Numerical control device and numerical control system

Abstract

The invention provides a numerical control device and a numerical control system, which can monitor the operation of a robot control device while a robot is operated by a command from a numerical control program of the numerical control device. A numerical control device that controls a robot via a robot control device using a numerical control program includes: an analysis unit that analyzes a numerical control command for a robot in the numerical control program; a program execution control unit that controls the execution of the numerical control command for the robot analyzed by the analysis unit; a data transmission / reception unit that transmits the numerical control command for the robot to the robot control device and receives the operating state of the robot from the robot control device; and a motion monitoring unit that monitors the motion state of the robot control device on the basis of the motion state received by the data transmission / reception unit, the motion state including a state pertaining to the operation of the robot controlled by the robot control device.

Description

Technical Field

[0001] The present disclosure relates to a numerical control device and a numerical control system. Background Art

[0002] Conventionally, there are technologies related to collaborative robots that stop their movements upon detecting contact with a person. For example, there is a technology that sets load information on a workpiece to be held in order to accurately measure the contact force of the collaborative robot.

[0003] Furthermore, there is a technology disclosed for a system for operating a robot from a machine tool to automate a machining site. For example, there is a technology disclosed for operating a robot using numerical control instructions familiar to machine tool users (for example, see Patent Document 1).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2014-241018 Summary of the Invention

[0007] Problems to be solved by the invention

[0008] If the robot stops unexpectedly while operating under instructions from a numerical control program of the numerical controller, the numerical control program continues to be executed because the numerical controller cannot detect the robot's stop and continues to wait for the robot to operate.

[0009] This results in unnecessary manual labor to temporarily halt the execution of the numerical control program in the numerical controller. Furthermore, when the numerical controller is monitoring the status of the machine tool, even if the robot stops, the numerical controller will not detect the robot's cessation and will continue to wait for the robot to resume operation, resulting in a delay in noticing the robot's cessation.

[0010] Therefore, a numerical controller and a numerical control system are desired that can monitor the operation of a robot controller while the robot is being operated by instructions from a numerical control program of the numerical controller.

[0011] Means for solving problems

[0012] A numerical control device according to one embodiment of the present invention uses a numerical control program to control a robot via a robot control device, wherein the numerical control device comprises: an analysis unit that analyzes numerical control instructions for the robot in the numerical control program; a program operation control unit that controls the operation of the numerical control instructions for the robot analyzed by the analysis unit; a data transceiver unit that sends the numerical control instructions for the robot to the robot control device and receives the operation status of the robot control device from the robot control device; and an operation monitoring unit that monitors the operation status of the robot control device based on the operation status received by the data transceiver unit, wherein the operation status includes a status related to the operation of the robot controlled by the robot control device.

[0013] A numerical control system of one embodiment of the present invention uses a numerical control program of a numerical control device to control a robot via a robot control device, wherein the numerical control device includes: an analysis unit that analyzes the numerical control instructions for the robot in the numerical control program; a program operation control unit that controls the operation of the numerical control instructions for the robot analyzed by the analysis unit; a data transceiver unit that sends the numerical control instructions for the robot to the robot control device and receives the operation status of the robot control device from the robot control device; and an operation monitoring unit that monitors the operation status of the robot control device based on the operation status received by the data transceiver unit, and the robot control device includes: a robot-side data transceiver unit that sends the operation status of the robot control device to the numerical control device, and the operation status includes a status related to the operation of the robot controlled by the robot control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a functional block diagram of the numerical control system according to this embodiment.

[0015] Figure 2 This is a functional block diagram of the numerical controller and robot controller according to this embodiment.

[0016] Figure 3 This is a timing diagram showing the flow of signals and information between the numerical controller and the robot controller when executing a numerical control program.

[0017] Figure 4 This is a diagram showing a display example when the collaborative robot is stopped.

[0018] Figure 5 This is a diagram showing a display example when the collaborative robot is stopped. DETAILED DESCRIPTION

[0019] Hereinafter, an example of an embodiment of the present disclosure will be described. Figure 1 This is a functional block diagram of the numerical control system 1 according to the present embodiment.

[0020] Numerical control system 1 includes: a machine tool 2 for machining a workpiece (not shown); a numerical control unit (CNC) 4 for controlling the operation of machine tool 2; a collaborative robot 3 located near machine tool 2; and a robot control unit 5 for controlling the operation of collaborative robot 3. Numerical control system 1 utilizes numerical control unit 4 and robot control unit 5, which are communicatively connected to each other, to control the operation of machine tool 2 and collaborative robot 3 in a coordinated manner.

[0021] The machine tool 2 processes a workpiece (not shown) according to a machine tool control signal sent from the numerical controller 4. 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.

[0022] The collaborative robot 3 operates under the control of the robot control device 5, for example, performing a predetermined operation on a workpiece being processed by the machine tool 2. The collaborative robot 3 is, for example, a multi-jointed robot, with a tool 3b mounted on the front end 3a of its arm. This tool 3b is used to grasp, process, or inspect the workpiece. The following description will be based on a case where the collaborative robot 3 is a six-axis multi-jointed robot, but the present invention is not limited to this. Furthermore, the following description will be based on a case where the collaborative robot 3 is a six-axis multi-jointed robot, but the number of axes is not limited to this.

[0023] The collaborative robot 3 has functions such as a contact stop function, a retreat mode function, and a reversal action function, and can work safely in collaboration with humans. The contact stop function is a function that stops immediately when it contacts a human with a light force (for example, 10 to 20N (i.e., 1 to 2kgf)). The retreat mode function is a function that allows the arm of the collaborative robot 3 to retreat on each axis by pushing the arm of the collaborative robot 3 by a human. The reversal action function is a function that reduces pinching by immediately reversing the arm when the collaborative robot 3 contacts a hard object. In order to detect external forces such as contact with a human, the collaborative robot 3 has an external force detection unit 31 (see Figure 2 The external force detection sensor is, for example, a torque sensor or a force sensor. Specifically, the collaborative robot 3 detects contact with a person using the external force detection sensor, and the robot control device 5 stops the movement of the collaborative robot 3 based on the external force detected by the external force detection sensor. This allows the collaborative robot 3 to work safely in collaboration with a person.

[0024] The numerical controller 4 and robot controller 5 are computers, each constructed using the following hardware: a processing unit such as a CPU (Central Processing Unit); an auxiliary storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various computer programs; a main storage unit such as RAM (Random Access Memory) for temporarily storing data required by the processing unit while executing computer programs; an operating unit such as a keyboard for the operator to perform various operations; and a display unit such as a monitor that displays various information to the operator. These numerical controllers 4 and robot controllers 5 can exchange various signals with each other, for example, via Ethernet (registered trademark).

[0025] Figure 2 1 is a functional block diagram of the numerical control device 4 and the robot control device 5 of this embodiment. First, the detailed structure of the numerical control device 4 is described. Figure 2 As shown, the numerical controller 4 realizes various functions such as a function of controlling the motion of the machine tool 2 and a function of generating a motion path of the control axis of the cooperative robot 3 by the above-mentioned hardware configuration.

[0026] The numerical controller 4 uses a numerical control program to control the collaborative robot 3 via the robot controller 5. Specifically, the numerical controller 4 generates various commands for controlling the movements of the collaborative robot 3 and the tool 3b according to the robot numerical control program and transmits these commands to the robot controller 5. More specifically, the numerical controller 4 includes a program input unit 41, an analysis unit 42, a motion control unit 43, a storage unit 44, a program execution control unit 45, a data transceiver 46, a motion monitoring unit 47, and an output unit 48.

[0027] The program input unit 41 reads a robot numerical control program composed of a plurality of robot command blocks from the storage unit 44 and sequentially inputs the program to the analyzing unit 42 .

[0028] The analysis unit 42 analyzes the instruction type of the numerical control program input from the program input unit 41 for each instruction block and outputs the analysis results to the motion control unit 43 and the program execution control unit 45. More specifically, if the instruction type of the instruction block is a machine tool numerical control instruction for the machine tool 2, the analysis unit 42 sends the machine tool numerical control instruction to the motion control unit 43. If the instruction type of the instruction block is a robot numerical control instruction for the collaborative robot 3, the analysis unit 42 outputs the robot numerical control instruction (hereinafter also referred to as the robot control instruction) to the program execution control unit 45.

[0029] Based on the analysis results sent from the analysis unit 42, the motion control unit 43 generates a machine tool control signal for controlling the operation of the machine tool 2 and inputs the signal to the actuators that drive the various axes of the machine tool 2. The machine tool 2 operates according to the machine tool control signal input from the motion control unit 43 to process a workpiece (not shown).

[0030] The storage unit 44 stores, for example, a plurality of numerical control programs created based on operator operations. More specifically, the storage unit 44 stores numerical control programs composed of, for example, a plurality of instruction blocks for controlling the operation of the machine tool 2 and a plurality of instruction blocks for controlling the operation of the collaborative robot 3. The numerical control programs stored in the storage unit 44 are written in a known programming language, such as G-code or M-code, for controlling the operation of the machine tool 2.

[0031] The storage unit 44 also stores, for example, machine coordinate values ​​representing the positions of various axes of the machine tool 2 (i.e., the positions of the tool post, table, etc. of the machine tool 2) as operated under the numerical control program. These machine coordinate values ​​are defined within a machine coordinate system whose origin is a reference point determined at an arbitrary position on or near the machine tool 2. The storage unit 44 stores the latest values ​​of the machine coordinate values ​​that change successively under the numerical control program, as they are sequentially updated through processing (not shown).

[0032] The storage unit 44 also stores, for example, robot coordinate values ​​representing the position and posture of the control points (e.g., the arm tip 3a of the collaborative robot 3) of the collaborative robot 3 operating under the control of the robot controller 5. In other words, they represent the positions of the various control axes of the collaborative robot 3. As mentioned above, these robot coordinate values ​​are defined in a robot coordinate system that is different from the machine tool coordinate system. The storage unit 44 is sequentially updated with the robot coordinate values ​​obtained from the robot controller 5 through processing (not shown) to store the latest values ​​of the robot coordinate values ​​that are sequentially changed under the numerical control program.

[0033] The storage unit 44 also stores, for example, the taught positions of the collaborative robot 3, such as the start and end points, input by the operator. Specifically, the storage unit 44 stores the taught positions of the collaborative robot 3 input from a teach pendant or the like, or input from a keyboard or the like. The taught positions of the collaborative robot 3 include robot coordinate values ​​representing the positions of each control axis of the collaborative robot 3. These robot coordinate values ​​are defined in a robot coordinate system that is different from the machine tool coordinate system.

[0034] The program execution control unit 45 controls the operation (execution) of the robot numerical control instructions analyzed by the analyzing unit 42. Furthermore, the program execution control unit 45 generates a robot command signal for each robot command block based on the analysis results of each robot command block input from the analyzing unit 42, and writes the generated robot command signal to the data transceiver 46. Specifically, the program execution control unit 45 generates a robot command signal for each robot command block based on the robot numerical control instructions input as analysis results from the analyzing unit 42, and writes the generated robot command signal to the data transceiver 46.

[0035] The data transceiver 46 transmits and receives various data such as commands and robot coordinate values ​​with the data transceiver 59 of the robot controller 5. Specifically, the data transceiver 46 transmits the robot command signal generated by the program execution control unit 45 to the data transceiver 59 of the robot controller 5. Furthermore, as described later, the data transceiver 46 receives the operating status of the robot controller 5 from the robot controller 5.

[0036] The motion monitoring unit 47 monitors the motion state of the robot control unit 5 based on the motion state of the robot control unit 5 received by the data transceiver 46. Here, the motion state of the robot control unit 5 includes the state of the operation of the collaborative robot 3 controlled by the robot control unit 5. The state of the operation of the collaborative robot 3 may include, for example, a state in which the collaborative robot 3 is operating, a state in which the collaborative robot 3 is stopped, or a state in which the collaborative robot 3 is ready for operation.

[0037] The output unit 48 is a display device such as a liquid crystal display, an organic EL display, a touch panel display, etc., and outputs various information. Figure 2 In the illustrated example, the output unit 48 is built into the numerical controller 4 , but may be an output device located outside the numerical controller 4 and the robot controller 5 .

[0038] Next, the structure of the robot control device 5 will be described in detail. Figure 2 As shown, the robot controller 5 implements various functions such as a storage unit 51, an analysis unit 52, a robot command generation unit 53, a program management unit 54, a trajectory control unit 55, a kinematic control unit 56, a servo control unit 57, an operation status detection unit 58, and a data transceiver 59 through the aforementioned hardware configuration. By utilizing these functional units, the robot controller 5 controls the operation of the collaborative robot 3 in accordance with commands sent from the numerical controller 4.

[0039] The storage unit 51 stores robot programs and various information used to control the collaborative robot 3. Furthermore, the storage unit 51 stores load settings for the collaborative robot 3. In this embodiment, the storage unit 51 is provided in the robot controller 5. However, the storage unit 51 may also be provided in the numerical controller 4, or in an electronic device or external server external to the numerical controller 4 and robot controller 5.

[0040] The data transceiver 59 receives the robot command signal transmitted from the data transceiver 46 of the numerical controller 4. The data transceiver 59 sequentially outputs the received robot command signal to the analyzing unit 52.

[0041] The analyzing unit 52 analyzes the robot command signal input from the data transmitting and receiving unit 59 . The analyzing unit 52 also outputs the analysis result to the robot command generating unit 53 .

[0042] The robot command generation unit 53 generates a robot command corresponding to the robot command signal based on the analysis result of the robot command signal input from the analysis unit 52 . The robot command generation unit 53 outputs the generated robot command to the program management unit 54 .

[0043] When a robot command is input from the robot command generating unit 53 , the program managing unit 54 sequentially executes the robot command to thereby generate a motion plan for the cooperative robot 3 corresponding to the robot instruction signal and outputs the motion plan to the trajectory controlling unit 55 .

[0044] Furthermore, if the robot command input from the robot command generation unit 53 is a block robot command, the program management unit 54 adds the input block robot command to the robot program stored in the storage unit 51. Consequently, a robot program corresponding to the robot command signal transmitted from the numerical controller 4 is generated and stored in the storage unit 51. The stored robot program is activated and replayed when the program management unit 54 receives a robot program activation command as a robot command.

[0045] When the motion plan is input from the program management unit 54 , the trajectory control unit 55 calculates time-series data of the control points of the cooperative robot 3 and outputs the data to the kinematic control unit 56 .

[0046] The kinematic control unit 56 calculates a target angle of each joint of the cooperative robot 3 from the input time-series data, and inputs the calculated target angle to the servo control unit 57 .

[0047] The servo control unit 57 performs feedback control on the servo motors of the collaborative robot 3 to achieve the target angle input from the kinematic control unit 56 , thereby generating a robot control signal for the collaborative robot 3 and inputting the signal to the servo motors of the collaborative robot 3 .

[0048] The operating status detection unit 58 measures (acquires) the external force detected by the external force detection unit 31 of the cooperative robot 3. When the measured external force exceeds a certain value, the operating status detection unit 58 sends a signal to the servo control unit 57 to stop the cooperative robot 3. Furthermore, if the robot control unit 5 stops the operation of the cooperative robot 3, the operating status detection unit 58 notifies the numerical controller 4 of the cessation of the operation of the cooperative robot 3 via the data transceiver 59.

[0049] Next, a description will be given of a specific process performed when the robot control device 5 of this embodiment stops the operation of the cooperative robot 3 .

[0050] The motion monitoring unit 47 detects that the robot control device 5 has stopped the motion of the collaborative robot 3 as the motion status of the robot control device 5. When the motion monitoring unit 47 notifies the robot control device 5 that the motion of the collaborative robot 3 has stopped, the program execution control unit 45 stops the running (execution) of the numerical control program for the collaborative robot 3.

[0051] For example, if the collaborative robot 3 is stopped by an external force, the motion monitoring unit 47 obtains the information that the robot control device 5 has stopped the motion of the collaborative robot 3 as the motion state. Upon receiving notification from the motion monitoring unit 47 that the collaborative robot 3 has stopped its motion, the program execution control unit 45 stops the operation (execution) of the numerical control program for the collaborative robot 3.

[0052] Then, the output unit 48 displays or outputs to the outside the fact that the numerical control device 4 has stopped the execution of the numerical control program in a predetermined manner.

[0053] Furthermore, after the numerical controller 4 stops executing the numerical control program, if the robot controller 5 becomes operational, the motion monitoring unit 47 detects the robot controller 5's operational status. Upon receiving notification from the motion monitoring unit 47 that the robot controller 5 is operational, the program execution control unit 45 resumes the execution of the numerical control program for the collaborative robot 3.

[0054] Moreover, when the numerical control device 4 stops the execution of the numerical control program, the program operation control unit 45 also stops the operation (execution) of the numerical control program related to the processing performed by the machine tool 2 (that is, the numerical control program related to the processing system), and can also continue the operation (execution) of the numerical control program related to the processing performed by the machine tool 2.

[0055] Figure 3This is a timing chart showing the flow of signals and information between the numerical controller 4 and the robot controller 5 when the numerical control program of this embodiment is executed.

[0056] The program execution control unit 45 of the numerical controller 4 generates a robot command signal for each robot command block based on the robot numerical control command input as the analysis result from the analysis unit 42, and transmits the generated robot command signal to the robot controller 5 via the data transceiver 46. Thus, the numerical controller 4 requests the robot controller 5 to operate the collaborative robot 3.

[0057] The robot command generation unit 53 of the robot control device 5 generates a robot command corresponding to the robot command signal based on the analysis result of the robot command signal input from the analysis unit 52 . The robot command generation unit 53 outputs the generated robot command to the program management unit 54 .

[0058] Then, the cooperative robot 3 performs operations according to the generated robot commands and the control of the program management unit 54 , trajectory control unit 55 , kinematic control unit 56 , and servo control unit 57 as described above.

[0059] When the robot controller 5 starts the operation of the cooperative robot 3 , the operation state detection unit 58 notifies the numerical controller 4 that the robot controller 5 is executing the operation of the cooperative robot 3 .

[0060] Next, when the robot control device 5 stops the operation of the cooperative robot 3 , the operation state detection unit 58 notifies the numerical controller 4 that the robot control device 5 has stopped the operation of the cooperative robot 3 .

[0061] Here, the reason why the robot control device 5 stops the operation of the collaborative robot 3 is, for example, a temporary stop of the collaborative robot 3 by the teaching operation panel of the robot control device 5, an emergency stop of the robot control device 5 or the collaborative robot 3, or a contact stop of the collaborative robot 3. In addition, as mentioned above, the collaborative robot 3 has a function of stopping its operation for safety when a force is applied from the outside, that is, stopping its operation when it detects contact with a person.

[0062] The motion monitoring unit 47 detects that the robot control device 5 has stopped the motion of the collaborative robot 3 as the motion status of the robot control device 5. When the motion monitoring unit 47 notifies the robot control device 5 that the motion of the collaborative robot 3 has stopped, the program execution control unit 45 stops the execution of the numerical control program for the collaborative robot 3.

[0063] Then, the output unit 48 displays the fact that the numerical control device 4 has stopped executing the numerical control program in a predetermined manner or outputs it to an external device.

[0064] Figure 4 and Figure 5 This is a diagram showing a display example of a situation in which the cooperative robot 3 is stopped. Figure 4 48 is a display example of the output unit. Figure 5 : is a display example of the external device 6. The external device 6 is a device connected to the numerical controller 4 or the robot controller 5 so as to be communicable therewith, and is a display device such as a liquid crystal display, an organic EL display, or a touch panel display.

[0065] like Figure 4 As shown, when the robot controller 5 is notified by the motion monitoring unit 47 that the collaborative robot 3 is executing an action, the program execution control unit 45 notifies the output unit 48 that the numerical control program is currently executing. As shown in display screen B1, the output unit 48 displays information indicating that the numerical control device 4 is currently executing the numerical control program.

[0066] Furthermore, when the robot controller 5 is notified by the motion monitoring unit 47 that the motion of the collaborative robot 3 has been stopped, the program execution control unit 45 notifies the output unit 48 that the numerical control program is stopped. As shown in display screen B1, the output unit 48 displays a message indicating that the numerical control program is stopped in the numerical control device 4.

[0067] In addition, if Figure 5 As shown, when the robot controller 5 is notified by the motion monitoring unit 47 that the collaborative robot 3 is executing an action, the program execution control unit 45 notifies the external device 6 that the numerical control program is currently executing. As shown in display screen B2, the external device 6 displays a message indicating that the numerical control program is currently executing.

[0068] Furthermore, when the robot controller 5 is notified by the motion monitoring unit 47 that the motion of the collaborative robot 3 has been stopped, the program execution control unit 45 notifies the external device 6 that the numerical control program is currently stopped. As shown in display screen B1, the output unit 48 displays a message indicating that the numerical control program is currently stopped in the numerical control device 4.

[0069] return Figure 3When the robot control device 5 resumes the operation of the collaborative robot 3, the operation state detection unit 58 notifies the numerical controller 4 of the operable state. Here, the reason why the robot control device 5 resumes the operation of the collaborative robot 3 is, for example, the release of the temporary stop of the collaborative robot 3 by the teaching operation panel of the robot control device 5, the release of the emergency stop of the robot control device 5 or the collaborative robot 3, or the removal of an object in contact with the collaborative robot 3.

[0070] Then, the operation monitoring unit 47 of the numerical controller 4 obtains the fact that the robot controller 5 is operable as the operation state. When the operation monitoring unit 47 notifies the robot controller 5 that it is operable, the program execution control unit 45 resumes the execution of the numerical control program for the cooperative robot 3.

[0071] When the execution of the numerical control program is resumed, the program execution control unit 45 generates a robot command signal for each robot command block based on the robot numerical control command input as the analysis result from the analysis unit 42, and transmits the generated robot command signal to the robot control unit 5 via the data transceiver 46. The numerical control unit 4 then requests the robot control unit 5 to operate the collaborative robot 3. Then, as described above, the robot control unit 5 starts the operation of the collaborative robot 3, and the collaborative robot 3 executes the operation according to the command from the robot control unit 5.

[0072] As described above, according to this embodiment, the numerical control device 4 includes: an analysis unit 42 for analyzing the numerical control instructions for the robot in the numerical control program; a program operation control unit 45 for controlling the operation of the numerical control instructions for the robot analyzed by the analysis unit 42; a data transceiver unit 46 for sending the numerical control instructions for the robot to the robot control device 5 and receiving the operation status of the robot control device 5 from the robot control device 5; and an operation monitoring unit 47 for monitoring the operation status of the robot control device 5 based on the operation status of the robot control device 5 received by the data transceiver unit 46, and the operation status of the robot control device 5 includes the operation status of the collaborative robot 3 controlled by the robot control device 5.

[0073] With this configuration, the numerical controller 4 can obtain and monitor the operating state of the robot controller 5 , thereby monitoring the operation of the robot controller 5 while the cooperative robot 3 is operating according to the instructions of the numerical control program from the numerical controller 4 .

[0074] Furthermore, the motion monitoring unit 47 detects that the robot control device 5 has stopped the motion of the collaborative robot 3 as the motion state of the robot control device 5. Upon receiving notification from the motion monitoring unit 47 that the robot control device 5 has stopped the motion of the collaborative robot 3, the program execution control unit 45 stops the execution of the numerical control program for the collaborative robot 3.

[0075] With this configuration, while the numerical controller 4 is operating the robot controller 5 in response to instructions from the numerical control program, the numerical controller 4 is notified that the robot controller 5 has stopped operating the collaborative robot 3, automatically stopping the execution of the numerical control program. Consequently, the numerical controller 4 can quickly resume operating the collaborative robot 3. Furthermore, since the numerical controller 4 also stops the numerical control program when the robot controller 5 stops operating, the user of the numerical controller 4 can quickly become aware of the cessation of the robot controller 5's operating the collaborative robot 3.

[0076] Furthermore, the motion monitoring unit 47 detects, as the operating state, that the robot control device 5 has stopped the motion of the collaborative robot 3 due to an external force being applied to the collaborative robot 3. Upon receiving notification from the motion monitoring unit 47 that the collaborative robot 3 has stopped its motion, the program execution control unit 45 stops the execution of the numerical control program.

[0077] With this configuration, if the collaborative robot 3 stops due to an external force applied to it, the numerical controller 4 automatically stops the execution of the numerical control program. Therefore, the numerical controller 4 can quickly resume the operation of the collaborative robot 3 even if it stops.

[0078] The numerical controller 4 also includes an output unit 48 that displays or outputs to the outside the numerical controller 4 that the numerical controller 4 has stopped executing the numerical control program. This configuration allows the numerical controller 4 to notify the user of the numerical controller 4 that the numerical control program has stopped executing.

[0079] Furthermore, after the numerical controller 4 stops executing the numerical control program, if the robot controller 5 becomes operational, the motion monitoring unit 47 detects the robot controller 5's operational status as the operational state. Upon receiving notification from the motion monitoring unit 47 that the robot controller 5 is operational, the program execution control unit 45 resumes execution of the numerical control program. This configuration allows the numerical controller 4 to quickly resume the operation of the collaborative robot 3 when the robot controller 5 becomes operational.

[0080] Furthermore, when the numerical controller 4 stops executing the numerical control program for the collaborative robot 3, the program execution control unit 45 may also stop executing the numerical control program for the processing (processing system) performed by the machine tool 2. Furthermore, when the numerical controller 4 stops executing the numerical control program for the collaborative robot 3, the program execution control unit 45 may also continue executing the numerical control program for the processing performed by the machine tool 2.

[0081] With this configuration, numerical controller 4 can also stop the numerical control program for the machining system as needed, thereby preventing interference between the collaborative robot 3 and the machining system of machine tool 2. Furthermore, by continuing to execute the numerical control program for the machining system, numerical controller 4 can improve its operating efficiency.

[0082] The above describes the embodiments of the present invention. The numerical control system 1 described above can be implemented using hardware, software, or a combination thereof. Furthermore, the control method performed by the numerical control system 1 described above can also be implemented using hardware, software, or a combination thereof. Here, implementation using software means that the program is read and executed by a computer.

[0083] The program can be stored and provided to the computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include: magnetic recording media (e.g., hard disks), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (random access memory)).

[0084] Although the present disclosure has been described in detail, the present disclosure is not limited to the above-mentioned embodiments. These embodiments may be subject to various additions, replacements, changes, partial deletions, etc., without departing from the gist of the present disclosure, or without departing from the scope of the present disclosure derived from the contents described in the scope of the patent application and its equivalents. In addition, these embodiments may also be implemented in combination. For example, in the above-mentioned embodiments, the order of each action or the order of each process is shown as an example and is not limited to these orders. In addition, the same applies to the use of numerical values ​​or formulas in the description of the above-mentioned embodiments.

[0085] The following supplementary notes are further disclosed regarding the above-mentioned embodiment and modifications.

[0086] (Note 1)

[0087] A numerical control device (4) controls a robot (3) via a robot control device (5) using a numerical control program.

[0088] The numerical control device (4) comprises:

[0089] An analyzing unit (44) that analyzes the robot numerical control instructions in the numerical control program;

[0090] a program execution control unit (45) for controlling the execution of the numerical control instruction for the robot analyzed by the analyzing unit;

[0091] a data transceiver (46) which transmits numerical control instructions for the robot to the robot control device and receives the operation status of the robot control device from the robot control device; and

[0092] an action monitoring unit (47) for monitoring the action state of the robot control device based on the action state received by the data transceiver unit,

[0093] The operating state includes a state related to the operation of the robot controlled by the robot control device.

[0094] (Note 2)

[0095] According to the numerical control device described in Supplementary Note 1,

[0096] The operation monitoring unit obtains, as the operation state of the robot control device, that the robot control device has stopped the operation related to the robot.

[0097] When the robot control device is notified from the operation monitoring unit that the operation related to the robot has been stopped, the program execution control unit stops the execution of the numerical control program related to the robot.

[0098] (Note 3)

[0099] According to the numerical control device described in Supplementary Note 1,

[0100] The robot is a collaborative robot that stops moving for safety when a force is applied from the outside.

[0101] When the collaborative robot stops due to a force applied from the outside, the motion monitoring unit obtains, as the motion state, that the robot control device has stopped the motion related to the collaborative robot.

[0102] When the operation monitoring unit notifies that the cooperative robot has stopped operating, the program execution control unit stops the execution of the numerical control program.

[0103] (Note 4)

[0104] The numerical control device according to Supplement 1 or 2, wherein:

[0105] The numerical control device further includes an output unit (48) for displaying or externally outputting the fact that the numerical control device has stopped the execution of the numerical control program.

[0106] (Note 5)

[0107] The numerical control device according to Supplement 1 or 2, wherein:

[0108] After the numerical control device stops the execution of the numerical control program, when the robot control device becomes operable, the operation monitoring unit obtains the fact that the robot control device is operable as the operation state.

[0109] When the operation monitoring unit notifies the robot controller that it is operable, the program execution control unit resumes the execution of the numerical control program.

[0110] (Note 6)

[0111] The numerical control device according to Supplement 1 or 2, wherein:

[0112] When the numerical control device stops execution of the numerical control program, the program execution control unit also stops execution of the numerical control program related to machining by the machine tool.

[0113] (Note 7)

[0114] The numerical control device according to Supplement 1 or 2, wherein:

[0115] When the numerical control device stops execution of the numerical control program, the program execution control unit continues execution of the numerical control program related to machining by the machine tool.

[0116] (Note 8)

[0117] A numerical control system (1) controls a robot (3) via a robot control device (5) using a numerical control program of a numerical control device (4), wherein:

[0118] The numerical control device comprises:

[0119] An analyzing unit (42) that analyzes the robot numerical control instructions in the numerical control program;

[0120] a program execution control unit (45) for controlling the execution of the numerical control instruction for the robot analyzed by the analyzing unit;

[0121] a data transceiver (46) which transmits numerical control instructions for the robot to the robot control device and receives the operation status of the robot control device from the robot control device; and

[0122] an action monitoring unit (47) for monitoring the action state of the robot control device based on the action state received by the data transceiver unit,

[0123] The robot control device comprises: a robot-side data transceiver (59) which transmits the operating state of the robot control device to the numerical control device;

[0124] The operating state includes a state related to the operation of the robot controlled by the robot control device.

[0125] (Note 9)

[0126] According to the numerical control system described in Supplementary Note 8,

[0127] The operation monitoring unit obtains, as the operation state, that the robot control device has stopped the operation related to the robot.

[0128] When the robot control device is notified from the operation monitoring unit that the operation related to the robot has been stopped, the program execution control unit stops the execution of the numerical control program related to the robot.

[0129] (Note 10)

[0130] According to the numerical control system described in Supplementary Note 8,

[0131] The robot is a collaborative robot that stops moving for safety when a force is applied from the outside.

[0132] The motion monitoring unit obtains, as the motion state, a situation in which the robot control device has stopped motion related to the robot due to a force applied from the outside,

[0133] When the robot control device is notified from the operation monitoring unit that the operation of the robot has been stopped, the program execution control unit stops the execution of the numerical control program.

[0134] (Note 11)

[0135] The numerical control system according to Supplement 8 or 9, wherein:

[0136] The numerical control system further includes an output unit (48) for displaying or externally outputting the fact that the numerical control device has stopped the execution of the numerical control program.

[0137] (Note 12)

[0138] The numerical control system according to Supplement 8 or 9, wherein:

[0139] After the numerical control device stops executing the numerical control program, the operation monitoring unit obtains, as the operation state, that the robot control device is able to operate.

[0140] When the operation monitoring unit notifies the robot controller that it is operable, the program execution control unit resumes the execution of the numerical control program.

[0141] (Note 13)

[0142] The numerical control system according to Supplement 8 or 9, wherein:

[0143] When the numerical control device stops execution of the numerical control program, the program execution control unit also stops execution of the numerical control program related to machining by the machine tool.

[0144] (Note 14)

[0145] The numerical control system according to Supplement 8 or 9, wherein:

[0146] When the numerical control device stops execution of the numerical control program, the program execution control unit continues execution of the numerical control program related to machining by the machine tool.

[0147] Explanation of symbols

[0148] 1 Numerical control system

[0149] 2 Machine Tools

[0150] 3. Collaborative Robots

[0151] 4 Numerical control device

[0152] 31 External force detection unit

[0153] 41 Program input unit

[0154] 42 Analysis Department

[0155] 43 Motion Control Unit

[0156] 44 Storage Department

[0157] 45 Program operation control unit

[0158] 46 Data transceiver unit

[0159] 47 Action Monitoring Department

[0160] 48 output unit

[0161] 51 Storage Department

[0162] 52 Analysis Department

[0163] 53 Robot command generation unit

[0164] 54 Program Management Department

[0165] 55 trajectory control unit

[0166] 56 Kinematics Control Department

[0167] 57 Servo Control Unit

[0168] 58 Operation status detection unit

[0169] 59 data transceiver unit.

Claims

1. A numerical control device that uses a numerical control program to control a robot via a robot control device, characterized in that: The numerical control device comprises: an analyzing unit for analyzing the robot numerical control instructions in the numerical control program; a program execution control unit that controls the execution of the robot numerical control command analyzed by the analyzing unit; a data transceiver unit for transmitting numerical control instructions for the robot to the robot control device and receiving an operation status of the robot control device from the robot control device; as well as an operation monitoring unit that monitors the operation state of the robot control device based on the operation state received by the data transceiver unit, The operating state includes a state related to the operation of the robot controlled by the robot control device.

2. The numerical control device according to claim 1, wherein The operation monitoring unit obtains, as the operation state of the robot control device, that the robot control device has stopped the operation related to the robot. When the robot control device is notified from the operation monitoring unit that the operation related to the robot has been stopped, the program execution control unit stops the execution of the numerical control program related to the robot.

3. The numerical control device according to claim 1, wherein The robot is a collaborative robot that stops moving for safety when a force is applied from the outside. When the collaborative robot stops due to a force applied from the outside, the motion monitoring unit obtains, as the motion state, that the robot control device has stopped the motion related to the collaborative robot. When the operation monitoring unit notifies that the cooperative robot has stopped operating, the program execution control unit stops the execution of the numerical control program.

4. The numerical control device according to claim 1 or 2, characterized in that: The numerical controller further includes an output unit configured to display or output to the outside that the numerical controller has stopped the execution of the numerical control program.

5. The numerical control device according to claim 1 or 2, characterized in that: After the numerical control device stops the execution of the numerical control program, when the robot control device becomes operable, the operation monitoring unit obtains the fact that the robot control device is operable as the operation state, When the operation monitoring unit notifies the robot controller that it is operable, the program execution control unit resumes the execution of the numerical control program.

6. The numerical control device according to claim 1 or 2, characterized in that: When the numerical control device stops execution of the numerical control program, the program execution control unit also stops execution of the numerical control program related to machining by the machine tool.

7. The numerical control device according to claim 1 or 2, characterized in that: When the numerical control device stops execution of the numerical control program, the program execution control unit continues execution of the numerical control program related to machining by the machine tool.

8. A numerical control system that uses a numerical control program of a numerical control device to control a robot via a robot control device, characterized in that: The numerical control device comprises: an analyzing unit for analyzing the robot numerical control instructions in the numerical control program; a program execution control unit that controls the execution of the robot numerical control command analyzed by the analyzing unit; a data transceiver unit for transmitting numerical control instructions for the robot to the robot control device and receiving an operation status of the robot control device from the robot control device; as well as an operation monitoring unit that monitors the operation state of the robot control device based on the operation state received by the data transceiver unit, The robot control device includes: a robot-side data transceiver that transmits the operating state of the robot control device to the numerical controller; The operating state includes a state related to the operation of the robot controlled by the robot control device.

9. The numerical control system according to claim 8, characterized in that: The operation monitoring unit obtains, as the operation state, that the robot control device has stopped the operation related to the robot. When the robot control device is notified from the operation monitoring unit that the operation related to the robot has been stopped, the program execution control unit stops the execution of the numerical control program related to the robot.

10. The numerical control system according to claim 8, characterized in that: The robot is a collaborative robot that stops moving for safety when a force is applied from the outside. The motion monitoring unit obtains, as the motion state, a situation in which the robot control device has stopped motion related to the robot due to a force applied from the outside, When the robot control device is notified from the operation monitoring unit that the operation of the robot has been stopped, the program execution control unit stops the execution of the numerical control program.

11. The numerical control system according to claim 8 or 9, characterized in that: The numerical control system further includes an output unit that displays or outputs to the outside that the numerical control device has stopped execution of the numerical control program.

12. The numerical control system according to claim 8 or 9, characterized in that: After the numerical control device stops executing the numerical control program, the operation monitoring unit obtains, as the operation state, that the robot control device is able to operate. When the operation monitoring unit notifies the robot controller that it is operable, the program execution control unit resumes the execution of the numerical control program.

13. The numerical control system according to claim 8 or 9, characterized in that: When the numerical control device stops execution of the numerical control program, the program execution control unit also stops execution of the numerical control program related to machining by the machine tool.

14. The numerical control system according to claim 8 or 9, characterized in that: When the numerical control device stops execution of the numerical control program, the program execution control unit continues execution of the numerical control program related to machining by the machine tool.

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