Numerical control device and numerical control system

Abstract

The invention provides a numerical controller and a numerical control system which enable a user of a machine tool to easily set load information. A numerical controller that controls a robot via a robot control device using a numerical control program includes: a teaching operation method selection unit that accepts a selection by a user from among a plurality of teaching operation methods for performing a teaching operation on the robot; the plurality of teaching operation methods include at least a direct teaching operation method for moving an axis of the robot in accordance with an external force applied to the robot.

Description

Technical Field

[0001] This disclosure relates to a numerical control device and a numerical control system. Background Technology

[0002] Previously, a technique for collaborative robots that stop moving upon detecting contact with a human has been disclosed. For example, a technique for setting the load information of the workpiece to be held in order to accurately measure the contact force of the collaborative robot has been disclosed.

[0003] Additionally, a technique for operating a robot from a machine tool to automate a machining site is disclosed. For example, a technique for operating the robot using numerical control instructions familiar to the machine tool user is disclosed (see, for example, Patent Document 1).

[0004] Existing technical documents

[0005] Patent documents

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

[0007] The problem that the invention aims to solve

[0008] A technique is known (direct instruction): using a force sensor built into a collaborative robot to detect the force applied to the collaborative robot by the user, causing the collaborative robot to move in the direction of the applied axial force.

[0009] However, machine tool users face the challenge of being unfamiliar with handling robot teach pendant controls. Furthermore, generating robot motion programs while simultaneously manually feeding robot axes from a numerical control unit (NCU) or directly teaching operation using the robot's teach pendant is labor-intensive. Therefore, a numerical control unit and control system are desired that allows selection of multiple teaching operation methods based solely on machine tool settings, without the need for a robot teach pendant.

[0010] Methods for solving problems

[0011] The present disclosure discloses a numerical control device that uses a numerical control program to control a robot via a robot control device. The numerical control device includes a teaching operation method selection unit that selects from a plurality of teaching operation methods for performing teaching operations to the robot based on a user's selection. The plurality of teaching operation methods include at least a direct teaching operation method that moves the robot's axis according to an external force applied to the robot.

[0012] The present disclosure discloses a numerical control system that uses a numerical control program of a numerical control device to control a robot via a robot control device. The numerical control device includes a teaching operation method selection unit that selects from a plurality of teaching operation methods for performing teaching operations to the robot based on a user's selection. The plurality of teaching operation methods include at least a direct teaching operation method that moves the robot's axis according to an external force applied to the robot. Attached Figure Description

[0013] Figure 1 This is a functional block diagram of the numerical control system in this embodiment.

[0014] Figure 2 This is a functional block diagram of the numerical control device and robot control device of this embodiment.

[0015] Figure 3 This refers to the display screen shown on the display / selection section of the numerical control device.

[0016] Figure 4 This is a diagram illustrating an example of a software key used to select a teaching operation method for a collaborative robot.

[0017] Figure 5 This is a diagram illustrating an example of a soft keyboard used to select a teaching operation method for a collaborative robot.

[0018] Figure 6 This is a sequence diagram showing the signal and information flow between the numerical control device and the robot control device in this embodiment. Detailed Implementation

[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 in this embodiment.

[0020] The numerical control system 1 includes: a machine tool 2 for machining a workpiece (not shown); a numerical control device (CNC) 4 for controlling the movement of the machine tool 2; a collaborative robot 3 located near the machine tool 2; and a robot control device 5 for controlling the movement of the collaborative robot 3. The numerical control system 1 uses the mutually communicatively connected numerical control device 4 and robot control device 5 to control the movements of the machine tool 2 and the collaborative robot 3 in a coordinated manner.

[0021] Machine tool 2 processes workpieces (not shown) according to machine tool control signals sent from numerical control device 4. Here, machine tool 2 may be, for example, a lathe, drilling machine, milling machine, grinding machine, laser processing machine, or injection molding machine, but is not limited to these. Furthermore, as described later, machine tool 2 is configured to perform operations such as manual handle feed (handle feed) and jog-based axis feed (jog feed).

[0022] The collaborative robot 3 operates under the control of the robot control device 5, for example, performing a predetermined task on a workpiece processed by the machine tool 2. The collaborative robot 3 is, for example, a multi-joint robot, with a tool 3b mounted on the forearm 3a of its arm. The tool 3b is used to hold, process, or inspect the workpiece. The following description describes the case where the collaborative robot 3 uses a 6-axis multi-joint robot, but it is not limited to this. Furthermore, the following description describes the case where the collaborative robot 3 uses a 6-axis multi-joint robot, but the number of axes is not limited to this.

[0023] The collaborative robot 3 has functions such as contact stop, retreat mode, and reverse motion, enabling it to work safely in cooperation with humans. The contact stop function stops the robot immediately upon contact with a human using a light force (e.g., 10 to 20 N (i.e., 1 to 2 kgf)). The retreat mode function allows the robot's arm to retreat along each axis when pushed by a human. The reverse motion function reduces clamping by immediately reversing the arm when the robot comes into contact with a hard object. The collaborative robot 3 is equipped with an external force detection unit 31 (see reference 31) consisting of an external force detection sensor to detect external forces such as contact with a human. Figure 2 External force detection sensors include, for example, torque sensors and force sensors. That is, the collaborative robot 3 detects contact with a human through external force detection sensors, and the robot control device 5 stops the collaborative robot 3's movement based on the external force detected by the sensors. Thus, the collaborative robot 3 can work safely in cooperation with a human.

[0024] In addition, the collaborative robot 3 has a direct teaching function, which detects the force applied by the operator through a built-in external force detection sensor and changes the position and posture of the collaborative robot 3 according to the magnitude and direction of the detected force.

[0025] The numerical control device 4 and the robot control device 5 are computers 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) that stores data temporarily needed by the processing unit when executing computer programs; an operation 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 control devices 4 and robot control devices 5 can, for example, send and receive various signals to each other via Ethernet (registered trademark).

[0026] Figure 2 This is a functional block diagram of the numerical control device 4 and the robot control device 5 of this embodiment. First, the detailed configuration of the numerical control device 4 will be explained. For example... Figure 2 As shown, the numerical control device 4, through the above-mentioned hardware configuration, realizes various functions such as controlling the movement of the machine tool 2 and generating the movement path of the control axis of the collaborative robot 3.

[0027] The numerical control device 4 uses a numerical control program to control the collaborative robot 3 via the robot control device 5. That is, the numerical control device 4 generates various instructions for controlling the actions of the collaborative robot 3 and the tool 3b according to the robot numerical control program, and sends them to the robot control device 5. More specifically, the numerical control device 4 includes a program input unit 41, a parsing unit 42, an action control unit 43, a storage unit 44, a robot instruction signal generation unit 45, a data transceiver unit 46, a display / operation unit 47, and a teach operation method selection unit 48.

[0028] The program input unit 41 reads the robot numerical control program, which is composed of multiple robot instruction blocks, from the storage unit 44 and inputs it into the parsing unit 42 one by one.

[0029] The parsing unit 42 parses each instruction block based on the instruction category of the numerical control program input from the program input unit 41, and outputs the parsing result to the motion control unit 43 and the robot instruction signal generation unit 45. More specifically, when the instruction category of the instruction block is a machine tool numerical control instruction for the machine tool 2, the parsing unit 42 sends the machine tool numerical control instruction to the motion control unit 43. When the instruction category of the instruction block is a robot numerical control instruction for the collaborative robot 3, the parsing unit 42 outputs the robot numerical control instruction (hereinafter also referred to as the robot control instruction) to the robot instruction signal generation unit 45.

[0030] The motion control unit 43 generates machine tool control signals for controlling the movement of the machine tool 2 based on the analysis results sent from the analysis unit 42, and inputs these signals to the actuators driving various axes of the machine tool 2. The machine tool 2 operates according to the machine tool control signals input from the motion control unit 43, and processes a workpiece (not shown).

[0031] The storage unit 44 stores, for example, multiple numerical control programs created based on operator operations. More specifically, the storage unit 44 stores numerical control programs that are configured using multiple instruction blocks for controlling the machine tool 2's movements, multiple instruction blocks for controlling the collaborative robot 3's movements, etc. The numerical control programs stored in the storage unit 44 are described using known programming languages ​​for controlling the machine tool 2, such as G-code and M-code.

[0032] Additionally, the storage unit 44 stores, for example, machine coordinate values, which represent the positions of various axes of the machine tool 2 operating under the aforementioned numerical control program (i.e., the positions of the tool holder or worktable of the machine tool 2). Furthermore, these machine coordinate values ​​are defined in a machine coordinate system with an origin at a reference point determined at or near any location on the machine tool 2. The storage unit 44 is updated sequentially through a process (not shown) to store the latest values ​​of the machine coordinate values ​​that change sequentially under the numerical control program.

[0033] Additionally, the storage unit 44 stores, for example, robot coordinate values, which represent the position and posture of the control points (e.g., the fore-end 3a of the collaborative robot 3's arm) operating under the control of the robot control device 5; in other words, they represent the positions of each control axis of the collaborative robot 3. Furthermore, these robot coordinate values ​​are defined in a robot coordinate system different from the machine tool coordinate system, as described above. In the storage unit 44, the robot coordinate values ​​obtained from the robot control device 5 are updated sequentially through a process (not shown) to store the latest values ​​of the robot coordinate values ​​that change sequentially under the numerical control program.

[0034] Additionally, the storage unit 44 stores, for example, the start and end points of the collaborative robot 3 input by the operator. Specifically, the storage unit 44 stores the teaching positions of the collaborative robot 3 input from a teach pendant or the like, as well as teaching positions input from a keyboard or the like. The teaching positions of the collaborative robot 3 include robot coordinate values ​​representing the positions of each control axis of the collaborative robot 3, and these robot coordinate values ​​are defined in a robot coordinate system different from the machine tool coordinate system.

[0035] The robot command signal generation unit 45 generates a robot command signal for each robot command block based on the parsing result of each robot command block input from the parsing unit 42, and writes the generated robot command signal to the data transceiver unit 46.

[0036] Specifically, the robot command signal generation unit 45 generates a robot command signal for each robot command block based on the robot numerical control command input from the parsing unit 42 as the parsing result, and writes the generated robot command signal to the data transceiver unit 46.

[0037] The data transceiver unit 46 transmits and receives various data, such as commands and robot coordinates, with the data transceiver unit 60 of the robot control device 5. Specifically, the data transceiver unit 46 sends robot command signals generated by the robot command signal generation unit 45 to the data transceiver unit 60 of the robot control device 5.

[0038] The display / operation unit 47 displays the status of the numerical control device 4 and operates the numerical control device 4. In addition to soft keys and a display screen, the display / operation unit 47 is also configured to use a touch panel display.

[0039] The teaching operation method selection unit 48 selects from a plurality of teaching operation methods for performing teaching operations on the collaborative robot 3, based on the selection made by the user. Here, the plurality of teaching operation methods includes at least a direct teaching operation method (i.e., direct teaching), which moves the axis of the collaborative robot 3 according to an external force applied to the collaborative robot 3.

[0040] Preferably, the plurality of teaching operation methods include at least one of a direct teaching operation method, an axis feed based on the handle of the machine tool 2, and an axis feed based on the micro-motion of the machine tool 2.

[0041] In addition, when the teaching operation method selection unit 48 selects a direct teaching operation method (direct teaching) from multiple teaching operation methods, which moves the axis of the collaborative robot 3 according to the external force applied to the collaborative robot 3, the data transceiver unit 46 notifies the robot control device 5 of the direct teaching operation method.

[0042] More specifically, when a teaching operation method is notified from the teaching operation method selection unit 48, the robot command signal generation unit 45 generates a robot command signal containing the teaching operation method and writes the generated robot command signal into the data transceiver unit 46. The data transceiver unit 46 then notifies (sends) the robot command signal to the data transceiver unit 60 of the robot control device 5.

[0043] Furthermore, in the direct teaching operation method (i.e., direct teaching), the teaching operation method selection unit 48 sets the amount of movement of the axis of the collaborative robot 3 relative to the external force applied to the collaborative robot 3. Here, setting the amount of movement of the axis of the collaborative robot 3 relative to the external force applied to the collaborative robot 3 can be regarded as the sensitivity setting in direct teaching.

[0044] Furthermore, in the direct teaching operation method, the teaching operation method selection unit 48 specifies the axis of the collaborative robot 3 that moves according to the external force applied to it. Here, specifying the axis of the collaborative robot 3 that moves according to the external force applied to it can be regarded as setting the mode in direct teaching.

[0045] Furthermore, the teaching operation method selection unit 48 switches the load setting in the direct teaching operation method. The load setting includes the weight information of the load (e.g., a tool or workpiece) installed on the collaborative robot 3. For example, when the collaborative robot 3 is holding a workpiece, the teaching operation method selection unit 48 switches the load setting before and after holding the workpiece.

[0046] Next, the composition of the robot control device 5 will be described in detail. For example... Figure 2 As shown, the robot control device 5 utilizes the aforementioned hardware configuration to implement various functions, including a storage unit 51, a parsing 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, a load setting and selection unit 58, a dynamics control unit 59, a data transceiver unit 60, a selection and execution unit 61, a contact control unit 62, and a manual axis feed control unit 63. By using these functional units, the robot control device 5 controls the actions of the collaborative robot 3 according to instructions sent from the numerical control device 4.

[0047] The storage unit 51 stores the robot program and various information used to control the collaborative robot 3. Additionally, the storage unit 51 stores the load settings of the collaborative robot 3. Furthermore, although the storage unit 51 is located in the robot control device 5 in this embodiment, it can also be located in the numerical control device 4, or in an external electronic device or external server, etc., outside the numerical control device 4 and the robot control device 5.

[0048] The data transceiver unit 60 receives robot command signals sent from the data transceiver unit 46 of the numerical control device 4. Furthermore, the data transceiver unit 60 sequentially outputs the received robot command signals to the parsing unit 52.

[0049] The analysis unit 52 analyzes the robot command signals input from the data transceiver unit 60. Furthermore, the analysis unit 52 outputs its analysis results to the robot command generation unit 53.

[0050] The robot command generation unit 53 generates robot commands corresponding to the robot command signals input from the parsing unit 52 based on the parsing results. The robot command generation unit 53 then outputs the generated robot commands to the program management unit 54.

[0051] When a robot command is input from the robot command generation unit 53, the program management unit 54 executes the robot command sequentially, thereby generating a motion plan for the collaborative robot 3 corresponding to the aforementioned robot instruction signal, and outputting it to the trajectory control unit 55.

[0052] 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. Thus, in the storage unit 51, a robot program corresponding to the robot instruction signal sent from the numerical control device 4 is generated and stored. The stored robot program is activated and regenerated when the program management unit 54 receives a robot program start command as a robot command.

[0053] When an action plan is input from the program management unit 54, the trajectory control unit 55 calculates the time sequence data of the control points of the collaborative robot 3 and outputs it to the kinematic control unit 56.

[0054] The kinematic control unit 56 calculates the target angles of each joint of the collaborative robot 3 based on the input time series data and inputs them to the servo control unit 57.

[0055] In order to achieve the target angle input from the kinematics control unit 56, the servo control unit 57 performs feedback control on each servo motor of the collaborative robot 3, thereby generating robot control signals for the collaborative robot 3 and inputting them to the servo motors of the collaborative robot 3. In addition, the servo control unit 57 generates robot control signals reflecting the torque calculated by the dynamics control unit 59 (described later). Thus, the robot control device 5 can control the collaborative robot 3 according to the load setting information.

[0056] The load setting selection unit 58 uses the load setting information stored in the storage unit 51 to set the load information in the collaborative robot 3. Specifically, the load setting selection unit 58 reads the load setting information stored in the storage unit 51 based on the robot command signal parsed by the parsing unit 52, and notifies the dynamics control unit 59 of the load setting information.

[0057] The dynamics control unit 59 calculates the torque input to the collaborative robot 3 through inverse dynamics calculation based on the load setting information notified by the load setting selection unit 58. The dynamics control unit 59 outputs the calculated torque to the servo control unit 57.

[0058] Here, the inverse dynamics calculation of the collaborative robot 3 refers to a method for calculating the input torque to each motor to achieve such a response, based on the desired motion (time-series data of the position, velocity, and acceleration of each joint) calculated according to the motion trajectory plan of the collaborative robot 3, taking into account the finger load or gravity and its own weight applied to the collaborative robot 3. Numerical calculation methods such as the torque calculation method or the Newton-Euler method have been disclosed for such inverse dynamics calculations (e.g., Japanese Patent Application Publication No. Hei 8-118275 and Japanese Patent Application Publication No. 2015-58520).

[0059] The selection execution unit 61 switches the teaching operation method of the collaborative robot 3 according to the teaching operation method notified by the data transceiver unit 46. For example, the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 from axis feed performed by the handle of the machine tool 2 to the direct teaching operation method according to the direct teaching operation method notified by the data transceiver unit 46.

[0060] The contact control unit 62 measures (acquires) the external force detected by the external force detection unit 31 of the collaborative robot 3 during load estimation. The contact control unit 62 then notifies the servo control unit 57 and the others of the measured external force.

[0061] The manual axis feed control unit 63 uses one teaching operation method selected from multiple teaching operation methods to control the movement of the axes of the collaborative robot 3. Specifically, the manual axis feed control unit 63 uses at least one of the following methods to move the axes of the collaborative robot 3: direct teaching operation method, axis feed via the handle of the machine tool 2 (manual handle feed), and axis feed via the micro-motion of the machine tool 2 (micro-motion feed).

[0062] Next, the process of selecting the teaching operation method of the collaborative robot 3 from the numerical control device 4 in this embodiment will be described. The display / operation unit 47 of the numerical control device 4 selects one teaching operation method from multiple teaching operation methods based on the input operation from the user, and the display / operation unit 47 notifies the teaching operation method selection unit 48 of the selected teaching operation method.

[0063] Next, the teaching operation method selection unit 48 notifies the data transceiver unit 60 of the robot control device 5 of the notified teaching operation method via the data transceiver unit 46.

[0064] Next, when the teaching operation method is notified to the data transceiver unit 60, the parsing unit 52 of the robot control device 5 notifies the selection execution unit 61 of the teaching operation method.

[0065] Next, the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 according to the teaching operation method notified by the data transceiver unit 46. Moreover, when the direct teaching operation method (the method of moving the axis of the collaborative robot 3 according to the external force applied to the collaborative robot 3) is selected, the selection execution unit 61 calculates the movement direction and movement amount of the collaborative robot 3 when the external force detection unit 31 detects the external force.

[0066] Next, the calculated direction and amount of movement are communicated to the robot command generation unit 53. Then, the kinematic control unit 56 calculates the target position of each joint axis of the collaborative robot 3 based on the direction and amount of movement of the collaborative robot 3.

[0067] Next, when the target position of each joint axis of the collaborative robot 3 is input to the servo control unit 57, each joint axis of the collaborative robot 3 follows the target position of each joint axis according to the control of the servo control unit 57.

[0068] Figure 3 This refers to the display screen 471 displayed on the display / operation unit 47 of the numerical control device 4. For example... Figure 3 As shown, the display screen 471 displays information for performing various operations of the numerical control device 4, and the lower left part of the display screen 471 displays a soft key 472 for selecting the teaching operation method of the collaborative robot 3.

[0069] Figure 4 and Figure 5 This is a diagram illustrating an example of softkey 472 used to select the teaching operation method for the collaborative robot 3. (See diagram for example.) Figure 4 As shown, soft key 472 includes keys for selecting "manual handle feed", "jog feed", and "direct teaching" as multiple teaching operation methods. The user can select any one of "manual handle feed", "jog feed", and "direct teaching".

[0070] Figure 5 Indicates in Figure 4 The example provided is where "direct teaching" was chosen as the demonstration method. For example... Figure 5 As shown, softkey 472 includes keys that allow selection of "free", "parallel movement", and "rotation" as the direct teaching mode. The user can select any one of "free", "parallel movement", and "rotation".

[0071] In addition, with Figure 4 and Figure 5 Similarly, soft key 472 may also include a key for setting the sensitivity in direct instruction.

[0072] Here, the direct teaching mode "Free" allows free manipulation of each joint axis of the collaborative robot 3. Additionally, the "Parallel Movement" mode allows manipulation of the collaborative robot 3 along the X, Y, and Z axes while maintaining the position of the fingers on the handle. Furthermore, the "Rotation" mode allows manipulation of the collaborative robot 3's posture while fixing the position of the fingers on the handle. Additionally, softkey 472 may further include a "Direction Specifying" mode. The "Direction Specifying" mode allows manipulation of the collaborative robot 3 along a specified direction (X, Y, Z, A, B, C axes) within a specified coordinate system.

[0073] Furthermore, regarding the sensitivity of direct teaching, the teaching operation method selection unit 48 can set the intensity of the operation. A "light" intensity indicates a longer movement of the collaborative robot 3 relative to the operating force, used for coarse movement of the collaborative robot 3 in a wider space. Conversely, a "heavy" intensity indicates a shorter movement of the collaborative robot 3 relative to the operating force, used for precise movement of the collaborative robot 3 in a narrower space.

[0074] Figure 6 This diagram illustrates a specific example of the processing of the teaching operation method for the collaborative robot 3 in this embodiment. First, in the numerical control device 4, the operation mode is changed from automatic operation mode or editing mode to handle mode. The collaborative robot 3 is positioned towards the chuck inside the machine tool 2, and the workpiece is mounted on the chuck.

[0075] Next, the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 to "direct teaching" according to the teaching operation method notified by the data transceiver unit 46. Furthermore, the selection execution unit 61 sets the mode to "free" and the sensitivity to "light" according to the user's input operation on the display / operation unit 47.

[0076] The robot control device 5 begins the direct teaching action under the conditions of "direct teaching" teaching operation method, "free" mode and "light" sensitivity.

[0077] Next, the collaborative robot 3 holds the workpiece under the control of the numerical control device 4. The numerical control device 4 generates a signal for switching the load setting number (load setting No.) and notifies the robot control device 5. The robot control device 5 switches the load setting number (load setting No.) according to the signal notified from the numerical control device 4.

[0078] For example, load setting No. 1 is the load setting when the collaborative robot 3 is not holding anything, load setting No. 2 is the load setting when the collaborative robot 3 is holding an object with a weight of W1, and load setting No. 3 is the load setting when the collaborative robot 3 is holding an object with a weight of W2. In this way, the load setting can be set into multiple stages based on the weight information of the load.

[0079] Next, the user uses direct teaching to teach the collaborative robot 3 to operate within the machine tool 2.

[0080] Next, the numerical control device 4 sets the chuck of the machine tool 2 to the open state, and the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 to "manual handle" according to the teaching operation method notified by the data transceiver unit 46. Furthermore, in the manual handle operation method, the selection execution unit 61 selects the "X-axis" of the collaborative robot 3 based on the user's input operation to the display / operation unit 47, and sets the multiplier of the collaborative robot 3's movement to "0.1 times". Under the teaching operation method "manual handle operation method", the robot control device 5 begins the action based on the manual handle.

[0081] Next, the numerical control device 4 uses a manual handle operation method to align the chuck of the machine tool 2 with the workpiece according to the input operation from the user, and then sets the chuck to the closed state after alignment.

[0082] Next, the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 to "direct teaching" according to the teaching operation method notified by the data transceiver unit 46. Furthermore, based on the user's input to the display / operation unit 47, the selection execution unit 61 sets the mode to "direction specification (X-axis)" and the sensitivity to "heavy". Under the conditions of "direct teaching" teaching operation method, "direction specification (X-axis)" mode, and "heavy" sensitivity, the robot control device 5 begins the direct teaching operation.

[0083] Next, the collaborative robot 3 releases the workpiece under the control of the numerical control device 4. The numerical control device 4 generates a signal to switch the load setting number (load setting No.) and notifies the robot control device 5. The robot control device 5 switches the load setting number (load setting No.) according to the signal notified from the numerical control device 4.

[0084] Next, the user uses direct teaching to teach the collaborative robot 3 to the outside of the machine tool 2. In this way, the numerical control system 1 can select multiple teaching operation methods for the collaborative robot 3 to teach it.

[0085] As explained above, according to this embodiment, in the numerical control system 1, the numerical control device 2 includes a teaching operation method selection unit 48, which accepts the user's selection from a plurality of teaching operation methods for performing teaching operations on the collaborative robot 3. The plurality of teaching operation methods include at least a direct teaching operation method (direct teaching) that moves the axis of the collaborative robot 3 according to an external force applied to the collaborative robot 3.

[0086] With this configuration, the numerical control system 1 can select the operating method of the collaborative robot 3 from the numerical control device 4. Therefore, the numerical control system 1 allows users of the machine tool 2 who are unfamiliar with the operation of the collaborative robot 3 to operate the collaborative robot 3 without using a teach pendant.

[0087] Furthermore, since the numerical control system 1 can perform teaching operations such as manual handle feed and direct teaching based solely on the settings of the machine tool 2, the user of the machine tool 2 can easily create motion programs for the collaborative robot 3.

[0088] In addition, the numerical control device 4 also includes a data transceiver unit 46, which, when the teaching operation method selection unit 48 selects a direct teaching operation method from multiple teaching operation methods—that is, moving the axis of the collaborative robot 3 according to an external force applied to it—notifies the robot control device 5 of the direct teaching operation method. The robot control device 5 also includes a selection execution unit 61, which switches the teaching operation method of the collaborative robot 3 to the direct teaching operation method according to the direct teaching operation method notified by the data transceiver unit 46; and a manual axis feed control unit 63, which uses the direct teaching operation method to move the axis of the collaborative robot 3.

[0089] With this configuration, the numerical control system 1 can teach the collaborative robot 3 using a direct teaching operation method.

[0090] In the direct teaching operation method, the teaching operation method selection unit 48 sets the amount of movement of the axis of the collaborative robot 3 relative to the external force applied to the collaborative robot 3. With this configuration, the numerical control system 1 can appropriately set the sensitivity in the direct teaching operation method.

[0091] Furthermore, the teaching operation method selection unit 48 specifies the axis of the collaborative robot 3 that moves according to the external force applied to it in the direct teaching operation method. With this configuration, the numerical control system 1 can appropriately set the mode in the direct teaching operation method.

[0092] Furthermore, the teaching operation method selection unit 48 switches the load setting in the direct teaching operation method. The load setting includes the weight information of the load installed on the collaborative robot 3. With this configuration, the numerical control system 1 can appropriately set the load (e.g., the tool or workpiece of the collaborative robot 3) in the direct teaching operation method.

[0093] The multiple teaching operation methods include at least one of direct teaching operation, axis feed via a handle of the machine tool 2, and axis feed via micro-motion of the machine tool 2. With such a configuration, the numerical control system 1 can teach the collaborative robot 3 using direct teaching, axis feed using a manual handle, or axis feed using micro-motion.

[0094] Furthermore, the collaborative robot 3 detects contact with a person and stops moving. With this configuration, the numerical control system 1 can safely operate by having the collaborative robot 3 work in cooperation with a person.

[0095] The embodiments of the present invention have been described above. The numerical control system 1 described above can be implemented by hardware, software, or a combination thereof. Furthermore, the control method performed by the numerical control system 1 described above can also be implemented by hardware, software, or a combination thereof. Here, "implemented by software" means implemented by reading and executing a program on a computer.

[0096] Programs can be stored and provided to a 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 disk drives), optomagnetic recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, semiconductor memories (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)).

[0097] While this disclosure has been described in detail, it is not limited to the various embodiments described above. These embodiments may involve various additions, substitutions, modifications, partial deletions, etc., without departing from the spirit of this disclosure, or from the intent of this disclosure derived from the content described within the scope of the claimed protection and its equivalents. Furthermore, these embodiments may also be implemented in combination. For example, in the embodiments described above, the order of each action or each process is shown as an example and is not limited to these orders. Similarly, the use of numerical values ​​or formulas in the description of the embodiments described above is also consistent.

[0098] The following notes further disclose the above-described embodiments and variations.

[0099] (Note 1)

[0100] A numerical control device (4) uses a numerical control program to control a robot (3) via a robot control device (5).

[0101] The numerical control device includes a teaching operation method selection unit (48), which selects from a plurality of teaching operation methods for performing teaching operations to the robot based on a user's selection.

[0102] The plurality of teaching operation methods include at least a direct teaching operation method that moves the robot's axis according to an external force applied to the robot.

[0103] (Note 2)

[0104] According to the numerical control device described in Appendix 1,

[0105] The numerical control device further includes a transceiver unit (46) that, when the teaching operation method selection unit selects a direct teaching operation method from the plurality of teaching operation methods, which moves the robot's axis according to an external force applied to the robot, notifies the robot control device of the direct teaching operation method.

[0106] The robot control device also includes:

[0107] The selection execution unit (61) switches the robot's teaching operation method to the direct teaching operation method according to the direct teaching operation method notified by the transceiver unit; and

[0108] The robot-side control unit (63) uses the direct teaching operation method to move the robot's axes.

[0109] (Note 3)

[0110] According to the numerical control device described in Appendix 1 or 2, the teaching operation method selection unit sets the amount of movement of the robot's axis relative to the external force applied to the robot in the direct teaching operation method.

[0111] (Note 4)

[0112] According to the numerical control device described in Appendix 1 or 2, the teaching operation method selection unit specifies, in the direct teaching operation method, the axis of the robot that moves according to the external force applied to the robot.

[0113] (Note 5)

[0114] According to the numerical control device described in Appendix 1 or 2, the teaching operation method selection unit switches the load setting in the direct teaching operation method, and the load setting includes the weight information of the load installed on the robot.

[0115] (Note 6)

[0116] According to the numerical control device described in Appendix 1 or 2, the plurality of teaching operation methods include at least one of the direct teaching operation method, axis feed based on the machine tool handle, and axis feed based on the micro-motion of the machine tool.

[0117] (Note 7)

[0118] According to the numerical control device described in Appendix 7 or 8, the robot is a collaborative robot that stops its actions upon detecting contact with a human.

[0119] (Postscript 8)

[0120] A numerical control system (1) uses a numerical control program of a numerical control device (4) to control a robot (3) via a robot control device (5).

[0121] The numerical control device includes a teaching operation method selection unit (48), which selects from a plurality of teaching operation methods for performing teaching operations to the robot based on a user's selection.

[0122] The plurality of teaching operation methods include at least a direct teaching operation method that moves the robot's axis according to an external force applied to the robot.

[0123] (Note 9)

[0124] According to the numerical control system described in Appendix 8,

[0125] The numerical control device further includes a transceiver unit (46) that, when the teaching operation method selection unit selects a direct teaching operation method from the plurality of teaching operation methods, which moves the robot's axis according to an external force applied to the robot, notifies the robot control device of the direct teaching operation method.

[0126] The robot control device also includes:

[0127] The selection execution unit (61) switches the robot's teaching operation method to the direct teaching operation method according to the direct teaching operation method notified by the transceiver unit; and

[0128] The robot-side control unit (63) uses the direct teaching operation method to move the robot's axes.

[0129] (Postscript 10)

[0130] According to the numerical control system described in Appendix 8 or 9, the teaching operation method selection unit sets the amount of movement of the robot's axis relative to the external force applied to the robot in the direct teaching operation method.

[0131] (Postscript 11)

[0132] According to the numerical control system described in Appendix 8 or 9, the teaching operation method selection unit specifies, in the direct teaching operation method, the axis of the robot that moves according to the external force applied to the robot.

[0133] (Postscript 12)

[0134] According to the numerical control system described in Appendix 8 or 9, the teaching operation method selection unit switches the load setting in the direct teaching operation method, and the load setting includes the weight information of the load installed on the robot.

[0135] (Postscript 13)

[0136] According to the numerical control system described in Appendix 8 or 9, the plurality of teaching operation methods include at least one of the direct teaching operation method, axis feed based on the machine tool handle, and axis feed based on the micro-motion of the machine tool.

[0137] (Postscript 14)

[0138] According to the numerical control system described in Appendix 8 or 9, the robot is a collaborative robot that stops its actions upon detecting contact with a human.

[0139] Symbol Explanation

[0140] 1 Numerical Control System

[0141] 2 machine tools

[0142] 3 Collaborative Robots

[0143] 4 Numerical control device

[0144] 5. Robot Control Device

[0145] 31 External Force Testing Department

[0146] 41 Program Input Section

[0147] 42 Analysis Section

[0148] 43 Motion Control Department

[0149] 44 Storage Unit

[0150] 45 Robot Command Signal Generation Unit

[0151] 46 Data Transceiver Department

[0152] 47 Display / Operation Section

[0153] 48 Teaching Operation Selection Section

[0154] 51 Storage Department

[0155] 52 Analysis Department

[0156] 53 Robot Command Generation Department

[0157] 54 Program Management Department

[0158] 55 Track Control Department

[0159] 56 Kinematic Control Department

[0160] 57 Servo Control Unit

[0161] 58 Load Setting Selection Section

[0162] 59 Dynamics Control Department

[0163] 60 Data Transceiver Department

[0164] 61 Select Execution Department

[0165] 62 Contact Control Department

[0166] 63 Manual axis feed control 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 includes a teaching operation method selection unit, which selects from a plurality of teaching operation methods for performing teaching operations to the robot based on a user's selection. The plurality of teaching operation methods include at least a direct teaching operation method that moves the robot's axis according to an external force applied to the robot.

2. The numerical control device according to claim 1, characterized in that, The numerical control device further includes a transceiver unit that, when the teach operation method selection unit selects a direct teach operation method from the plurality of teach operation methods, which moves the robot's axis according to an external force applied to the robot, notifies the robot control device of the direct teach operation method. The robot control device also includes: The selection execution unit switches the robot's teaching operation method to the direct teaching operation method according to the direct teaching operation method notified by the transceiver unit; and The robot-side control unit uses the direct teaching operation method to move the robot's axes.

3. The numerical control device according to claim 1 or 2, characterized in that, The teaching operation method selection unit sets the amount of movement of the robot's axis relative to the external force applied to the robot in the direct teaching operation method.

4. The numerical control device according to claim 1 or 2, characterized in that, The teaching operation method selection unit specifies, in the direct teaching operation method, the axis of the robot that moves according to the external force applied to the robot.

5. The numerical control device according to claim 1 or 2, characterized in that, The teaching operation method selection unit switches the load setting in the direct teaching operation method. The load setting includes the weight information of the load installed on the robot.

6. The numerical control device according to claim 1 or 2, characterized in that, The plurality of teaching operation methods include at least one of the direct teaching operation method, axis feed based on the machine tool handle, and axis feed based on the micro-motion of the machine tool.

7. The numerical control device according to claim 1 or 2, characterized in that, The robot in question is a collaborative robot that stops moving upon detecting contact with a person.

8. A numerical control system, which 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 includes a teaching operation method selection unit, which selects from a plurality of teaching operation methods for performing teaching operations to the robot based on a user's selection. The plurality of teaching operation methods include at least a direct teaching operation method that moves the robot's axis according to an external force applied to the robot.

9. The numerical control system according to claim 8, characterized in that, The numerical control device further includes a transceiver unit that, when the teach operation method selection unit selects a direct teach operation method from the plurality of teach operation methods, which moves the robot's axis according to an external force applied to the robot, notifies the robot control device of the direct teach operation method. The robot control device also includes: The selection execution unit switches the robot's teaching operation method to the direct teaching operation method according to the direct teaching operation method notified by the transceiver unit; and The robot-side control unit uses the direct teaching operation method to move the robot's axes.

10. The numerical control system according to claim 8 or 9, characterized in that, The teaching operation method selection unit sets the amount of movement of the robot's axis relative to the external force applied to the robot in the direct teaching operation method.

11. The numerical control system according to claim 8 or 9, characterized in that, The teaching operation method selection unit specifies, in the direct teaching operation method, the axis of the robot that moves according to the external force applied to the robot.

12. The numerical control system according to claim 8 or 9, characterized in that, The teaching operation method selection unit switches the load setting in the direct teaching operation method. The load setting includes the weight information of the load installed on the robot.

13. The numerical control system according to claim 8 or 9, characterized in that, The plurality of teaching operation methods include at least one of the direct teaching operation method, axis feed based on the machine tool handle, and axis feed based on the micro-motion of the machine tool.

14. The numerical control system according to claim 8 or 9, characterized in that, The robot in question is a collaborative robot that stops moving upon detecting contact with a person.

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