PROCESSING CONTROL SYSTEM AND PROCESSING SYSTEM

Abstract

A machining control system and machining system are provided that enable a machine tool and a robot to operate cooperatively in a simple arrangement. A machining control system includes: a numerical control unit that controls a machine tool; a robot control unit that communicates with the numerical control unit and controls a robot having multiple drive axes, wherein the numerical control unit includes: a coordinate position command generator that produces a coordinate position command specifying a target coordinate position of the robot's leading end, based on a machining program, at any given time;and a communication unit that sends the currently current target coordinate position to the robot control unit, wherein the robot control unit includes: a target drive position calculation unit that calculates a target drive position for each of the plurality of drive axes in order to position the leading end part at the target coordinate position received from the communication unit; and a drive command generation unit that generates a drive command to each of the drive axes in order to position the drive axes at the target drive position calculated by the target drive position calculation unit.

Description

BACKGROUND OF THE INVENTION Area of ​​the invention

[0001] The present invention relates to a machining control system and a machining system. State of the art

[0002] There are machining systems that perform machining operations through the collaboration of a machine tool and a robot. A specific example is a machining system that automatically loads and unloads a workpiece, which is to be machined by the machine tool with the aid of a robot. Such a machining system requires a machining control system to manage the cooperative operation of the machine tool and the robot.

[0003] For example, patent document 1 discloses a control unit "comprising an input means of a machining program for entering a machining program into the control unit, which includes at least one specification for a machine tool and at least one specification for a robot; a storage means of a machining program for storing a machining program in the control unit, which was entered by the input means of the machining program; a control means of a machine tool for controlling the machine tool based on the specification for the machine tool; a control means of a robot for controlling a robot based on the specification for the robot;and a distribution means of a machining program for transferring the machine tool specification, which is contained in the machining program and stored in the machining program's storage medium, to the machine tool's control means and for transferring the robot specification to the robot's control means."

[0004] Patent document 1: Japanese patent no. 5752179 SUMMARY OF THE INVENTION

[0005] The control unit described in patent document 1 has a machining program including instructions for a machine tool and instructions for a robot. It transmits the instructions for the machine tool to the machine tool's control unit and the instructions for the robot to the robot's control unit via distribution means in the machining program. However, the system program generally distinguishes between the machine tool and the robot. Therefore, in order to develop a machining program in which the instructions for the machine tool and the instructions for the robot coexist, knowledge of machine tool programming and robot programming (teaching) is required. For this reason, it became desirable to provide a machining control system and a machining system that enable the machine tool and the robot to operate cooperatively without difficulty.

[0006] A machining control system according to one aspect of the present disclosure includes: a numerical control unit that controls a machine tool; a robot control unit that communicates with the numerical control unit and controls a robot with a plurality of drive axes, in which the numerical control unit includes: a coordinate position command generation unit that generates a coordinate position command specifying a target coordinate position at any given time of a leading end part of a robot, based on a machining program;and a communication unit that sends the current target coordinate position to the robot controller, and in which the robot controller includes: a target drive position calculation unit that calculates a target drive position for each of the plurality of drive axes in order to place the leading end part at the target coordinate position received from the communication unit; and a drive command generation unit that generates a drive command to each of the drive axes in order to place the drive axes at the target drive position calculated by the target drive position calculation unit.

[0007] According to the present embodiment, it is possible to provide a machining control system and a machining system that enable a machine tool and a robot to function cooperatively without effort. List of characters Fig. Figure 1 is a view showing a configuration of a machining system according to the present disclosure; and Fig. 2 is a flowchart that shows a sequence of controls in the machining control system. Fig. 1 shows. DETAILED DESCRIPTION OF THE INVENTION

[0008] An embodiment of the present disclosure is explained below, with reference to the drawings. Fig. 1 is a view that shows the configuration of an editing system. 100 as shown in one embodiment of the present disclosure.

[0009] The processing system 100 closes a machine tool 1 , a robot 2 and a processing control system 3 , the machine tool and the robot 2 controls, one. The processing control system 3in itself is an embodiment of a machining control system according to the present disclosure.

[0010] The machine tool 1 It possesses a multitude of drive axes and causes a driven body to move by driving these axes. Although not particularly suited to a machine tool 1 Given the limitations, it is possible to illustrate this with a machining center as a representative example. The machine tool 1 , which in Fig. The device shown as 1 has a clamping device. C , which holds a tool T and a bearing B , which is a work piece W holds, and the clamping device C and the tool T, as well as the bearing B and the workpiece W caused to move through the multitude of drive axes. In other words, the driven body in the machine tool 1is the tool T (or clamping device) C holding the tool T) and the workpiece W (or storage B the workpiece W holding). The machine tool 1 the workpiece is processed W , by causing the driven body to move by driving the drive axes. The robot 2 It has multiple drive axes and a leading end section. The robot 2 It can be configured as a vertically articulated robot, like the one typically depicted; however, it can also be, for example, a Cartesian coordinate robot, SCARA robot, parallel linking robot, or similar. The robot 2 helps with processing the workpiece W through cooperative collaboration with the machine tool 1 The one in Fig. 1 robot shown 2has, successively attached to the ground from the base end, set up, a first arm A1 , second arm A2 , third arm A3 and hand H , which holds the workpiece Wals a leading end part, provided on the end part. In the machining system 100 The robot removes 2 a machined workpiece W from the machine tool 1 and brings a new workpiece to the machine tool for processing. 1 to.

[0011] The processing control system 3 includes a numerical control unit 10 , that the machine tool 1 controls; and a robot control unit 20 , which is connected to the numerical control unit 10 communicates and the robot 2 controls, in the processing system 100 In the present embodiment, the machining control system 3 with the machine tool 1and the robot 2 connected; however, the processing control system can 3 be connected to a simulator that replicates the movement of the machine tool 1 virtually replicates or uses a simulator that virtually replicates the robot's movement on a computer.

[0012] The numerical control unit 10 It has a generation unit for coordinate position commands. 11 , which generates a coordinate position command that sets a target coordinate position at any given time on the leading end part (hand) H ) of the robot 2 in the machine tool 1 based on an editing program; a communication unit 12 , which determines the current target coordinate position of the hand H to the robot control unit 20 sends; a coordinate position confirmation unit 13 , which show a difference between the current coordinates of the hand Hand the current target coordinate position is confirmed; and an NC drive command generation unit 14 , which issue a drive command relative to each of the drive axes of the machine tool 1 generated to cause the driven body to move to the target coordinate position specified by the coordinate position command generation unit 11 was calculated.

[0013] The numerical control unit 10 This can be achieved, for example, by installing the appropriate program on a computer device equipped with a central processing unit (CPU), memory, an I / O interface, etc. The coordinate position command generation unit 11 , communication unit 12 , Coordinate position confirmation unit 13 and NC drive command generation unit 14 of the numerical control unit 10They are functionally different, and it is not necessary for them to be clearly distinguishable in their physical and program structures. Additionally, the numerical control unit can... 10 with the machine tool simulator 1 be connected and, in this case, integrated with the computer, forming the simulator.

[0014] The generation unit for coordinate position commands 11 calculates the target coordinate position of the multitude of driven bodies of the machine tool 1 At any given time, based on the machining program entered by the operator, the coordinate position command is generated, specifying the time change of the target coordinate position of each driven body. The target coordinate position is determined by the coordinate position command generation unit. 11The calculated information includes posture information in addition to coordinate information and is preferably defined as position information, for example in XYZWPR format or similar.

[0015] The driven body, defined by the coordinate position command generation unit 11 as the generation target of the coordinate position command, specifying the target coordinate position, for example, in addition to the tool T (or clamping device) C ), workpiece W (or storage B ), etc. This refers to a virtually driven body (e.g., a virtual tool) that does not actually exist mechanically and is a driven body that is virtual. The coordinate position of this virtually driven body corresponds to the desired coordinate position of the leading end part (hand). H ) of the robot 2In other words, the unit that generates coordinate position commands 11 calculates the target coordinate position of the leading end part of the robot 2 at any given time as the coordinate position of the virtually driven body. The coordinate position of the virtually driven body is preferably calculated from Cartesian coordinates, so that the control of the robot control unit described later 20 It is simplified.

[0016] The editing program writes the motion path into the coordinate space of each driven body (including the hand). H ) preferably in G code. In other words, the unit that generates coordinate position commands. 11 is preferably designed such that the target coordinate position of each driven body is calculated at all times, based on the contents of the G-code in the machining program. The coordinate position command generation unit.11 It can therefore be defined as a similar configuration, a known component element that creates the coordinate position command in a conventional numerical control.

[0017] The mobile area of ​​each driven body is preferably located in the coordinate position command generation unit. 11 fixed. Therefore, the generation unit for coordinate position commands stores 11 preferably the area where the robot 2 the hand H The robot can move its mobile range in advance, either by defining the range of the virtually driven body or by obtaining it from the machining program. Even if an inappropriate machining program is entered, it is possible to design the robot in such a way as not to output a target coordinate position that defines the robot's mobile range. 2 exceeds.

[0018] The generation unit for coordinate position commands11 preferably changes the current target coordinate position (initial coordinate position of the virtually driven body) in the event that there is a difference between the current coordinate position of the hand H and the target coordinate position of the target position command, which is determined by the coordinate position confirmation unit described later. 13 It has been confirmed that at least one predetermined limit value is relative to the current coordinate position of the hand. H and then calculates the target coordinate position at any time thereafter based on the processing program. It is possible to control the robot in this way. 2 to protect against sudden operation during start-up control and the generation of excessive load.

[0019] Furthermore, the generation unit can be used for coordinate position commands. 11 be designed in such a way that, furthermore, the target position of predetermined parts, except for the hand H, calculated at any time, based on the processing program, e.g. the third arm A3 , with which the hand H is connected.

[0020] The communication unit 12 sends the current target coordinate position of the coordinate position command of the virtually driven body, generated by the coordinate position command generation unit. 11 , to the robot control unit 20 than the current target coordinate position of the hand H . The transfer of this target coordinate position is possible, in the case that the coordinate system of the machine tool 1 , which is in the numerical control unit 10 is used and the robot's coordinate system 2 , which is in the robot control unit 20 is used, differentiate, be designed in such a way that the current target coordinate position of the virtually driven body in the communication unit 12into the robot's coordinate system 2 is converted and then transferred, or it is designed so that coordinate conversion takes place in the robot control unit. 20 takes place. The communication unit 12 Position text data can also be transmitted as target coordinates.

[0021] Furthermore, the communication unit 12 in the event that the generation unit for coordinate position commands 11 the target position of the third arm A3 calculated, designed so that the current target position of the third arm A3 , etc. together with the current target coordinate position of the hand H to the robot control unit 20 is transferred.

[0022] The coordinate position confirmation unit 13 obtained before the communication unit 12 transmits the target coordinate position, the current coordinate position of the hand Hin the current position of the robot 2 and confirms whether the difference between the current coordinates of the hand H and the current target coordinate position in the target coordinate command corresponds to at least the limit value. The coordinate position confirmation unit 13 This confirmation result is sent to the coordinate position command generation unit. 11 Next. The generation unit for coordinate position commands. 11 can the robot 2 to protect against sudden exertion and the creation of unnecessary heavy loads in the manner described above.

[0023] The NC drive command generation unit 14 generates a drive command relative to each drive axis of the machine tool 1 , to cause the actually driven body to move to the target coordinate position defined by the coordinate position command generation unit 11The drive command was calculated. The generation of the drive command in this NC drive command generation unit. 14 This is the same as generating the drive command in a conventional numerical control unit, and therefore a detailed description is omitted.

[0024] The robot control unit 20 It has a calculation unit for a target drive position. 21 , which determines the target drive position (position in the system of each drive axis, such as rotation angle position) of each of the multitude of drive axes according to the target coordinate position from the communication unit 12 of the numerical control unit 10 , calculated; and a robot drive command generation unit 22 , which send a drive command relative to each drive axis of the robot 2 generated to move the drive axis to the target drive position, calculated by the calculation unit for a target drive position 21, to place. Additionally, the robot control unit can 20 include a servo amplifier that supplies power to the servo motor, which drives the robot's drive axis 2 drives.

[0025] The robot control unit 20 This can be achieved by installing the appropriate program on a computer device equipped, for example, with a central processing unit (CPU), memory, I / O interface, or similar components. The calculation unit for a target drive position 21 and the robot drive command generation unit 22 of the robot control unit 20 They are functionally different, and it is not necessary to clearly distinguish between their physical structure and program structure. The robot control unit 20 can be integrated with the numerical control unit 10 be designed; however, it is possible to configure the processing control system by providing it separately. 3This can be achieved by simply modifying the design of the existing numerical control unit and robot control unit. Additionally, the robot control unit can be... 20 with a simulator of the robot 2 It must be connected. In this case, it can be designed to be integrated with the computer already present in the simulator.

[0026] The calculation unit for a target drive position 21 calculates the drive position of each drive axis of the robot 2 , so that the hand H The drive positions of the robot's drive axes can be arranged at the target coordinate position, i.e., a combination of drive positions. 2 , which the hand H The technology for arranging the object at the desired coordinate position along this path is well-known, and therefore a detailed explanation is omitted.

[0027] Furthermore, the calculation unit generates a target drive position 21 in the event that the current target position of a predetermined part such as a third arm A3 from the communication unit 12 A position command was sent, specifying the target drive position of each of the robot's multiple drive axes. 2 specified so that the target coordinate position calculation unit is the hand H arranged at the target coordinate position and the predetermined part like the third arm A3 This becomes the desired posture. By arranging the hand. H by the robot 2 at a predetermined coordinate position of the machine tool 1 and the installation and removal process makes it possible to perform a partial (third arm) A3 , etc.) out of hand H , which are located at the target coordinate position of the robot 2is positioned, interference with the frame of the machine tool 1 or similar things to avoid.

[0028] The robot drive command generation unit 22 generates a drive command so that the drive position of each drive axis of the robot 2 the target drive position, calculated by the calculation unit for a target drive position 21 , approximates. The generation of such a drive command is the same as the generation of the drive command in the control system of a conventional robot, and therefore a detailed explanation is omitted.

[0029] Next, the sequence of machine tool control will be discussed. 1 and the robot 2 through the processing control system 3 with reference to Fig. 2 explained. The control in Fig. 2 is a control corresponding to a G code in the editing program.

[0030] Control by the machining control system 3 includes: a step of the numerical control unit 10 to acquire a current coordinate position of the hand H the robot 2 from the robot control unit 20 (Step S01 : Step to acquire the current coordinate position); a step of comparing the current coordinate position of the hand H and the initial coordinate position of the virtually driven body in the numerical control unit 10 (Step S02 : step for position comparison); a step to change the initial coordinate position of the virtually driven body in the numerical control unit 10 to the current coordinate position of the hand H (Step S03: Step to change the initial coordinate position); a step to generate a coordinate position command that specifies the target coordinate position of the virtually driven body at any given time based on the machining program in the numerical control unit 10 (Step S04 : Step to generate the coordinate position command); a step to send the current target coordinate position of the virtually driven body from the numerical control unit 10 to the robot control unit 20 (Step S05 : Step to send the target coordinate position); a step to calculate the target drive position of the drive axis that the hand H at the target coordinate position, obtained from the numerical control unit 10 , in the robot control unit 20 can arrange (step S06: Step to calculate the target drive position); a step to generate a drive command that causes the drive axis to move to the target drive position in the robot controller 20 (Step S07 : Step to generate the drive command); and a step to confirm whether the control is complete, up to the last time the coordinate position command ( S08 : Step to confirm the end).

[0031] In the step to acquire the current coordinate position of the step S01 acquires the coordinate position confirmation unit 13 of the numerical control unit 10 the current coordinate position of the hand H the robot 2 from the robot control unit 20 In the event that the acquisition of the current coordinate position of the hand HIf it is not possible, even if at least a certain number of attempts are made for any reason, an alarm may be triggered and the control interrupted.

[0032] In the step for comparing the position of the step S02 confirms the coordinate position confirmation unit 13 the difference between the current coordinate position of the hand H the robot 2 and the current coordinate position of the virtually driven body (initial coordinate position during control start, following the instruction of a G code) of the numerical control unit 10 In the event that the difference between the current coordinate position of the hand H and if the initial coordinate position of the virtually driven body corresponds to at least the limit value, the processing proceeds to step S03forward, and in the event that the difference between the current coordinate position of the hand H and if the initial coordinate position of the virtually driven body is less than the limit value, the processing skips the step. S03 and takes step S04 forward.

[0033] Furthermore, for example, the step can be used to compare the coordinate position of the step. S02 in the event that the difference between the current coordinate position of the hand H and the initial coordinate position of the virtually driven body according to the hand H at least meets the limit value, and it should be designed in such a way that a display, a lamp or similar of the numerical control unit 10 is used to display this event.

[0034] In the step to change the initial coordinate position of the step S03The initial coordinate value of the virtually driven body is changed to the value of the current coordinate position of the hand. H , which was obtained in the step to acquire the current position. Once this change is complete, the display or similar notification will be enabled in the step to compare the coordinate position.

[0035] In the step to generate the coordinate position command of the step S04 The coordinate position command is generated such that the virtually driven body moves from its initial coordinate position to the arrival coordinate position specified in the machining program's G-code. The coordinate position command includes data to specify the target coordinate position of the virtually driven body at any given time.

[0036] In the step to send the target coordinate position of the step S05The target coordinate position is generated at the current time in the coordinate position command, during the step of generating the coordinate position command, by the communication unit. 12 to the robot control unit 20 sent.

[0037] In the step to calculate the target drive position of the step S06 The target drive position is necessary for the hand placement. H at the target coordinate position determined by the numerical control unit 10 for each of the robot's numerous drive axes 2 was obtained through the calculation unit for a target drive position 21 calculated.

[0038] In the step to generate the drive command of the step S07The drive commands that cause the robot's numerous drive axes to move to the respective target drive position, calculated in the step for calculating the target drive position, are generated, and the hand H This time, it will be placed at the target coordinate position by the robot. 2 is controlled.

[0039] In the step to confirm the end of the step S08 The system confirms whether the end of the coordinate position command has been reached. If the end of the coordinate position command is reached, the process returns to the previous step. S05The command returns and sends the target coordinate position for the next command. On the other hand, in the case of control termination based on the target coordinate position of the final command, this control ends, meaning that processing according to the currently executed instruction in the processing program is terminated and processing according to the next instruction begins.

[0040] In the manner described above, the numerical control unit has 10 in the processing control system 3 according to the present embodiment, via: the generation unit for a coordinate position command 11 , which generates a coordinate position command that determines the target coordinate position of the hand H (leading end part) of the robot 2 specified at any time, based on the processing program; the communication unit 12 , which determines the current target coordinate position relative to the robot control unit 20sends, with the robot control unit 20 features: the calculation unit for a target drive position 21 , which determines the target drive position of each of the multitude of drive axes that the leading end part on the communication unit 12 The robot drive command generation unit places the obtained target coordinate position and calculates it. 22 , which generates the drive command for each drive axis to move the drive axes to the target drive position defined by the calculation unit for a target drive position 21 was calculated to place.

[0041] In the processing control system 3 In the present embodiment, the numerical control unit generates 10 a coordinate position command that specifies the target coordinate position of the hand H based on the machining program specified and the robot control unit 20 positions the hand Hbased on the coordinate position command generated by the numerical control unit 10 , without direct reference to the machining program. For this reason, it is in the machining control system. 3 possible, the robot 2 by simply generating the processing program of the numerical control unit 10 to control. Therefore, the machine tool 1 and the robot 2 of the processing system 100 It can be controlled, even without mastering the teaching method for operating the robot, as long as an operator is proficient in programming a numerical control unit for an ordinary machine tool, since it is possible to easily program the machining control system. 3 to create.

[0042] With the processing control system 3 In the present embodiment, the coordinate position of the hand Hwritten in G code in the editing program and the generation unit for a coordinate position command 11 calculates the target coordinate position of the hand H by treating the coordinate position of the hand H in the machining program as the coordinate position of the virtually driven body of the machine tool 1 It is possible to operate the robot. 2 to be controlled using G-code. Therefore, the machining control system can 3 in the present embodiment the machine tool 1 and the robot 2 easily get them to function cooperatively.

[0043] Additionally, it is in the processing system 100 It is possible to completely control the installation and removal operation of the workpiece. W into the machine tool 1 by the robot 2 , by combining the above control using G code and the control of the hand Hthrough already known M code (control for holding back and releasing the workpiece) W ). In other words, it is in the processing system 100 possible by writing an instruction using G code that moves the hand H the robot 2 causes itself to move and a command via M code, which moves the hand H caused to work, in the editing program, which is in the numerical control unit. 10 is read, the robot 2 to induce it to work appropriately without performing an operation to teach the robot how to operate it. 2 in the robot control unit 20 .

[0044] The numerical control unit 10 of the processing control system 3In the present embodiment, control information from a virtually driven body is added to a conventional numerical control unit, thus simplifying the arrangement. Furthermore, it can be used, as well as for the functions of the robot control unit. 20 of the processing control system 3 In the present embodiment, since there is no major difference to the functions already incorporated in some other products, it can be easily designed.

[0045] Although one embodiment of a machining system according to the present disclosure has been explained above, the machining system of the present disclosure is not limited to the embodiment described above. Furthermore, the effects described in the present embodiment merely enumerate the most desirable effects that can be achieved by the present disclosure, and the effects of the machining system according to the present disclosure are not limited to those described in the present embodiment.

[0046] In the machining control system according to the present disclosure, for example, the target coordinate position may only include coordinate information and not necessarily attitude information. In this case, the robot control unit can be designed to generate position commands that specify the target coordinate position of each drive axis, as if the attitude of the leading end part of the robot were being kept constant.

[0047] The coordinate confirmation unit of the machining control system according to the present disclosure can, in the event that the difference in the current position corresponds at least to the limit value, generate an alarm and interrupt operation. Reference symbol list 1 machine tool 2 robots 3 Processing control system 10 numerical control unit 11 Generation unit for a coordinate position command 12 Communication unit 13 Coordinate position confirmation unit 14 NC drive command generation unit 20 robot control unit 21 Calculation unit for a target drive position 22 Robot drive command generation unit 100 processing systems H Hand (leading end part) W workpiece QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 5752179

[0004]

Claims

[1] A processing control system comprising (3): a numerical control unit (10) that controls a machine tool (1); a robot control unit (20) that communicates with the numerical control unit (10) and controls a robot (2) which has a plurality of drive axes, the numerical control unit (10) comprises: a coordinate position command generation unit (11) that generates a coordinate position command specifying a target coordinate position of the leading end part of the robot (2) based on a machining program at any given time; and a communication unit (12) that sends the current target coordinate position to the robot control unit (20), and the robot control unit (20) comprises: a target drive position calculation unit (21) that calculates a target drive position from each of the plurality of drive axes in order to position the leading end part on the target coordinate position obtained from the communication unit (12); and a robot drive command generation unit (22) that generates a drive command for each of the drive axes to position the drive axes at the target drive position calculated by the computation unit for a target drive position (21). [2] The machining control system (3) according to claim 1, wherein the generation unit for a coordinate position command (11) calculates the target coordinate position as a coordinate position of a virtually driven body of the machine tool, written in G code in the machining program. [3] The machining control system (3) according to claim 1 or 2, wherein the numerical control unit (10) further comprises a coordinate position confirmation unit (13) which acquires a current coordinate position of the leading end part from the robot control unit (20) before the communication unit (12) transmits the target coordinate position, and confirms a difference between the current coordinate position of the leading end part and the current coordinate position that is currently in the coordinate position command. [4] The machining control system (3) according to claim 3, wherein the generating unit for a coordinate position command (11), in the event that a difference between the current position of the leading end part and the target coordinate position that is current corresponds to at least a predetermined limit value, changes the current target coordinate position to the current coordinate position of the leading end part and then calculates the target coordinate position at any time thereafter based on the machining program. [5] The machining control system (3) according to any one of claims 1 to 4, wherein the generating unit for a coordinate position command (11) further calculates a target position at any time of a predetermined part other than the leading end part based on the machining program, wherein the communication unit (12) transmits the target attitude currently emanating from the predetermined part, together with the target coordinate position currently emanating from the leading end part, and wherein the coordinate position command generation unit (11) generates a coordinate position command that specifies a target coordinate position of each of the plurality of drive axes, so that the predetermined part becomes the target position. [6] A processing system comprising (100): the processing control system (3) according to any one of claims 1 to 5; a machine tool (1) controlled by the numerical control unit (10); and a robot (2) which is controlled by the robot control unit (20).