Numerical control device and numerical control system

Abstract

The present invention provides a numerical control apparatus and a numerical control system that can prevent accidental contact stops when a cooperating robot acts on a workpiece. The numerical control apparatus uses a numerical control program to control a robot via a robot controller, and includes: an analysis unit; a load switching distance setting unit that generates a signal for setting a load switching distance according to the robot control instruction analyzed by the analysis unit; a load setting selection unit that generates a signal for selecting a load setting for the robot according to the robot control instruction; and a robot instruction signal generation unit that generates a robot instruction signal according to the robot control instruction and transmits the robot instruction signal to the robot controller.After load switching, the robot controller prevents the robot from performing a contact stop operation to stop the robot's movement in response to an external contact force while the robot is moving within the load switching distance.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a numerical control apparatus and a numerical control system. TECHNICAL BACKGROUND

[0002] Conventionally, technologies have been disclosed for collaborative robots that stop operating when they detect contact with humans. For example, to accurately measure the contact force of a collaborative robot, technologies for adjusting the payload information of a held workpiece have been disclosed.

[0003] To automate machining stations, technologies for systems for operating robots on machine tools have been disclosed. For example, technologies for operating robots with numerical control commands familiar to machine tool users have been disclosed (see, for example, Patent Document 1). Citation listPatent document

[0004] Patent Document 1: Unexamined Japanese Patent Application, Publication No. 2014-241018 DISCLOSURE OF THE INVENTION Problems to be solved by the invention

[0005] When a collaborative robot picks up or places a workpiece, external forces are applied to the collaborative robot. A discrepancy may arise between the time the payload setting is changed and the actual time the robot picks up or places the workpiece. As a result, the discrepancy between the payload setting and the actual payload may prevent the robot controller from accurately calculating the contact force, resulting in the robot being incorrectly determined to be in a contact state, potentially causing the collaborative robot to stop operating.

[0006] When a numerical control program commands the collaborative robot to pick and place workpieces, and there is a discrepancy between the timing of the payload setting change and the actual payload state of the collaborative robot, the collaborative robot may fail to accurately calculate the contact force.

[0007] Therefore, there is a need for a numerical control device and a numerical control system capable of preventing erroneous contact stops when a collaborative robot interacts with a workpiece. Means to solve the problems

[0008] One aspect of the present disclosure provides a numerical control device that controls a robot via a robot controller using a numerical control program, the numerical control device comprising: an analysis unit that analyzes a robot control command in the numerical control program; a payload switching distance setting unit that generates, based on the robot control command analyzed by the analysis unit, a signal for setting a payload switching distance required for switching a payload setting of the robot; a payload setting selection unit that generates, based on the robot control command analyzed by the analysis unit, a signal for selecting the payload setting of the robot;and a robot command signal generation unit that generates a robot command signal including a signal for setting the payload switching distance and a signal for selecting the payload setting of the robot based on the robot control command analyzed by the analysis unit, and transmits the robot command signal to the robot controller. After switching the payload setting, the robot controller prevents the robot from performing a contact stop operation to stop the operation in response to an external contact force while the robot moves within the payload switching distance.

[0009] One aspect of the present disclosure provides a numerical control system that controls a robot via a robot controller using a numerical control program of a numerical control device, the numerical control device comprising an analysis unit that analyzes a robot control command in the numerical control program; a payload switching distance setting unit that generates, based on the robot control command analyzed by the analysis unit, a signal for setting a payload switching distance required for switching a payload setting of the robot; a payload setting selection unit that generates, based on the robot control command analyzed by the analysis unit, a signal for selecting the payload setting of the robot;and a robot command signal generation unit that generates a robot command signal including a payload switching distance setting signal and a payload setting selection signal for the robot based on the robot control command analyzed by the analysis unit, and transmits the robot command signal to the robot controller. The robot controller includes: a robot-side payload switching selection unit that performs payload switching based on the robot command signal; a dynamics control unit that performs an inverse dynamics calculation for the robot based on the payload switching based on the robot command signal; a robot-side payload switching distance setting unit that sets the payload switching distance based on the robot command signal.and a contact control unit that prevents the robot from performing a contact stop operation to stop the operation in response to an external contact force while the robot is moving within the payload switching distance after the payload switching is set in response to a notification of the payload switching.;

[0010] One aspect of the present disclosure provides a numerical control device that controls a robot via a robot controller using a numerical control program, the numerical control device comprising: an analysis unit that analyzes a robot control command in the numerical control program; a prohibition signal output unit that generates a contact stop operation prohibition signal to prohibit the robot from performing a contact stop operation based on the robot control command analyzed by the analysis unit; a payload setting selection unit that generates a signal for selecting a payload setting of the robot based on the robot control command analyzed by the analysis unit;and a robot command signal generation unit that generates a robot command signal including the contact stop operation prohibition signal and a payload setting selection signal of the robot based on the robot control command analyzed by the analysis unit, and transmits the robot command signal to the robot controller. After switching the payload setting, the robot controller prohibits the robot from executing a contact stop operation based on the contact stop operation prohibition signal to stop the operation in response to an external contact force.

[0011] One aspect of the present disclosure provides a numerical control system that controls a robot via a robot controller using a numerical control program of a numerical control device, the numerical control device comprising: an analysis unit that analyzes a robot control command in the numerical control program; a prohibition signal output unit that generates a contact stop operation prohibition signal to prohibit the robot from performing a contact stop operation based on the robot control command analyzed by the analysis unit; a payload setting selection unit that generates a signal for selecting a payload setting of the robot based on the robot control command analyzed by the analysis unit;and a robot command signal generation unit that generates a robot command signal including the contact stop operation prohibition signal and a payload setting selection signal of the robot based on the robot control command analyzed by the analysis unit, and transmits the robot command signal to the robot controller. The robot control unit includes: a robot-side payload setting selection unit that switches the payload setting based on the robot command signal; a dynamics control unit that performs an inverse dynamics calculation for the robot in accordance with the payload setting based on the robot command signal;and a dynamic control unit that prohibits the robot, after switching the payload setting in response to a notification of the payload setting, from executing a contact stop operation based on the contact stop operation prohibition signal to stop the operation in response to an external contact force.; BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram illustrating the configuration of a numerical control system according to the present embodiment; Fig. 2 is a functional block diagram of a numerical control device and a robot controller according to a first embodiment; Fig. 3 is a diagram showing an example of payload information; Fig. Figure 4 is a diagram illustrating the Group 1 payload information displayed when Group 1 is in Fig. 3 is selected; Fig. 5 is a diagram showing an example of setting the operating range of a collaborative robot; Fig. 6 is an example of a numerical control program according to the first embodiment; Fig. 7 is a sequence diagram showing the flow of signals and information between the numerical control device and the robot controller when executing the Fig. 6; Fig. 8 is a functional block diagram of the numerical control device and the robot controller according to a second embodiment; Fig. 9 is a diagram illustrating an example of the numerical control program according to the second embodiment; and Fig. 10 is a sequence diagram showing the flow of signals and information between the numerical control device and the robot controller when executing the Fig. 9 represents the numerical control program. PREFERRED EMBODIMENT OF THE INVENTION

[0012] An example of embodiments of the present disclosure is described below. Fig. 1 is a schematic diagram of a numerical control system 1 according to the present embodiment.

[0013] The numerical control system 1 includes a machine tool 2 that machines a workpiece (not shown), a numerical control device (CNC) 4 that controls the operation of the machine tool 2, a collaborative robot 3 installed near the machine tool 2, and a robot controller 5 that controls the operation of the collaborative robot 3. The numerical control system 1 uses the numerical control device 4 and the robot controller 5, which are communicatively connected to each other, thereby holistically controlling the operation of the machine tool 2 and the collaborative robot 3.

[0014] The machine tool 2 machines the workpiece (not shown) in accordance with the machine tool control signals transmitted from the numerical control device 4. The machine tool 2 may include, for example, a lathe, a drilling machine, a milling machine, a grinding machine, a laser processing machine, or an injection molding machine; however, this is not limiting.

[0015] The collaborative robot 3 operates under the control of the controller 5 and, for example, performs predetermined tasks on the workpiece machined by the machine tool 2. The collaborative robot 3 is, for example, a multi-joint robot with an arm including a tip 3a to which a tool 3b is attached for gripping, machining, or inspecting the workpiece. In the following description, the collaborative robot 3 is described as a six-axis multi-joint robot; however, this is not a limitation. In the following description, the collaborative robot 3 is described as a six-axis multi-joint robot; however, the number of axes is not limited thereto.

[0016] The Collaborative Robot 3 is equipped with functions such as a contact stop function, a retraction function, and a reverse operation function, allowing it to collaborate safely with humans. The contact stop function stops the robot immediately when it comes into contact with a human with a slight force (e.g., 10 to 20 N or approximately 1 to 2 kgf). The retraction function allows the arm to retract along any axis when a human bumps the arm of the Collaborative Robot 3. The reverse operation function immediately reverses the arm motion when the Collaborative Robot 3 comes into contact with a hard object, thereby reducing pinching. The Collaborative Robot 3 includes external force detection sensors to detect external forces such as contact with a human. Examples of external force detection sensors include torque sensors and force sensors.Specifically, the collaborative robot 3 uses the external force detection sensors to detect contact with a human, and the robot controller 5 causes the collaborative robot 3 to stop its operation in response to the external force detected by the external force detection sensors. In this way, the collaborative robot 3 can safely collaborate with humans.

[0017] The numerical control device 4 and the robot controller 5 are each a computer equipped with hardware components such as: a computing 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 primary storage unit such as RAM (Random Access Memory) that stores data temporarily required by the computing unit to execute computer programs; an operation unit such as a keyboard that allows an operator to perform various operations; and a display unit such as a screen that displays various types of information to the operator. The numerical control device 4 and the robot controller 5 can communicate signals with each other, for example, via Ethernet (registered trademark). [First embodiment]

[0018] Fig. Fig. 2 is a functional block diagram of the numerical control device 4 and the robot controller 5 according to the first embodiment. First, the detailed configuration of the numerical control device 4 will be described. As shown in Fig. 2, the numerical control device 4 implements various functions through the hardware configuration described above, such as the functions of controlling the operation of the machine tool 2 and generating trajectories of the control axes of the collaborative robot 3.

[0019] The numerical control device 4 controls the collaborative robot 3 via the robot controller 5 using a numerical control program. Specifically, the numerical control device 4 generates various commands for controlling the operations of the collaborative robot 3 and the tool 3b in accordance with a robot numerical control program and transmits the commands to the robot controller 5. More specifically, the numerical control device 4 includes a program input unit 41, an analysis unit 42, an operation control unit 43, a storage unit 44, a robot command signal generation unit 45, a payload switching distance setting unit 46, a payload setting selection unit 47, and a data transmission / reception unit 48.

[0020] The program input unit 41 reads the robot numerical control program consisting of a plurality of robot command blocks from the storage unit 44 and sequentially inputs the program to the analysis unit 42.

[0021] The analysis unit 42 analyzes the type of commands in the numerical control program input from the program input unit 41 for each command block and outputs the analysis results to the operation control unit 43 and the robot command signal generation unit 45. Specifically, when the type of command in the command block is a numerical control command for the machine tool 2, the analysis unit 42 transmits the numerical control command for the machine tool to the operation control unit 43. When the type of command in the command block is a robot numerical control command for the collaborative robot 3 (hereinafter also referred to as a "robot control command"), the analysis unit 42 outputs the robot numerical control command to the robot command signal generation unit 45.

[0022] The operation control unit 43 generates control signals for controlling the operation of the machine tool 2 based on the analysis results transmitted from the analysis unit 42 and transmits the signals to the actuators that drive the various axes of the machine tool 2. The machine tool 2 operates based on the machine tool control signals input from the operation control unit 43 and machines the workpiece (not shown).

[0023] The storage unit 44 stores a plurality of numerical control programs created based on the operator's operation. More specifically, the storage unit 44 stores numerical control programs consisting of a plurality of command blocks for controlling the operation of the machine tool 2 and a plurality of command blocks for controlling the operation of the collaborative robot 3. The numerical control programs stored in the storage unit 44 are written in well-known programming languages, such as G code and M code, for controlling the operation of the machine tool 2.

[0024] The storage unit 44 stores various machine coordinate values representing the positions of the axes of the machine tool 2 (e.g., the positions of the tool rest, the table, etc. of the machine tool 2) operating under the numerical control program. The machine coordinates are defined in a machine tool coordinate system in which an arbitrarily defined reference point on or near the machine tool 2 serves as the origin. The storage unit 44 is sequentially updated by processing (not shown) to store the latest machine coordinate values that constantly change under the numerical control program.

[0025] The storage unit 44 also stores robot coordinate values representing the position and posture of the control point of the collaborative robot 3 operating under the control of the robot controller 5 (e.g., the tip 3a of the arm of the collaborative robot 3), that is, the positions of the control axes of the collaborative robot 3. The robot coordinates are defined in a robot coordinate system different from the coordinate system of the machine tool described above. The storage unit 44 is sequentially updated based on the robot coordinate values obtained from the robot controller 5 through processing (not shown) to store the latest robot coordinate values that constantly change within the numerical control program.

[0026] The storage unit 44 also stores learning positions such as the start and end points of the collaborative robot 3, which are input by the operator. Specifically, the storage unit 44 stores learning positions of the collaborative robot 3, which are input via teach pendants or keyboards. The learning positions of the collaborative robot 3 include robot coordinate values representing the positions of the control axes of the collaborative robot 3, where the robot coordinate values are defined under the robot coordinate system, which is different from the coordinate system of the machine tool.

[0027] The robot command signal generation unit 45 generates robot command signals for each robot command block based on the analysis results of each robot command block input from the analysis unit 42 and writes the generated robot command signals to the data transmission / reception unit 48.

[0028] Specifically, the robot command signal generation unit 45 generates robot command signals for each robot command block based on the robot numerical control commands as analysis results input from the analysis unit 42, and writes the generated robot command signals to the data transmission / reception unit 48.

[0029] The payload switching distance setting unit 46 generates, based on the robot control commands analyzed by the analysis unit 42, signals for setting the payload switching distance required to switch the payload settings of the collaborative robot 3, and transmits the generated signals to the robot command signal generation unit 45.

[0030] Specifically, when the payload switching distance setting command is extracted from the robot control commands analyzed by the analysis unit 42, the payload switching distance setting unit 46 generates payload switching distance setting signals based on the payload switching distance setting command and transmits the generated signals to the robot command signal generation unit 45. Then, the numerical control device 4 can notify the robot controller 5 of the payload switching distance.

[0031] The payload setting selection unit 47 generates signals for selecting the payload settings of the collaborative robot 3 based on the robot control commands analyzed by the analysis unit 42 and transmits the generated signals to the robot command signal generation unit 45.

[0032] Specifically, when a payload setting selection command is extracted from the robot control commands analyzed by the analysis unit 42, the payload setting selection unit 47 generates signals for selecting the payload settings of the collaborative robot 3 based on the payload setting selection command and transmits the generated signals to the robot command signal generation unit 45. As a result, the numerical control device 4 can notify the robot controller 5 of the payload setting selection command.

[0033] The robot command signal generation unit 45 writes robot command signals including the payload switching distance setting signals or the payload setting selection signals to the data transmission / reception unit 48.

[0034] The data transmission / reception unit 48 exchanges various types of data, such as robot commands and robot coordinate values, with the data transmission / reception unit 60 of the robot controller 5. Specifically, the data transmission / reception unit 48 transmits the robot command signals generated by the robot command signal generation unit 45 to the data transmission / reception unit 60 of the robot controller 5.

[0035] The data transmission / reception unit 48 transmits robot command signals, including signals for setting the payload switching distance and signals for selecting the payload settings of the collaborating robot 3, to the robot controller 5 based on the robot control commands analyzed by the analysis unit 42.

[0036] Next, the configuration of the robot controller 5 is described in detail. As in Fig. 2, the robot controller 5 implements various functions through the hardware configuration including 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 kinematics control unit 56, a servo control unit 57, a payload switching distance setting unit 58, a dynamics control unit 59, a data transmission / reception unit 60, a contact control unit 61, and a payload switching distance setting unit 62. The robot controller 5 uses these functional units to control the operation of the collaborative robot 3 based on the commands transmitted from the numerical control device 4.

[0037] The storage unit 51 stores robot programs and various types of information for controlling the collaborative robot 3. The storage unit 51 also stores the payload settings of the collaborative robot 3. In the present embodiment, the storage unit 51 is housed in the robot controller 5; however, the storage unit 51 may also be housed in the numerical control device 4 or in external electronic devices or servers that are separate from both the numerical control device 4 and the robot controller 5.

[0038] Here, the payload settings of the collaborative robot 3 include the setting of the payload information and the operating range of the collaborative robot 3 within which the payload settings are allowed to be switched. The payload information includes information such as the payload setting number, the payload weight, the position of the payload's center of gravity, and the payload's inertia. The payload information is input by the operator in advance and stored in the storage unit 51.

[0039] Fig. 3 is a diagram illustrating an example of payload information. This payload information is displayed on the screen of the display device of the numerical control device 4. As shown in Fig. 3, for example, a group with a payload weight of 50 kg is assigned a plurality of payload setting numbers (No. 1 to 10).

[0040] Fig. Figure 4 is a diagram illustrating the Group 1 payload information displayed when Group 1 is in Fig. 3 is selected. The payload information of group 1 stores the weight of the payload, the position of the center of gravity of the payload, and the inertia value of the payload. Thus, the storage unit 51 stores the weight, the position of the center of gravity, and the inertia associated with each payload.

[0041] Fig. 5 is a diagram showing an example of setting the workspace of the collaborative robot 3. As shown in Fig. 5, the robot controller 5 defines the operating area A1 of the collaborative robot 3, in which the payload settings can be changed. In Fig. 5, the operating range A1 is set between position 1 and position 2. The working range A1 is defined, for example, near the workpiece. This allows the robot controller 5 to switch the payload settings of the collaborative robot 3 within the operating range A1.

[0042] If the work area A1 is not close to the workpiece, the collaborative robot 3 will not stop operating when the collaborative robot 3 comes into contact with the user after the payload setting is switched. Therefore, the operation area A1 is preferably set close to the workpiece so as not to interfere with the tasks of the collaborative robot 3 and the user.

[0043] Back to Fig. 2: The data transmission / reception unit 60 receives robot command signals transmitted from the data transmission / reception unit 48 of the numerical control device 4. The data transmission / reception unit 60 sequentially outputs the received robot command signals to the analysis unit 52.

[0044] The analysis unit 52 analyzes the robot command signals input from the data transmission / reception unit 60. The analysis unit 52 outputs the analysis results to the robot command generation unit 53.

[0045] When the analysis unit 52 detects a payload setting selection signal of the collaborative robot 3 in the robot command signals, it notifies the payload setting selection unit 58 described later. When the analysis unit 52 detects a payload switching distance setting signal in the robot command signals, it notifies the payload switching distance setting unit 62 described later.

[0046] The robot command generation unit 53 generates robot commands corresponding to the robot command signals based on the analysis results of the robot command signals input from the analysis unit 52. The robot command generation unit 53 outputs the generated robot commands to the program management unit 54.

[0047] When the robot commands are input from the robot command generation unit 53, the program management unit 54 executes the robot commands sequentially, thereby generating an operation plan for the collaborative robot 3 according to the robot command signals, and outputs the plan to the path control unit 55.

[0048] If the robot commands input from the robot command generation unit 53 are block robot commands, the program management unit 54 adds the input block robot commands to the robot program stored in the storage unit 51. In this way, a robot program corresponding to the robot command signal transmitted from the numerical control device 4 is generated and stored in the storage unit 51. The stored robot program is activated and executed when the program management unit 54 receives a robot program activation command as a robot command.

[0049] When a deployment plan is input from the program management unit 54, the trajectory control unit 55 calculates the time series data of the control point of the collaborative robot 3 and outputs the data to the kinematics control unit 56.

[0050] The kinematics control unit 56 calculates the target angles of the individual joints of the collaborative robot 3 based on the input time series data and passes the target angles to the servo control unit 57.

[0051] The servo control unit 57 performs feedback control of the servomotors of the collaborative robot 3 to achieve the target angles input from the kinematics control unit 56, thereby generating robot control signals for the collaborative robot 3, and transmits the robot control signals to the servomotors of the collaborative robot 3. The servo control unit 57 generates robot control signals including the torque calculated by the dynamics control unit 59 described later. Thus, the robot controller 5 can control the collaborative robot 3 based on the payload settings.

[0052] The payload setting selection unit 58 selects a payload setting stored in the storage unit 51 based on the robot command signals analyzed by the analysis unit 52 and notifies the dynamics control unit 59 of the selected payload setting.

[0053] The dynamics control unit 59 calculates the torque to be supplied to the collaborative robot 3 based on the payload setting selected by the payload setting selection unit 58 using inverse dynamics calculations. The dynamics control unit 59 outputs the calculated torque to the servo control unit 57.

[0054] Here, the inverse dynamics calculations of the collaborative robot 3 refer to a technique for calculating the input torque for each motor to realize the desired motions (time series data of positions, velocities, and accelerations of each joint) derived from the operation path plan of the collaborative robot 3. These calculations consider external payloads acting on the hand, gravity, and the self-weight of the collaborative robot 3. Examples of inverse dynamics calculations include the calculated torque method and the Newton-Euler method (as disclosed, for example, in Japanese Patent Application Publication No. H8-118275 and Japanese Patent Application Publication No. 2015-58520).

[0055] When the payload switching distance is notified by the analysis unit 52, the payload switching distance setting unit 62 sets the payload switching distance in the contact control unit 61. Here, the payload switching distance of the collaborative robot 3 can be set based on the weight of the payload or the inertia of the payload. The payload switching distance can also be set for each coordinate axis direction of the collaborative robot 3.

[0056] The controller 61 controls the contact stop operation based on the external force detection results of the external force detection sensors of the collaborative robot 3. The controller 61 prohibits the contact stop operation while the collaborative robot 3 is moving within the payload switching distance, that is, until the collaborative robot 3 finishes moving within the payload switching distance after the payload setting is switched by the payload switching distance setting unit 62. Here, the contact stop operation refers to the operation of stopping the collaborative robot 3 in response to external contact forces.

[0057] Fig. 6 is a diagram showing an example of a numerical control program according to the first embodiment. Fig. 7 is a sequence diagram showing the flow of signals and information between the numerical control device 4 and the robot controller 5 when the Fig. 6 is executed. The numerical control program shown in Fig. The numerical control program shown in Figure 6 includes commands for selecting payload settings and setting payload switching intervals as described above.

[0058] In the numerical control program, "G100" is first commanded to select payload setting 1 (where the payload consists exclusively of the hand of the collaborative robot 3). When "G100" is commanded, the payload setting selection unit 47 generates a signal for selecting payload setting 1 of the collaborative robot 3 and transmits the generated signal to the robot controller 5 via the data transmission / reception unit 48.

[0059] The numerical control device 4 can then notify the robot controller 5 of the payload's center of gravity, the position of the payload's center of gravity, and the payload's inertial information in the payload setting 1. The robot controller 5 starts calculating the torque for the collaborative robot 3 using inverse dynamics based on the notified payload setting 1.

[0060] Since the position of collaborating robot 3 is unknown, "G68.8" is entered next to select each axis coordinate system. With the command "G7.3 J1=_J2=_J3=_J4=_J5=_J6=_", robot controller 5 positions collaborating robot 3 at the specified positions in the respective axis coordinate systems. The underscores of the command are replaced with the coordinate values of the specified positions for collaborating robot 3.

[0061] Subsequently, "G68.9" is commanded to select an orthogonal coordinate system. With the "G01 X_Y_Z_A_B_C_P_" command, robot controller 5 causes collaborating robot 3 to perform a linear movement to position it at the specified position (workpiece position) in the orthogonal coordinate system. The underscores in the command are replaced with the coordinate values of the specified position for collaborating robot 3.

[0062] As in (1) of the Fig. 6 and Fig. 7, at the command “G200.1,” the payload switching distance setting unit 46 generates a signal for setting the payload switching distance in the positive direction and transmits the generated signal to the robot controller 5 via the robot command signal generation unit 45 and the data transmission / reception unit 48. Then, the robot controller 5 updates the payload switching distance in the positive direction and prohibits (disables) the contact stop operation until the collaborating robot 3 moves 5.0 mm in the +Z direction.

[0063] Furthermore, at the command "G200.2," the payload switching distance setting unit 46 generates a signal for setting the payload switching distance in the negative direction and transmits the generated signal to the robot controller 5 via the data transmission / reception unit 48. The robot controller 5 then updates the payload switching distance in the negative direction and activates the contact stop operation for movements of the collaborative robot 3 in the negative direction. The robot controller 5 can disable the contact stop operation the next time the payload setting is changed. Instead of disabling the contact stop operation when the payload setting is next switched, the robot controller 5 can disable the contact stop operation when the current payload setting is switched.

[0064] Subsequently, at the command "M100," the robot controller 5 causes the collaborating robot 3 to close its hand to grasp the workpiece. Then, "G101" is commanded, selecting the payload setting 2 for the grasped workpiece, which is stored in the storage unit 51. The selected payload setting 2 is updated from the previously set payload setting 1 to the newly notified payload setting 2 by the payload setting selection unit 58. The dynamics control unit 59 calculates the inverse dynamics based on the updated payload setting 2, and the collaborating robot 3 is controlled according to the robot control commands reflecting the calculated input torque.Since the payload setting 1 is switched to the payload setting 2, the contact controller unit 61 disables the contact stop operation while the collaborating robot 3 moves within the payload switching distance.

[0065] Then, when the command "G01 X_Y_Z_A_B_C_P_" is issued, the robot controller 5 causes the collaborating robot 3 to move linearly to the specified position of the orthogonal coordinate system, and then the collaborating robot 3 lifts the workpiece. If the collaborating robot 3 moves outside the payload switching distance, the contact control unit 61 activates the contact stop operation.

[0066] When the "M50" command is subsequently given, the robot controller 5 causes the collaborating robot 3 to open the chuck. When "G01 X_Y_Z_A_B_C_P_" is commanded, the robot controller 5 causes the collaborating robot 3 to move linearly to position itself at the chuck position. When the "M51" command is then given, the robot controller 5 causes the collaborating robot 3 to close the chuck.

[0067] Next, as in (2) the Fig. 6 and Fig. 7, at the command “G200.1”, the payload switching distance setting unit 46 generates a signal for setting the payload switching distance in the positive direction and transmits the generated signal to the robot controller 5 via the robot command signal generation unit 45 and the data transmission / reception unit 48. As a result, the robot controller 5 prohibits (disables) the contact stop operation until the collaborating robot 3 moves 5.0 mm in the +X direction.

[0068] Furthermore, the payload switching distance setting unit 46 generates a payload switching distance setting signal in the negative direction upon the "G200.2" command and transmits the generated signal to the robot controller 5 via the robot command signal generation unit 45 and the data transmission / reception unit 48. The robot controller 5 then updates the payload switching distance in the negative direction, enabling the contact stop operation for movements in the negative direction. The robot controller 5 may disable the contact stop operation the next time the payload setting is changed. Instead of disabling the contact stop operation when the payload setting is next switched, the robot controller 5 may disable the contact stop operation when the current payload setting is switched.

[0069] Subsequently, when the "M100" command is given, the robot controller 5 causes the collaborating robot 3 to open its hand to release the workpiece. Then, "G100" is commanded, selecting the payload setting 1 for the hand stored in the storage unit 51. The payload setting selection unit 58 updates the payload setting from the previously set payload setting 2 to the newly notified payload setting 1. The dynamics control unit 59 calculates the inverse dynamics based on the updated payload setting 1, and the collaborating robot 3 is controlled according to the robot control commands reflecting the calculated input torque. Since the payload setting 2 is switched to the payload setting 1, the controller 61 disables the contact stop operation while the collaborating robot 3 moves within the payload switching distance.

[0070] Subsequently, when the "G01 X_Y_Z_A_B_C_P_" command is issued, the robot controller 5 causes the collaborating robot 3 to perform a linear hand movement to retract from the chuck position. If the collaborating robot 3 moves outside the payload switching distance, the controller 61 activates the contact stop operation. Finally, the "M30" command is issued, thus terminating the numerical control program.

[0071] As described above, the numerical control device 4 according to the first embodiment includes the analysis unit 42 that analyzes robot control commands in the numerical control program; the payload switching distance setting unit 46 that generates, based on the robot control commands analyzed by the analysis unit 42, signals for setting the payload switching distances required for switching the payload settings of the collaborative robot 3; the payload setting selection unit 47 that generates, based on the robot control commands analyzed by the analysis unit 42, signals for selecting the payload settings of the collaborative robot 3.and the robot command signal generation unit 45, which generates robot command signals including signals for setting the payload switching distance and signals for selecting the payload settings of the collaborative robot 3 based on the robot control commands analyzed by the analysis unit 42, and transmits the robot command signals to the robot controller 5. After switching the payload settings, the robot controller 5 prevents the collaborative robot 3 from performing a contact stop operation to stop the operation in response to external contact forces while the collaborative robot 3 is moving within the payload switching distance.

[0072] In this configuration, the numerical control device 4 ensures that the collaborative robot 3 does not perform a contact stop operation within the specified payload switching distance after a change in the payload setting, whereby the collaborative robot 3 can be prevented from erroneously performing contact stop operations while the collaborative robot 3 interacts with a workpiece, such as picking up or putting down the workpiece.

[0073] The payload settings of the collaborative robot 3 include setting the payload information and the operating range of the robot within which the payload settings are allowed to be switched. With this configuration, the numerical control device 4 can appropriately manage the payload setting switching and the payload switching distance setting.

[0074] The payload switching interval of the collaborative robot 3 can be adjusted based on the weight or inertia of the payload. The payload switching interval of the collaborative robot 3 can also be adjusted individually for each coordinate axis direction of the collaborative robot 3. With this configuration, the numerical control device 4 can adjust payload switching intervals adapted to the operation of the collaborative robot 3.

[0075] In the numerical control system 1, the numerical control device 4 includes: the analysis unit 42 that analyzes robot control commands in the numerical control program; the payload switching distance setting unit 46 that generates, based on the robot control commands analyzed by the analysis unit 42, signals for setting the payload switching distance required for switching the payload settings of the collaborative robot 3; the payload setting selection unit 47 that generates, based on the robot control commands analyzed by the analysis unit 42, signals for selecting the payload settings of the collaborative robot 3.and the robot command signal generation unit 45, which generates robot command signals including signals for setting the payload switching distance and signals for selecting payload settings of the collaborative robot 3 based on the robot control commands analyzed by the analysis unit 42, and transmits the robot command signals to the robot controller 5;

[0076] In addition, the robot controller 5 includes: the payload switching selection unit 58 that makes payload switching settings based on the robot command signals; the dynamics control unit that performs inverse dynamics calculations for the collaborating robot 3 in accordance with the payload switching settings based on the robot command signals; the payload switching distance setting unit 62 that sets the payload switching distance based on the robot command signals; and the contact control unit 61 that, after switching the payload settings, in response to the notification of the payload setting, prevents the collaborating robot 3 from performing a contact stop operation to stop the operation in response to external contact forces while the collaborating robot 3 moves within the payload switching distance.

[0077] With this configuration, the numerical control system 1 ensures that the collaborative robot 3 does not perform contact stop operations after changing the payload switching distances, thereby preventing the collaborative robot 3 from erroneously performing contact stop operations while the collaborative robot 3 interacts with a workpiece, such as picking up or putting down the workpiece. [Second embodiment]

[0078] Fig. Fig. 8 is a functional block diagram of the numerical control device 4 and the robot controller 5 according to the second embodiment. In the description of the second embodiment, the components identical to those of the first embodiment are denoted by the same reference numerals, and their description is omitted or simplified. The numerical control device 4 and the robot controller 5 of the second embodiment include a prohibition signal output unit 49 and an operation switching unit 63, which are primarily different from the first embodiment, while other configurations are similar to those of the Fig. 2 and Fig. 3 are similar to the first embodiment shown.

[0079] The payload setting selection unit 47 generates signals for selecting the payload settings of the collaborative robot 3 based on the robot control commands analyzed by the analysis unit 42 and transmits the generated signals to the robot command signal generation unit 45.

[0080] Specifically, when a payload setting selection command is extracted from the robot control commands analyzed by the analysis unit 42, the payload setting selection unit 47 generates signals for selecting the payload settings of the collaborative robot 3 based on the payload setting selection command and transmits the generated signals to the robot command signal generation unit 45. Thereby, the numerical control device 4 can notify the robot controller 5 of the payload setting selection command.

[0081] The prohibition signal output unit 49 generates a contact stop operation prohibition signal based on the robot control commands analyzed by the analysis unit 42 to prohibit the collaborating robot 3 from performing a contact stop operation, and transmits the generated contact stop operation prohibition signal to the robot command signal generation unit 45.

[0082] Specifically, when a command to release the contact stop operation prohibition signal is extracted from the robot control commands analyzed by the analysis unit 42, the prohibition signal output unit 49 generates a contact stop operation prohibition signal in response to the command to release the contact stop operation prohibition signal and transmits the generated contact stop operation prohibition signal to the robot command signal generation unit 45. As a result, the numerical control device 4 can notify the robot controller 5 of the command to prohibit (disable) the contact stop operation.

[0083] When a command to disable the contact stop operation prohibition signal is extracted from the robot controller commands analyzed by the analysis unit 42, the prohibition signal output unit 49 generates a signal to disable the contact stop operation prohibition signal in response to the command to disable the contact stop operation prohibition signal and transmits the generated signal to the robot command signal generation unit 45. As a result, the numerical control device 4 can notify the robot controller 5 of the command to release the contact stop operation.

[0084] The robot command signal generation unit 45 generates robot command signals for each robot command block based on the analysis results of each robot command block input from the analysis unit 42 and writes the generated robot command signals to the data transmission / reception unit 48. The robot command signal generation unit 45 also writes robot command signals, including signals for selecting payload settings, contact stop operation prohibition signals, or signals for deactivating the contact stop operation prohibition signals, to the data transmission / reception unit 48.

[0085] The data transmission / reception unit 48 transmits robot command signals, including contact stop operation prohibition signals, signals for deactivating the contact stop operation prohibition signals, and signals for selecting payload settings of the collaborative robot 3, to the robot controller 5 based on the robot commands analyzed by the analysis unit 42.

[0086] The operation switching unit 63 switches the activation or deactivation of the contact stop operation in the contact control unit 61 based on the robot command signals analyzed by the analysis unit 52. If a signal for prohibiting the contact stop operation is extracted from the robot command signals, the operation switching unit 63 turns off the contact stop operation after the next payload setting switching. Conversely, if a signal for deactivating (turning off) the contact stop operation prohibition signal is extracted from the robot command signals, the operation switching unit 63 sets the contact stop operation to be activated after the next payload setting switching.

[0087] After the payload setting is switched based on the notification of the payload setting, the operation switching unit 61 prohibits the collaborating robot 3 from performing a contact stop operation to stop the operation in response to external contact forces based on the operation switching unit prohibition signal.

[0088] When the operation switching unit 63 disables the contact stop operation based on the contact stop operation prohibition signal, the contact control unit 61 sets the contact stop operation to be disabled after the next payload setting switching. When the operation switching unit 63 enables the contact stop operation, the contact control unit 61 sets the contact stop operation to be enabled after the next payload setting switching based on the contact stop operation prohibition signal disablement signal.

[0089] Fig. 9 is a diagram showing an example of a numerical control program according to the second embodiment. Fig. 10 is a flowchart showing the signal and information flow between the numerical control device 4 and the robot controller 5 when executing the Fig. 9. The numerical control program shown in Fig. The numerical control program shown in Figure 9 includes commands for selecting payload settings and for issuing signals to inhibit contact stop operation, as described above.

[0090] In the numerical control program, "G100" is commanded to select payload setting 1 (where the payload consists exclusively of the hand of the collaborative robot 3). When "G100" is commanded, the payload setting selection unit 47 generates a signal for selecting payload setting 1 of the collaborative robot 3 and transmits the generated signal to the robot controller 5 via the robot command signal generation unit 45 and the data transmission / reception unit 48.

[0091] This allows the numerical control device 4 to notify the robot controller 5 of the payload's center of gravity, the position of the payload's center of gravity, and the payload's inertial information in the payload setting 1. Based on the notified payload setting 1, the robot controller 5 starts calculating the torque to be applied to the collaborating robot 3 using inverse dynamics.

[0092] Since the position of collaborating robot 3 is unknown, "G68.8" is entered next to select the individual axis coordinate systems. With the command "G7.3 J1=_J2=_J3=_J4=_J5=_J6=_," robot controller 5 causes collaborating robot 3 to be positioned at the specified locations in the respective axis coordinate systems. The underscores in the command are replaced with the coordinate values of the specified positions for collaborating robot 3.

[0093] Subsequently, the "G68.9" command is issued to select an orthogonal coordinate system. With the "G01 X_Y_Z_A_B_C_P_" command, the robot controller 5 causes the collaborating robot 3 to perform a linear movement to position it at the specified position (workpiece position) in the orthogonal coordinate system. The underscores in the command are replaced by the coordinate values of the specified positions for the collaborating robot 3.

[0094] When the command “M100” is given, the robot controller 5 causes the collaborating robot 3 to close its hand to grasp the workpiece.

[0095] Then, as in (11) the Fig. 9 and Fig. 10, at the command “G200.1”, the prohibition signal output unit 49 generates a contact stop operation prohibition signal to prohibit the collaborative robot 3 from performing a contact stop operation, and transmits the generated contact stop operation prohibition signal to the robot controller 5 via the robot command signal generation unit 45 and the data transmission / reception unit 48. As a result, the robot controller 5 can disable the contact stop operation in response to the contact stop operation prohibition signal when the payload setting is changed next time.

[0096] Subsequently, the "G101" command is issued, which selects the payload setting 2 for the gripped workpiece, which is stored in the storage unit 51. The payload setting selection unit 58 updates the selected payload setting 2 from the previously set payload setting 1 to the newly notified payload setting 2. The dynamics control unit 59 calculates the inverse dynamics based on the updated payload setting 2, and the collaborative robot 3 is controlled according to the robot control commands reflecting the calculated input torque. Since the payload setting 1 is switched to the payload setting 2, the contact control unit 61 disables the contact stop operation of the collaborative robot 3.

[0097] When the command “G01 X_Y_Z_A_B_C_P_” is subsequently given, the robot controller 5 causes the collaborating robot 3 to move linearly to the specified position (workpiece position) in the orthogonal coordinate system and to lift the workpiece.

[0098] Then, as in (12) of the Fig. 9 and Fig. 10, at the command “G200.0,” the prohibition signal output unit 49 generates a contact stop operation prohibition signal to prohibit the collaborative robot 3 from performing a contact stop operation, and transmits a signal for disabling (turning off) the generated contact stop operation prohibition signal to the robot controller 5 via the robot command signal generation unit 45 and the data transmission / reception unit 48. Consequently, the robot controller 5 can enable the contact stop operation in response to the contact stop operation prohibition signal disabling signal.

[0099] When the "M50" command is given, the robot controller 5 causes the collaborating robot 3 to open the chuck. When "G01 X_Y_Z_A_B_C_P_" is commanded, the robot controller 5 causes the collaborating robot 3 to move linearly to position itself at the chuck position.

[0100] If you then give the command "M51," robot controller 5 causes collaborating robot 3 to close the chuck. If you then give the command "M101," robot controller 5 causes collaborating robot 3 to open its hand to release the workpiece.

[0101] Then, as in (13) of the Fig. 9 and Fig. 10, at the command “G200.1”, the prohibition signal output unit 49 generates a contact stop operation prohibition signal to prohibit the collaborative robot 3 from performing a contact stop operation, and transmits the generated contact stop operation prohibition signal to the robot controller 5 via the robot command signal generation unit 45 and the data transmission / reception unit 48. As a result, the robot controller 5 can disable the contact stop operation in response to the contact stop operation prohibition signal when the payload setting is changed next time.

[0102] Subsequently, the "G100" command is issued, which selects payload setting 1 corresponding to the previously gripped workpiece and stored in the storage unit 51. The payload setting selection unit 58 updates the payload setting from the previously set payload setting 2 to the newly notified payload setting 1. The dynamics control unit 59 calculates the inverse dynamics based on the updated payload setting 1, and the collaborative robot 3 is controlled according to the robot control commands reflecting the calculated input torque. Since payload setting 2 is switched to payload setting 1, the contact controller unit 61 disables the contact stop operation of the collaborative robot 3.

[0103] Then, when the command “G01 X_Y_Z_A_B_C_P_” is given, the robot controller 5 causes the collaborating robot 3 to move linearly from the chuck position and to retract from the chuck position.

[0104] Subsequently, the prohibition signal output unit 49 generates, as in (14) of the Fig. 9 and Fig.10, a contact stop operation prohibition signal is generated when "G200.0" is commanded to prohibit the collaborative robot 3 from executing a contact stop operation, and transmits a signal for deactivating (turning off) the generated contact stop operation prohibition signal to the robot controller 5 via the robot command signal generation unit 45 and the data transmission / reception unit 48. This allows the robot controller 5 to activate the contact stop operation in response to the contact stop operation prohibition signal deactivation signal. Finally, the command "M30" is issued, thus terminating the numerical control program.

[0105] As described above, the numerical control device 4 according to the second embodiment includes the analysis unit 42 that analyzes robot control commands in the numerical control program; the prohibition signal output unit 49 that generates a contact stop operation prohibition signal based on the robot control commands analyzed by the analysis unit 42 to prohibit the collaborative robot 3 from performing a contact stop operation; the payload setting selection unit 47 that generates signals for selecting the payload settings of the collaborative robot 3 based on the robot control commands analyzed by the analysis unit 42;and the robot command signal generation unit 45, which generates robot command signals including contact stop operation prohibition signals and payload setting selection signals of the collaborative robot 3 based on the robot control commands analyzed by the analysis unit 42, and transmits the robot command signals to the robot controller 5. After the payload settings are switched, the robot controller 5 disables the contact stop operation of the robot command signal generation unit 45 to stop the operation of the robot command signal generation unit 45 in response to external contact forces, in response to the contact stop operation prohibition signal.

[0106] With this configuration, the numerical control device 4 ensures that the collaborative robot 3 does not perform a contact stop operation within the specified payload switching distance after the payload setting is changed, whereby the collaborative robot 3 can be prevented from erroneously performing contact stop operations while the collaborative robot 3 interacts with a workpiece, such as picking up or putting down the workpiece.

[0107] In the numerical control system 1, the numerical control device 4 includes: the analysis unit 42 that analyzes robot control commands in the numerical control program; the prohibition signal output unit 49 that generates a contact stop operation prohibition signal based on the robot control commands analyzed by the analysis unit 42 to prohibit the collaborative robot 3 from performing a contact stop operation; the payload setting selection unit 47 that generates signals for selecting the payload settings of the collaborative robot 3 based on the robot control commands analyzed by the analysis unit 42;and the robot command signal generation unit 45, which generates robot command signals including the contact stop operation prohibition signal and payload setting selection signals of the collaborative robot 3 based on the robot control commands analyzed by the analysis unit 42, and transmits the robot command signals to the robot controller 5;

[0108] In addition, the robot controller 5 includes: the payload setting selection unit 58 that switches the payload settings based on the robot command signals; the dynamics control unit 59 that performs inverse dynamics calculations for the collaborative robot 3 in accordance with the payload settings based on the robot command signals; and the dynamics control unit 61 that prohibits the collaborative robot 3 from performing a contact stop operation to stop the operation in response to external contact forces based on the contact stop operation prohibition signal after the payload setting is switched in response to the notification of the payload setting.

[0109] With this configuration, the numerical control system 1 prevents the collaborative robot 3 from performing a contact stop operation within the specified payload switching distance after the payload setting is changed, whereby the collaborative robot 3 can be prevented from erroneously performing contact stop operations while the collaborative robot 3 interacts with a workpiece, such as picking up or placing the workpiece.

[0110] While the embodiments of the present invention have been described above, the numerical control system 1 can be implemented with hardware, software, or a combination thereof. Likewise, the control methods executed by the numerical controller 1 can be implemented with hardware, software, or a combination thereof. Software implementation refers to execution by a computer that reads and executes a program.

[0111] The program can be stored on various types of non-transferable, computer-readable media and delivered to a computer. Non-transitory computer-readable media includes various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic storage media (e.g., hard disk drives), magneto-optical storage media (e.g., magneto-optical floppy disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, and semiconductor memories (e.g., Mask-ROM, PROM (Programmable ROM), EPROM (Erasable PROM), Flash-ROM, and RAM (Random Access Memory)).

[0112] Although the present disclosure has been described in detail, it is not limited to the specific embodiments described above. These embodiments are subject to various additions, substitutions, modifications, and partial deletions within the scope of the present disclosure or the scope of the claims and equivalents thereof. Furthermore, these embodiments may be implemented in combination. For example, the order of operations or processing in the embodiments described above is merely exemplary and is not limited to any particular order. The same applies to the numerical values or equations described in the embodiments.

[0113] The following additional comments are made to the above embodiments and modifications. (Additional Note 1)

[0114] A numerical control device (4) that controls a robot (3) via a robot controller (5) using a numerical control program, the numerical control device (4) comprising: an analysis unit (42) that analyzes a robot command in the numerical control program; a payload switching distance setting unit (46) that generates, based on the robot control command analyzed by the analysis unit, a signal for setting a payload switching distance required to switch a payload setting of the robot; a payload setting selection unit (47) which generates a signal for selecting the payload setting of the robot based on the robot command analyzed by the analysis unit; and a robot command signal generation unit (45) which, on the basis of the robot control command analyzed by the analysis unit, generates a robot command signal comprising a signal for setting the payload switching distance and a signal for selecting the payload setting of the robot, and transmits the robot command signal to the robot controller, in which after switching the payload setting, the robot controller (5) prevents the robot from performing a contact stop operation to stop the operation in response to an external contact force while the robot is moving within the payload switching distance. (Additional Note 2)

[0115] The numerical control device (4) as described in Additional Note 1, wherein the payload setting of the robot includes the setting of the payload information and an operation range of the robot in which the payload setting is allowed to be switched. (Additional Note 3)

[0116] The numerical control device (4) as described in Additional Note 1, wherein the payload switching distance of the robot is adjusted based on at least one of weight or inertia of a payload. (Additional Note 4)

[0117] The numerical control device (4) as described in Additional Note 1, in which the payload switching distance of the robot is individually set for each coordinate axis direction of the robot. (Additional Note 5)

[0118] The numerical control device described in Additional Note 1, which is a collaborative robot that stops operating when contact with a human is detected. (Additional Note 6)

[0119] A numerical control system (1) that controls a robot (3) via a robot controller (5) using a numerical control program of a numerical control device (4), wherein the numerical control device (4) comprises: an analysis unit (42) that analyzes a robot command in the numerical control program; a payload switching distance setting unit (46) that generates, based on the robot control command analyzed by the analysis unit, a signal for setting a payload switching distance required to switch a payload setting of the robot; a payload setting selection unit (47) which generates a signal for selecting the payload setting of the robot based on the robot command analyzed by the analysis unit; and a robot command signal generation unit (45) which, based on the robot control command analyzed by the analysis unit, generates a robot command signal comprising a signal for setting the payload switching distance and a signal for selecting the payload setting of the robot, and transmits the robot command signal to the robot controller, wherein the robot control (5) includes: a robot-side payload setting selection unit (58) that switches the payload setting based on the robot command signal; a dynamics control unit (59) which, based on the robot command signal, performs an inverse dynamics calculation for the robot in accordance with the payload setting; a robot-side payload switching distance setting unit (62) that sets the payload switching distance based on the robot command signal; and a contact control unit (61) that prevents the robot from performing a contact stop operation to stop the operation in response to an external contact force while the robot moves within the payload switching distance after switching the payload setting in response to a notification of the payload setting. (Additional Note 7)

[0120] The numerical control system (1) as described in Additional Note 6, in which the payload setting of the robot includes the information about the payload setting and an operating range of the robot in which the payload setting is allowed to be switched. (Additional Note 8)

[0121] The numerical control system (1) as described in Additional Note 6, wherein the payload switching distance of the robot is adjusted based on at least one of the weight or inertia of a payload. (Additional Note 9)

[0122] The numerical control system (1) as described in Additional Note 6, in which the payload switching distance of the robot is individually set for each coordinate axis direction of the robot. (Additional Note 10)

[0123] The numerical control system described in Additional Note 6, in which the robot is a collaborative robot that stops operating when it detects contact with a human. (Additional Note 11)

[0124] A numerical control device (4) that controls a robot via a robot controller (5) using a numerical control program, the numerical control device (4) comprising: an analysis unit (42) that analyzes a robot command in the numerical control program; a prohibition signal output unit (49) that generates a contact stop operation prohibition signal based on the robot command analyzed by the analysis unit to prevent the robot from performing a contact stop operation; a payload setting selection unit (47) which generates a signal for selecting a payload setting of the robot based on the robot command analyzed by the analysis unit; and a robot command signal generating unit (45) which, based on the robot control command analyzed by the analysis unit, generates a robot command signal including the signal for preventing the contact stop operation and a signal for selecting the payload setting of the robot, and transmits the robot command signal to the robot controller, in which after switching the payload setting, the robot controller (5) prohibits the robot from performing a contact stop operation based on the contact stop operation prohibition signal to stop the operation in response to an external contact force. (Additional Note 12)

[0125] The numerical control device (4) as described in Additional Note 11, wherein the payload setting of the robot includes the setting of payload information and an operation range of the robot in which the payload setting is allowed to be switched. (Additional Note 13)

[0126] The numerical control apparatus described in Additional Note 11, in which the robot is a collaborative robot that stops its operation when it detects contact with a human. (Additional Note 14)

[0127] A numerical control system (1) that controls a robot via a robot controller (5) using a numerical control program of a numerical control device (4), wherein the numerical control device (4) comprises: an analysis unit (42) that analyzes a robot command in the numerical control program; a prohibition signal output unit (49) that generates a contact stop operation prohibition signal based on the robot command analyzed by the analysis unit to prevent the robot from performing a contact stop operation; a payload setting selection unit (47) which generates a signal for selecting a payload setting of the robot based on the robot command analyzed by the analysis unit; and a robot command signal generating unit (45) which, based on the robot control command analyzed by the analysis unit, generates a robot command signal including the signal for preventing the contact stop operation and a signal for selecting the payload setting of the robot, and transmits the robot command signal to the robot controller, in which the robot control (5) includes: a robot-side payload setting selection unit (58) that switches the payload setting based on the robot command signal; a dynamics control unit (59) which, based on the robot command signal, performs an inverse dynamics calculation for the robot in accordance with the payload setting; and a contact control unit (61) that, based on the contact stop operation prohibition signal, prohibits the robot from performing a contact stop operation to stop the operation in response to an external contact force after the payload setting is switched in response to a notification of the payload setting. (Additional Note 15)

[0128] The numerical control system as described in Additional Note 14, in which the payload setting of the robot includes information about the set payload and an operating range of the robot within which the payload setting is allowed to be switched. (Additional Note 16)

[0129] The numerical control system described in Additional Note 14, in which the robot is a collaborative robot that stops its operation upon detection of contact with a human. EXPLANATION OF REFERENCE NUMBERS 1 numerical control system 2 machine tools 3 collaborative robots 4 numerical control device 5 Robot control 41 Program input unit 42 Analysis Unit 43 Operating control unit 44 storage unit 45 Robot command signal generation unit 46 Payload switching distance adjustment unit 47 Payload setting selection unit 48 Data transmission / reception unit 49 Prohibition signal output unit 51 storage unit 52 Analysis Unit 53 Robot command generation unit 54 Program Management Unit 55 Path control unit 56 Kinematics control unit 57 Servo control unit 58 Payload setting selection unit 59 Dynamic control unit 60 Data transmission / reception unit 61 Contact control unit 62 Payload switching distance adjustment unit 63 Operating switching unit QUOTES CONTAINED IN THE DESCRIPTION

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

[0000] JP 2014-241018

[0004]

Claims

[1] A numerical control device that controls a robot via a robot controller using a numerical control program, the numerical control device comprising: an analysis unit that analyzes a robot command in the numerical control program; a payload switching distance setting unit that generates, based on the robot control command analyzed by the analysis unit, a signal for setting a payload switching distance required to switch a payload setting of the robot; a payload setting selection unit that generates a signal for selecting the payload setting of the robot based on the robot command analyzed by the analysis unit; and a robot command signal generation unit that generates a robot command signal, including a payload switching distance setting signal and a payload setting selection signal of the robot, based on the robot control command analyzed by the analysis unit, and transmits the robot command signal to the robot controller, wherein after switching the payload setting, the robot controller prevents the robot from performing a contact stop operation to stop the operation in response to an external contact force while the robot is moving within the payload switching distance. [2] The numerical control device according to claim 1, wherein the payload setting of the robot includes setting payload information and an operation range of the robot in which the payload setting is allowed to be switched. [3] The numerical control device according to claim 1, wherein the payload switching distance of the robot is set based on at least one of weight or inertia of a payload. [4] The numerical control device according to claim 1, wherein the payload switching distance of the robot is individually set for each coordinate axis direction of the robot. [5] The numerical control device according to claim 1, wherein the robot is a collaborative robot that stops its operation upon detecting contact with a human. [6] A numerical control system that controls a robot via a robot controller using a numerical control program of a numerical control device, the numerical control device comprising: an analysis unit that analyzes a robot command in the numerical control program; a payload switching distance setting unit that generates, based on the robot control command analyzed by the analysis unit, a signal for setting a payload switching distance required to switch a payload setting of the robot; a payload setting selection unit that generates a signal for selecting the payload setting of the robot based on the robot command analyzed by the analysis unit; and a robot command signal generation unit that generates, based on the robot control command analyzed by the analysis unit, a robot command signal including a signal for setting the payload switching distance and a signal for selecting the payload setting of the robot, and transmits the robot command signal to the robot controller, the robot controller comprising: a robot-side payload setting selection unit that switches the payload setting based on the robot command signal; a dynamics control unit that performs an inverse dynamics calculation for the robot based on the robot command signal in accordance with the payload setting; a robot-side payload switching distance setting unit that sets the payload switching distance based on the robot command signal; and a contact control unit that prevents the robot from performing a contact stop operation to stop operation in response to an external contact force while the robot is moving within the payload switching distance after setting the payload switching in response to a notification of the payload switching. [7] The numerical control system according to claim 6, wherein the payload setting of the robot includes setting payload information and an operation range of the robot in which the payload switching is permitted. [8] The numerical control system according to claim 6, wherein the payload switching distance of the robot is set based on at least one of weight and inertia of a payload. [9] The numerical control system according to claim 6, wherein the payload switching distance of the robot is individually set for each coordinate axis direction of the robot. [10] The numerical control system according to claim 6, wherein the robot is a collaborative robot that stops its operation upon detecting contact with a human. [11] A numerical control device that controls a robot via a robot controller using a numerical control program, the numerical control device comprising: an analysis unit that analyzes a robot command in the numerical control program; a prohibition signal output unit that generates a contact stop operation prohibition signal based on the robot command analyzed by the analysis unit to prevent the robot from performing a contact stop operation; a payload setting selection unit that generates a signal for selecting a payload setting of the robot based on the robot control command analyzed by the analysis unit; and a robot command signal generation unit that generates a robot command signal including the signal for preventing the contact stop operation and a signal for selecting the payload setting of the robot based on the robot control command analyzed by the analysis unit, and transmits the robot command signal to the robot controller, wherein after switching the payload setting, the robot controller prohibits the robot from performing a contact stop operation based on the contact stop operation prohibition signal to stop the operation in response to an external contact force. [12] The numerical control device according to claim 11, wherein the payload setting of the robot includes the setting of payload information and an operation range of the robot in which the payload setting is allowed to be switched. [13] The numerical control device according to claim 11, wherein the robot is a collaborative robot that stops its operation upon detecting contact with a human. [14] A numerical control system that controls a robot via a robot controller using a numerical control program of a numerical control device, the numerical control device comprising: an analysis unit that analyzes a robot command in the numerical control program; a prohibition signal output unit that generates a contact stop operation prohibition signal based on the robot command analyzed by the analysis unit to prevent the robot from performing a contact stop operation; a payload setting selection unit that generates a signal for selecting a payload setting of the robot based on the robot control command analyzed by the analysis unit; and a robot command signal generating unit that generates, based on the robot control command analyzed by the analyzing unit, a robot command signal including the signal for preventing the contact stop operation and a signal for selecting the payload setting of the robot, and transmits the robot command signal to the robot controller, the robot controller comprising: a robot-side payload setting selection unit that switches the payload setting based on the robot command signal; a dynamics control unit that performs an inverse dynamics calculation for the robot based on the robot command signal in accordance with the payload setting; and a contact control unit that prohibits the robot, based on the contact stop operation prohibition signal, from performing a contact stop operation to stop the operation in response to an external contact force after the payload setting is switched in response to a notification of the payload setting. [15] The numerical control system according to claim 14, wherein the payload setting of the robot includes setting payload information and an operation range of the robot in which the payload setting is allowed to be switched. [16] The numerical control system according to claim 14, wherein the robot is a collaborative robot that stops its operation upon detecting contact with a human.

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