the instructions to the machine tool 70 and the instructions to the robot 60 the input instruction is will be described. The machining program creation device according to Embodiment 2 is implemented by the numerical control device 1X shown in Figure 2 in the same manner as the machining program creation device according to Embodiment 1. In Embodiment 2, the same reference numerals are given to the same structural elements as those in the above Embodiment 1, and the operations different from those in Embodiment 1 will be mainly described.

[0102] The instruction determination unit 39 determines, in the middle of the input string, which of the instructions to the machine tool 70 and the instructions to the robot 60 the instruction including the string is based on the input characters. For example, when the instruction determination unit 39 inputs the line 301 shown in Figure 3 , at the timing when the last "1" in the string "G1001" is input, it is determined which of the instructions to the machine tool 70 and the instructions to the robot 60 the input instruction is. Since "G1001" is a code in the robot instruction code list 343, the instruction determination unit 39 determines that the instruction of the line 301 is an instruction to the robot 60.

[0103] Based on the determination result related to the line 301, the screen processing unit 31 reconfigures the line 301 in the middle of the input in the display area 300. Thus, before the input of the instruction is confirmed, the user can easily confirm which of the instructions to the machine tool 70 and the instructions to the robot 60 the line 301 in the middle of the input is.

[0104] Next, the operation sequence of the instruction determination unit 39 for implementing the above functions will be described. Figure 7 is a flowchart showing the operation sequence of the instruction determination unit 39 of the numerical control device 1X according to Embodiment 2. In Figure 7 , the operation sequence when a string of one line as an instruction is input is shown.

[0105] At the start of the input of one line, in step S21, the instruction discrimination unit 39 initializes the discrimination result. The instruction discrimination unit 39 initializes by substituting the previous discrimination result into the current discrimination result. Further, when the numerical control device 1X is started, it is initialized assuming that the previous discrimination result is the discrimination result indicating an instruction to the machine tool 70.

[0106] In step S22, the instruction discrimination unit 39 acquires the characters of the string input by the user to the numerical control device 1X. In step S23, the instruction discrimination unit 39 appends the characters acquired in step S22 to the internal buffer of the instruction discrimination unit 39. The instruction discrimination unit 39 repeats the acquisition of characters and the appending of characters to the buffer, for example, until the last one of the characters in the code string is acquired. If the instruction discrimination unit 39 appends the last one of the characters in the code string to the buffer, it advances the sequence to step S24.

[0107] In step S24, the instruction discrimination unit 39 determines whether the string in the buffer is an instruction to the machine tool 70. The instruction discrimination unit 39 determines whether the string is an instruction to the machine tool 70 in the same manner as in step S3 shown in Figure 5 When the string is an instruction to the machine tool 70 (step S24, Yes), in step S25, the instruction discrimination unit 39 holds the discrimination result indicating that it is an instruction to the machine tool 70. If step S25 is completed, the instruction discrimination unit 39 advances the sequence to step S28.

[0108] On the other hand, when the string is not an instruction to the machine tool 70 (step S24, No), in step S26, the instruction discrimination unit 39 determines whether the string in the buffer is an instruction to the robot 60. The instruction discrimination unit 39 determines whether the string is an instruction to the robot 60 in the same manner as in step S5 shown in Figure 5 When the string is an instruction to the robot 60 (step S26, Yes), in step S27, the instruction discrimination unit 39 holds the discrimination result indicating that it is an instruction to the robot 60. If step S27 is completed, the instruction discrimination unit 39 advances the sequence to step S28.

[0109] On the other hand, when the string is not an instruction to the robot 60 (step S26, No), the instruction discrimination unit 39 follows the discrimination result in the previous input operation regarding the string in the buffer. The instruction discrimination unit 39 advances the sequence to step S28. Steps S28 and S29 are the same as steps S7 and S8 shown in Figure 5 If step S29 is completed, the instruction discrimination unit 39 ends Figure 7The operations involved in the order shown. In addition, in the second embodiment, the operation order of the screen processing unit 31 is set to be the same as that Figure 6 shown in the operation order.

[0110] In addition, in the above description, when the last character in the code string is acquired, the instruction discrimination unit 39 discriminates whether the string in the buffer is an instruction for the machine tool 70 or an instruction for the robot 60. If the instruction discrimination unit 39 can discriminate whether the string in the buffer is an instruction for the machine tool 70 or an instruction for the robot 60 before the last character in the code string is acquired, it can discriminate whether the string in the buffer is an instruction for the machine tool 70 or an instruction for the robot 60 before the last character is acquired.

[0111] In the second embodiment, the numerical control device 1X functions as a machining program creation device, but the machining program creation device is not limited to being implemented by the numerical control device 1X. The machining program creation device can also be implemented by other devices different from the numerical control device 1X.

[0112] According to the second embodiment, the machining program creation device discriminates whether the input instruction is an instruction for the machine tool 70 or an instruction for the robot 60. Based on the discrimination result, the machining program creation device displays the instructions for the machine tool 70 and the instructions for the robot 60 in the screen in a manner that can be visually distinguished from each other. As described above, the machining program creation device has the following effect: when creating or editing a machining program on the screen, the user can easily confirm the instructions for the machine tool 70 and the instructions for the robot 60. In addition, the machining program creation device can also be configured to return each instruction from the state where each instruction is reconfigured in the display area 300 or the display area 310 to the chronological state.

[0113] Third embodiment.

[0114] In the first embodiment, as Figure 3 and Figure 4 shown, the area for displaying the instructions for the robot 60 and the area for displaying the instructions for the machine tool 70 are arranged vertically on the screen, thereby separately displaying the instructions for the robot 60 and the instructions for the machine tool 70. In the third embodiment, an example is described in which the area for displaying the instructions for the robot 60 and the area for displaying the instructions for the machine tool 70 are arranged horizontally on the screen, thereby separately displaying the instructions for the robot 60 and the instructions for the machine tool 70.

[0115] The machining program creation device according to the third embodiment is the same as the machining program creation device according to the first embodiment, and is implemented byFigure 2 The numerically controlled device 1X shown in the figure is implemented. In Embodiment 3, the same reference numerals are assigned to the structural elements that are the same as those in Embodiment 1 or 2 above, and the operations different from those in Embodiment 1 or 2 are mainly described.

[0116] Figure 8 FIG. 1 is an example of a screen displayed by the numerically controlled device 1X according to Embodiment 3. In Figure 8 an example of a screen during the editing of the NC program is shown. In Embodiment 3, the screen processing unit 31 arranges the area for displaying the instructions to the machine tool 70 and the area for displaying the instructions to the robot 60 horizontally on the screen, thereby separately displaying the area for displaying the instructions to the machine tool 70 and the area for displaying the instructions to the robot 60.

[0117] In Figure 8 the shown screen, the display area 320 for displaying the instructions to the robot 60 is arranged in the right part of the area for displaying the NC program. In Figure 8 the shown screen, the display area 330 for displaying the instructions to the machine tool 70 is arranged in the left part of the area for displaying the NC program. As described above, the display area 320 and the display area 330 are arranged horizontally on the screen.

[0118] In addition, in Figure 8 the shown example, similar to the case of Embodiment 1, each character of the string of instructions to the robot 60 is displayed in green as the second display color. Each character of the string of instructions to the machine tool 70 is displayed in blue as the first display color. The strings of each row in the display area 320 are displayed in green, and the strings of each row in the display area 330 are displayed in blue.

[0119] Figure 8 The row 331 shown is set as the row input by the current input operation. The row 331 contains instructions of "G91" and "G28". In Figure 8 the input row 331 is shown, and the state before the input of the row 331 is to be determined is shown. In the previous input operation, the last row of the input display area 320, which is the row of instructions to the robot 60, was input and the input of that row was determined.

[0120] The position of the row for the current input operation is set to follow the determination result in the previous input operation. In Figure 8In the example shown, the instruction input through the previous input operation is determined to be an instruction for the robot 60. Therefore, the position of line 331 when inputting line 331 is set to a position below the last line of the display area 320. In addition, before the input of line 331 is confirmed, each character of line 331 is displayed in a color other than the first display color and the second display color. Similar to the case of the first embodiment, each character before the input is confirmed is displayed in black, for example.

[0121] Figure 9 FIG. 2 is an example of a screen displayed by the numerical control device 1X according to the third embodiment. In Figure 9 is shown a screen when the input confirmation key is pressed starting from the state shown in Figure 8

[0122] After the input of line 331, when the input confirmation key is pressed, the instruction discrimination unit 39 discriminates whether the instruction of line 331 is an instruction for the machine tool 70 or an instruction for the robot 60. Here, "G28" is set as a code used in the instruction for the machine tool 70. Since "G28" is a code in the machine tool instruction code list 342, the instruction discrimination unit 39 determines that the instruction of line 331 is an instruction for the machine tool 70.

[0123] The instruction discrimination unit 39 associates the discrimination result indicating that it is an instruction for the machine tool 70 with the instruction of line 331. The instruction discrimination unit 39 stores the instruction of line 331 in the instruction string area 3411. The instruction discrimination unit 39 stores the discrimination result associated with the instruction of line 331 in the discrimination result area 3412.

[0124] Based on the discrimination result related to line 331, the screen processing unit 31 re-arranges line 331 in the display area 330. That is, the screen processing unit 31 moves line 331 to a position below the last line of the display area 330. In addition, the screen processing unit 31 changes the color of the characters of line 331 from black to blue. Thus, the screen changes from the state shown in Figure 8 to the state shown in Figure 9

[0125] ​​The screen processing unit 31 separates the area for displaying instructions for the opposing machine tool 70 and the area for displaying instructions for the opposing robot 60, thereby separately displaying the instructions for the machine tool 70 and the instructions for the robot 60. The area for displaying instructions for the opposing machine tool 70 and the area for displaying instructions for the opposing robot 60 are separated, so that when the user creates or edits a machining program on the screen, the user can easily confirm the instructions for the machine tool 70 and the instructions for the robot 60. In addition, the display color of the instructions for the machine tool 70 and the display color of the instructions for the robot 60 are different from each other, so that when the user observes the screen, the user can easily confirm the instructions for the machine tool 70 and the instructions for the robot 60.

[0126] Moreover, the area for displaying instructions for the opposing machine tool 70 and the area for displaying instructions for the opposing robot 60 are arranged horizontally, so that the user can easily understand the temporal synchronization relationship between the machine tool 70 and the robot 60.

[0127] In addition, in Embodiment 3, the operation sequence of the instruction discrimination unit 39 for implementing the above functions is the same as Figure 5 that shown. The operation sequence of the screen processing unit 31 for implementing the above functions is the same as Figure 6 that shown, except that the position of the display area 320 is set in the right part of the area for displaying the NC program, and the position of the display area 330 is set in the left part of the area for displaying the NC program.

[0128] In Figure 8 and Figure 9 the example shown, in the screen, the display area 320 for displaying instructions for the opposing robot 60 is arranged in the right part, and the display area 330 for displaying instructions for the opposing machine tool 70 is arranged in the left part, but the arrangement of the display areas 320 and 330 is not limited to this. It is also possible that the display area 330 for displaying instructions for the opposing machine tool 70 is arranged in the right part, and the display area 320 for displaying instructions for the opposing robot 60 is arranged in the left part.

[0129] In Embodiment 3, the instruction discrimination unit 39, in the same manner as in Embodiment 1, discriminates the input instruction when a line of characters is input and the input is determined. In Embodiment 3, the instruction discrimination unit 39, in the same manner as in Embodiment 2, can discriminate the input instruction in the middle of inputting a line of characters.

[0130] In Embodiment 3, the numerical control device 1X functions as a machining program creation device, but the machining program creation device is not limited to being implemented by the numerical control device 1X. The machining program creation device may also be implemented by another device different from the numerical control device 1X.

[0131] According to Embodiment 3, the machining program creation device discriminates between the instructions for the machine tool 70 and the instructions for the robot 60, and based on the discrimination result, displays the instructions for the machine tool 70 and the instructions for the robot 60 on the screen in a manner that can be visually distinguished from each other. When the machining program creation device creates or edits the machining program on the screen, the user can easily confirm the instructions for the machine tool 70 and the instructions for the robot 60. In addition, according to Embodiment 3, the machining program creation device arranges the area for displaying the instructions for the machine tool 70 and the area for displaying the instructions for the robot 60 side by side horizontally, whereby the user can easily confirm the temporal synchronization relationship between the machine tool 70 and the robot 60. Furthermore, the machining program creation device may be configured to return the instructions to the time-series state from the state in which the respective instructions are reconfigured in the display area 320 or the display area 330.

[0132] Next, the hardware for implementing the control arithmetic unit 2X according to Embodiments 1 to 3 will be described. The control arithmetic unit 2X is a processing unit included in the machining program creation device. The control arithmetic unit 2X is implemented by a processing circuit. The processing circuit may be a circuit that executes software by a processor, or a dedicated circuit.

[0133] When the processing circuit is implemented by software, the processing circuit is, for example, Figure 10 the control circuit shown. Figure 10 FIG. is a structural example diagram of the control circuit 200 according to Embodiments 1 to 3. The control circuit 200 includes an input unit 201, a processor 202, a memory 203, and an output unit 204. The input unit 201 is an interface circuit that receives data input from the outside of the control circuit 200 and supplies it to the processor 202. The output unit 204 is an interface circuit that transmits data from the processor 202 or the memory 203 to the outside of the control circuit 200.

[0134] When the processing circuit is Figure 10In the case of the control circuit 200 shown, the control arithmetic unit 2X is implemented by software, firmware, or a combination of software and firmware. The software or firmware is described as a program and stored in the memory 203. In the processing circuit, the program stored in the memory 203 is read out and executed by the processor 202, thereby implementing each function. That is, the processing circuit has a memory 203, and the memory 203 is used to store the program for finally executing the processing of the machining program creation device. In addition, these programs can be said to cause a computer to execute the sequence and method of the machining program creation device.

[0135] The processor 202 is a CPU (also known as Central Processing Unit, central processing device, processing device, arithmetic device, microprocessor, microcomputer, processor, or DSP (Digital Signal Processor)). The memory 203 is, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory), a magnetic disk, a floppy disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disc).

[0136] Figure 10 This is an example of the hardware in the case where each structural element is implemented by the general-purpose processor 202 and the memory 203, but each structural element can also be implemented by a dedicated hardware circuit. Figure 11 FIG. shows a structural example of the dedicated hardware circuit 205 according to Embodiments 1 to 3.

[0137] The dedicated hardware circuit 205 has an input unit 201, an output unit 204, and a processing circuit 206. The processing circuit 206 is a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a circuit formed by combining them. Each function of the control arithmetic unit 2X can be implemented by the processing circuit 206 according to function categories, or each function can be summarized and implemented by the processing circuit 206. In addition, each structural element can be implemented by combining the control circuit 200 and the hardware circuit 205.

[0138] The structures shown in the above-described embodiments illustrate an example of the content of the present invention. The structures of the respective embodiments can be combined with other known techniques. The structures of the respective embodiments can also be appropriately combined with each other. A part of the structure of each embodiment can be omitted or modified without departing from the gist of the present invention.

[0139] Description of Reference Numerals

[0140] 1X numerical control device, 2X control arithmetic unit, 3X input operation unit, 4 display unit, 5 PLC operation unit, 6 CNC unit, 31 screen processing unit, 32 input control unit, 34 storage unit, 35 X control signal processing unit, 36 PLC, 37 analysis processing unit, 38 interpolation processing unit, 39 instruction discrimination unit, 41 X robot control unit, 50 X robot controller, 60 robot, 61 robot hand, 70 machine tool, 90 drive unit, 91 X-axis servo control unit, 92 Z-axis servo control unit, 93 spindle servo control unit, 97, 98, 99 detectors, 100A control system, 200 control circuit, 201 input unit, 202 processor, 203 memory, 204 output unit, 205 hardware circuit, 206 processing circuit, 300, 310, 320, 330 display areas, 301, 331 rows, 341 program storage area, 342 machine tool instruction code list, 343 robot instruction code list, 344 display data storage area, 345 shared area, 371 robot instruction analysis unit, 381 robot instruction waiting unit, 413 NC instruction waiting unit, 414 program conversion unit, 415 robot program buffer, 901, 902 servo motors, 911 spindle motor, 3411 instruction string area, 3412 discrimination result area.

Claims

1. A machining program creation device that creates a machining program for controlling a machine tool and a robot, The machining program creation device is characterized by having: An instruction discrimination unit that discriminates whether an instruction including a string input through an input operation is an instruction for the machine tool or an instruction for the robot, and stores the string associated with the discrimination result; and A screen processing unit that performs processing to display the instruction for the machine tool and the instruction for the robot in a visually distinguishable manner on the screen based on the discrimination result, The screen has a first display area for displaying the instruction for the robot and a second display area for displaying the instruction for the machine tool, The instruction is input to a position following the discrimination result of the previous input operation, and the position is below the lowest position of one of the first display area and the second display area, When the instruction is an instruction for the robot and is below the lowest position of the second display area, the screen processing unit reconfigures the instruction below the lowest position of the first display area, When the instruction is an instruction for the machine tool and is below the lowest position of the second display area, the screen processing unit does not change the position of the instruction.

2. The machining program creation device according to claim 1, characterized in that The instruction discrimination unit discriminates whether an instruction including the input string is an instruction for the machine tool or an instruction for the robot when the input of the string is determined.

3. The machining program creation device according to claim 1, characterized in that The instruction discrimination unit discriminates whether an instruction including the string is an instruction for the machine tool or an instruction for the robot based on the input characters during the input of the string.

4. The machining program creation device according to any one of claims 1 to 3, characterized in that The screen processing unit arranges the area for displaying the instruction for the machine tool and the area for displaying the instruction for the robot vertically on the screen, thereby separately displaying the area for displaying the instruction for the machine tool and the area for displaying the instruction for the robot.

5. The machining program creation device according to any one of claims 1 to 3, characterized in that The screen processing unit arranges the area for displaying the instruction for the machine tool and the area for displaying the instruction for the robot horizontally on the screen, thereby separately displaying the area for displaying the instruction for the machine tool and the area for displaying the instruction for the robot.

6. The machining program creation device according to any one of claims 1 to 3, characterized in that The screen processing unit makes the display colors of the strings that are instructions for the machine tool and the strings that are instructions for the robot different from each other.

7. The machining program creation device according to claim 4, characterized in that The screen processing unit makes the display color of the string that is an instruction for the machine tool different from the display color of the string that is an instruction for the robot.

8. The machining program creation device according to claim 5, characterized in that The screen processing unit makes the display color of the string that is an instruction for the machine tool different from the display color of the string that is an instruction for the robot.

9. A machining program creation method for creating a machining program for controlling a machine tool and a robot, The machining program creation method is characterized by including the following steps: Determining whether the instruction including the string input by an input operation is an instruction for the machine tool or an instruction for the robot, and storing the string associated with the determination result; and Performing processing to display the instruction for the machine tool and the instruction for the robot in a visually distinguishable manner on the screen based on the determination result, The screen has a first display area for displaying an instruction for the robot and a second display area for displaying an instruction for the machine tool, The instruction is input to a position following the determination result in the previous input operation, and the position is below the lowermost position of one of the first display area and the second display area, When the instruction is an instruction for the robot and is below the lowermost position of the second display area, the step of displaying the screen reconfigures the instruction below the lowermost position of the first display area, When the instruction is an instruction for the machine tool and is below the lowermost position of the second display area, the step of displaying the screen does not change the position of the instruction.

Images