Numerical control device

Abstract

A numerical control device is provided that allows a user of a machine tool to easily confirm a load. This numerical control device, which uses a numerical control program to control a robot via a robot control device, includes: a load confirmation state acquisition unit that acquires a load confirmation state indicating a state in which a load setting and an actual load in the robot are confirmed, from the robot control device; and a load setting information confirmation unit that transmits load setting confirmation information for confirming load setting information based on the load confirmation state to the robot control device, thereby completing the confirmation of the load setting and the actual load.

Description

Technical area

[0001] The present disclosure relates to a numerical control apparatus. Background of the technology

[0002] Previously, technologies have been disclosed for collaborative robots that cease operation upon contact with humans. For example, to accurately measure the contact force of a collaborative robot, technologies for adjusting the payload information on 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 using numerical control commands familiar to machine tool users have been disclosed (see, for example, Patent Document 1). Cited documentsPatent 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] Collaborative robots must perform a payload check every time they are powered on to confirm whether the selected payload setting and the actual payload of the robot match. Machine tool users must use unfamiliar teach pendants designed for robots to perform payload confirmation; therefore, verifying the payload of collaborative robots is a challenging task for machine tool users. Therefore, there is a need for a numerical control device that allows machine tool users to easily perform payload confirmation. Means to solve the problems

[0006] One aspect of the present disclosure provides a numerical control device that controls a robot via a robot control device using a numerical control program, the numerical control device comprising: a payload confirmation state acquisition unit that acquires a payload confirmation state, which serves as a state for confirming a payload setting and an actual payload in the robot, from the robot control device; and a payload setting information confirmation unit that transmits payload setting confirmation information for confirming payload setting information based on the payload confirmation state to the robot control device and completes the confirmation of the payload setting and the actual payload. Short description of the drawings Fig. 1 is a functional block diagram of the numerical control system according to the present embodiment; Fig. 2 is a functional block diagram of the numerical control device and the robot control device according to the present embodiment; Fig. 3 is a diagram showing an example of the payload setting information; Fig. Figure 4 is a diagram illustrating the Group 1 payload setting information displayed when Group 1 is in Fig. 3 is selected; Fig. 5 is a diagram illustrating an example of the payload setting confirmation information displayed on a display device; Fig. 6 is a flowchart showing the signal and information flow between the numerical control device and the robot control device when displaying the Fig. 5 illustrates payload setting operation information; Fig. 7 is a diagram illustrating an example of the numerical control program according to the present embodiment; and Fig. 8 is a flowchart showing the signal and information flow between the numerical control device and the robot control device when executing the Fig. 7 represents the numerical control program. Preferred mode for carrying out the invention

[0007] An example of embodiments of the present disclosure is described below. Fig. 1 is a functional block diagram of a numerical control system 1 according to the present embodiment.

[0008] 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 control device 5 that controls the operation of the collaborative robot 3. The numerical control system 1 uses the numerical control device 4 and the robot control device 5, which are communicatively connected to each other, and thereby integrally controls the operation of the machine tool 2 and the collaborative robot 3.

[0009] 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, it is not limited thereto.

[0010] The collaborative robot 3 operates under the control of the robot control device 5 and performs, for example, 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 limiting. 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.

[0011] 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 light 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 pushes the arm of the Collaborative Robot 3. The reverse operation function immediately reverses the arm's movement 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. Therefore, the collaborative robot 3 can safely work in collaboration with humans.

[0012] The numerical control device 4 and the robot control device 5 are each a computer equipped with hardware components such as: an arithmetic 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 a RAM (Random Access Memory) that stores data required for the arithmetic 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 monitor that displays various types of information to the operator. The numerical control device 4 and the robot control device 5 can exchange signals with each other via, for example, Ethernet (registered trademark).

[0013] Fig. Fig. 2 is a functional block diagram of the numerical control device 4 and the robot control device 5 according to the present 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.

[0014] The numerical control device 4 controls the collaborative robot 3 via the robot control device 5 using a numerical control program. Specifically, the numerical control device 4 generates various commands for controlling the operation of the collaborative robot 3 and the tool 3b according to a robot numerical control program and transmits the commands to the robot control device 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 data transmission / reception unit 46, a payload confirmation state acquisition unit 47, an operation unit 48, a payload setting information confirmation unit 49, and a display unit 50.

[0015] 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.

[0016] 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 relates to a machine tool numerical control command for the machine tool 2, the analysis unit 42 transmits the machine tool numerical control command to the operation control unit 43. When the type of command in the command block relates to 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.

[0017] The operation control unit 43 generates machine tool 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).

[0018] The storage unit 44 stores a plurality of numerical control programs created based on the operator's operation. 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.

[0019] 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 coordinate values ​​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 continuously change under the numerical control program.

[0020] The storage unit 44 also stores robot coordinate values ​​representing the position and attitude of the control point of the collaborative robot 3 operating under the control of the robot control device 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 under 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 control device 5 through processing (not shown) to store the latest robot coordinate values ​​that continuously change within the numerical control program.

[0021] The storage unit 44 also stores teaching 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 teaching positions of the collaborative robot 3, which are input via teaching pendants or keyboards. The teaching 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.

[0022] 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 46.

[0023] Specifically, the robot command signal generation unit 45 generates robot command signals for each robot command block based on the robot numerical control commands and the analysis results input from the analysis unit 42, and writes the generated robot command signals to the data transmission / reception unit 46.

[0024] The data transmission / reception unit 46 exchanges various types of data, such as robot commands and robot coordinate values, with the data transmission / reception unit 59 of the robot control device 5. Specifically, the data transmission / reception unit 46 transmits the robot command signals generated by the robot command signal generation unit 45 to the data transmission / reception unit 59 of the robot control device 5.

[0025] The control unit 48 is equipped with a teach pendant, a keyboard, or a touch panel and accepts user inputs. For example, the control unit 48 receives the user's response to the confirmation of the payload setting in a query format described later.

[0026] The display device 50 is equipped with a liquid crystal display, an organic electroluminescence display, or a touch panel display and displays various information. For example, the display device 50 displays the payload setting confirmation information described later.

[0027] The payload confirmation state acquisition unit 47 acquires the payload confirmation state from the robot controller 5. The payload confirmation state serves as a state for confirming the conformity between the payload setting and the actual payload in the collaborative robot 3. The payload confirmation state includes one of the following states: unconfirmed conformity between the payload setting and the actual payload; no conformity between the payload setting and the actual payload; or successfully confirmed conformity between the payload setting and the actual payload.

[0028] Specifically, the analysis unit 42 notifies the payload confirmation state acquisition unit 47 when a payload confirmation command is extracted from the analyzed robot numerical control commands to acquire the payload confirmation state of the collaborative robot 3.

[0029] The payload confirmation state acquisition unit 47 outputs a command requesting the payload confirmation state to the robot command signal generation unit 45. The robot command signal generation unit 45 generates a robot command signal including the command requesting the payload confirmation state and transmits the signal to the robot control device 5 via the data transmission / reception unit 46.

[0030] The robot control device 5 notifies the numerical control device 4 of the payload confirmation status in response to the robot command signal including the payload confirmation status query command. The payload confirmation status acquisition unit 47 receives the payload confirmation status from the robot control device 5 via the data transmission / reception unit 59.

[0031] The payload setting information confirmation unit 49 transmits the payload setting confirmation information for confirming the payload setting information to the robot control device 5 based on the payload confirmation state acquired by the payload confirmation state acquisition unit 47, and completes the confirmation of the correspondence between the payload setting and the actual payload in the collaborative robot 3.

[0032] Specifically, the payload setting information confirmation unit 49 displays the payload setting confirmation information in a question format on the display unit 50 based on the payload confirmation status, and transmits the payload setting confirmation information to the robot control device 5 based on the user's response to the payload setting confirmation information in a question format.

[0033] The payload setting information confirmation unit 49 transmits the payload setting confirmation information to the data transmission / reception unit 59 of the robot control device 5 based on the payload confirmation state and the analysis results of the robot numerical control command, thereby completing the confirmation of the conformity between the payload setting and the actual payload in the collaborative robot 3.

[0034] If the payload setting matches the actual payload of the collaborative robot 3, the payload setting information confirmation unit 49 notifies the analysis unit 42 to enable analysis of the next block of the robot numerical control command. Conversely, if the payload setting and the actual payload in the collaborative robot 3 do not match, the payload setting information confirmation unit 49 notifies the analysis unit 42 to stop analysis of the next block of the robot numerical control command.

[0035] Upon receiving a notification that analysis of the next block of the robot numerical control command is permitted, the analysis unit 42 analyzes the next block of the robot numerical control command. However, if the payload setting information confirmation unit 49 determines that the payload setting confirmation information and the payload setting do not match, the analysis unit 42 interrupts the analysis of the robot numerical control command.

[0036] The configuration of the robot control device 5 is described in detail below. As shown in Fig. 2, the robot control device 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 dynamics control unit 58, a data transmission / reception unit 59, a contact control unit 60, and a payload setting confirmation unit 61. The robot control device 6 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 setting information of the collaborative robot 3. In the present embodiment, the storage unit 51 is housed in the robot control device 6; however, the storage unit 51 may be housed in the numerical control device 4 or in external electronic devices or servers separate from both the numerical control device 4 and the robot control device 6.

[0038] The payload setting information may include payload setting numbers associated with the payload settings of the collaborative robot 3. The payload setting information includes at least one of the following: the payload setting number, the payload weight, the position of the payload's center of gravity, or the payload's inertia. This payload setting information is pre-entered by an operator and stored in the storage unit 51.

[0039] Fig. 3 is a diagram illustrating an example of payload setting information. This payload setting information is displayed on the screen of the display device 50 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 large number of setting numbers (No. 1 to 10).

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

[0041] Back to Fig. 2: The data transmission / reception unit 59 receives robot command signals transmitted from the data transmission / reception unit 46 of the numerical control device 4. The data transmission / reception unit 59 sequentially outputs the received robot command signals to the analysis unit 52.

[0042] The analysis unit 52 analyzes the robot command signal input from the data transmission / reception unit 59. The analysis unit 52 outputs the analysis results to the robot command generation unit 53.

[0043] The robot command generation unit 53 generates robot commands corresponding to the robot command signals based on the analysis results of the robot command signal input from the analysis unit 52. The robot command generation unit 53 outputs the generated robot commands to the program management unit 54.

[0044] When the robot commands are input from the robot command signal 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.

[0045] 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. As a result, 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.

[0046] When an operation plan is input from the program management unit 54, the path 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.

[0047] The kinematics control unit 56 calculates the target angles of each joint of the collaborative robot 3 based on the input time series data and transmits the target angles to the servo control unit 57.

[0048] 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 58 described later. As a result, the robot control device 6 can control the collaborative robot 3 based on the payload setting information.

[0049] The dynamics control unit 58 calculates the torques to be applied to the collaborative robot 3 through inverse dynamics calculations based on the payload settings commanded by the robot command signal. The dynamics control unit 58 outputs the calculated torques to the servo control unit 57.

[0050] 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, gravitational forces, 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).

[0051] The contact control unit 60 controls the contact stop operation based on the results of external force detection by the external force detection sensors of the collaborative robot 3. Here, the contact stop operation refers to the operation of stopping the operation of the collaborative robot 3 in response to external contact forces.

[0052] Fig. 5 is a diagram illustrating an example of the payload setting confirmation information displayed on the display device 50. Fig. 6 is a flowchart showing the signal and information flow between the numerical control device 4 and the robot control device 5 when the Fig. The payload setting confirmation information shown in Figure 5 is displayed.

[0053] The payload setting information confirmation unit 49 displays the payload setting confirmation information in a question format on the display device 50 based on the payload confirmation state as follows. First, the payload confirmation state acquisition unit 47 acquires the payload confirmation state notified by the robot control device 5. In the Fig. 5 and Fig. In the examples shown in Figure 6, the payload confirmation status is "unconfirmed." At this stage, the robot controller 5 prohibits the operation of the collaborative robot 3.

[0054] The payload setting information confirmation unit 49 enables the operation of the screen that displays the payload confirmation information on the display device 50, and displays the message “Please enter the PIN code” as the payload confirmation information on the display device 50.

[0055] After the user inputs a PIN code via the operation unit 48, the payload setting information confirmation unit 49 notifies the robot control device 5 of the PIN code.

[0056] When the notified PIN code matches the preset PIN code, the payload setting confirmation unit 61 of the robot control device 5 allows confirmation of the payload setting and notifies the numerical control device 4 of the payload setting number.

[0057] Next, the payload setting information confirmation unit 49 displays the message "Is the current payload No. x?" as payload confirmation information on the display device 50. In this case, x represents any payload setting number. When the operation unit 48 receives the selection operation "YES" or "NO" from the user, the payload setting information confirmation unit 49 notifies the robot controller 5 of the confirmation result, indicating "YES" or "NO."

[0058] The payload setting confirmation unit 61 of the robot control device 5 checks the payload setting number based on the notified confirmation result and notifies the numerical control device 4 of the information confirming the contact state with the collaborative robot 3.

[0059] Subsequently, the payload setting information confirmation unit 49 displays the message "Is anyone in contact with the robot?" as payload confirmation information on the display device 50. The user confirms that the collaborative robot 3 is not in contact with a human and performs an operation to confirm the contact state via the operation unit 48. When the operation unit 48 receives an operation to confirm the contact state from the user, the payload setting information confirmation unit 49 notifies the robot control device 5 of the contact state.

[0060] The payload setting confirmation unit 61 of the robot controller 5 checks the contact status, sets the payload confirmation status to "confirmation complete," and notifies the numerical control device 4 of the payload confirmation status. The robot controller 5 enables the operation of the collaborative robot 3.

[0061] Upon receiving the payload confirmation status indicating that the confirmation is completed, the payload setting information confirmation unit 49 displays the message “Payload confirmation is completed” on the display device 50 and disables the operations on the screen displaying the payload confirmation information on the display device 50.

[0062] Fig. 7 is a diagram illustrating an example of a numerical control program according to the present embodiment. Fig. The numerical control program shown in Figure 7 is a program for robot systems. Fig. Fig. 8 is a flowchart showing the signal and information flow between the numerical control device 4 and the robot control device 5 in executing the Fig. 7. In the Fig. 7 and Fig. In the examples shown in Figure 8, the payload confirmation state is "unconfirmed." At this stage, the robot controller 5 prohibits the collaborative robot 3 from operating.

[0063] First, the command "G100" is specified in the numerical control program, and the payload confirmation state acquisition unit 47 acquires the payload confirmation state notified by the robot controller 5. The payload setting information confirmation unit 49 displays a message as payload confirmation information based on the payload confirmation state and receives the input of the PIN code "xxxx." After the payload confirmation is permitted, the payload setting information confirmation unit 49 notifies the numerical control device 4 of the payload setting number "No. 1," where "xxxx" represents an arbitrary PIN code. Furthermore, when the operation unit 48 receives an operation for confirming the contact state from the user, the payload setting information confirmation unit 49 notifies the robot controller 5 of the contact state.

[0064] The payload setting confirmation unit 61 of the robot controller 5 checks the PIN code, the payload setting number, and the contact state, and notifies the numerical control device 4 of the payload setting result. The robot controller 5 enables the operation of the collaborative robot 3.

[0065] Since the position of collaborative 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 6 positions collaborative 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 collaborative robot 3.

[0066] 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 6 causes the collaborative robot 3 to perform a linear motion 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 location for the collaborative robot 3. This allows the numerical control device 4 to execute the numerical control program and confirm the payload setting information.

[0067] As described above, the numerical control device 4 according to the present embodiment includes the payload confirmation state acquisition unit 47 that acquires the payload confirmation state, which serves as the state for confirming the payload setting and the actual payload in the collaborative robot 3, from the robot control device 5; and the payload setting information confirmation unit 49 that transmits the payload setting confirmation information for confirming the payload setting information to the robot control device 5 based on the payload confirmation state and completes the confirmation of the payload setting and the actual payload.

[0068] With this configuration, the numerical control device 4 can easily perform the payload confirmation of the collaborative robot 3 through operations on the numerical control device 4 that are familiar to the users of the machine tool 2, without the use of teaching pendants of the robot control device 5.

[0069] The payload setting information confirmation unit 49 displays the payload setting confirmation information for the user in a question format on the display unit 50, transmits the payload setting confirmation information to the robot control device 5 based on the user's response to the payload setting confirmation information in a question format, and completes the confirmation of the payload setting and the actual payload. With this configuration, the numerical control device 4 can easily perform the payload confirmation of the collaborative robot 3 by allowing users of the machine tool 2 to respond to the payload setting confirmation information in a question format.

[0070] The numerical control device 4 further includes the analysis unit 42, which analyzes the robot numerical control commands within the numerical control program. The payload setting information confirmation unit 49 transmits the payload setting confirmation information to the robot control device 5 based on the analysis results of the payload confirmation state and the robot numerical control commands, and completes the confirmation of the payload setting and the actual payload. With this configuration, the numerical control device 4 can perform payload confirmation of the collaborative robot 3 not only based on the payload confirmation state, but also using the analysis results of the robot numerical control commands.

[0071] If the payload setting and the actual payload do not match, the analysis unit 42 stops analyzing the robot numerical control commands. With this configuration, the numerical control device 4 can stop analyzing the robot numerical control commands, allowing the collaborative robot 3 to stop operating when the collaborative robot 3 malfunctions.

[0072] The payload setting information may include a number associated with the payload setting of the collaborative robot 3. The payload setting information may also include at least one of the following: the weight of the payload, the position of the center of gravity of the payload, or the inertial information of the payload. With this configuration, the numerical control device 4 can appropriately confirm the payload setting of the collaborative robot 3.

[0073] While the embodiments of the present invention have been described above, the numerical control system 1 can be implemented using hardware, software, or a combination thereof. Likewise, the control methods executed by the numerical controller 1 can be implemented using hardware, software, or a combination thereof. Software implementation refers to execution by a computer that reads and executes a program.

[0074] The program can be stored on various types of non-volatile, computer-readable media and fed into a computer. Non-volatile computer-readable media encompasses various types of tangible storage media. Examples of non-volatile 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 memory (e.g., Mask-ROM, PROM (Programmable ROM), EPROM (Erasable PROM), Flash-ROM, and RAM (Random Access Memory)).

[0075] Although the present disclosure has been described in detail, it is not limited to the specific embodiments described above. These embodiments may be subject to various additions, replacements, modifications, and partial deletions within a scope that does not deviate from the essence of the present disclosure or the scope of the claims and equivalents thereof. Furthermore, these embodiments may also be implemented in combination. For example, in the embodiments described above, the order of operations or processing is merely exemplary and is not limited to a particular order. The same applies to the numerical values ​​or equations described in the embodiments.

[0076] The following additional comments should be made regarding the above-mentioned embodiments and modifications. (Additional Note 1)

[0077] A numerical control device (4) that controls a robot (3) via a robot control device (5) using a numerical control program, the numerical control device (4) comprising: a payload confirmation state detection unit (47) that detects a payload confirmation state serving as a state for confirming a payload setting and an actual payload in the robot from the robot control device; and one for the payload setting information confirmation unit (49) that transmits payload setting confirmation information for confirming payload setting information based on the payload confirmation state to the robot control device and completes the confirmation of the payload setting and the actual payload. (Additional Note 2)

[0078] The numerical control device as described in Additional Note 1, wherein the payload setting information confirmation unit (49) displays the payload setting confirmation information in a question format on a display unit, transmits the payload setting confirmation information to the robot control device based on a user's response to the payload setting confirmation information in a question format, and completes the confirmation of the payload setting and the actual payload. (Additional Note 3)

[0079] The numerical control device as described in Additional Note 1, further comprising an analysis unit (42) that analyzes a robot numerical control command in the numerical control program, wherein the payload setting confirmation unit (49) transmits the payload setting confirmation information to the robot control device based on an analysis result of the payload confirmation state and the robot numerical control command, and completes the confirmation of the payload setting and the actual payload. (Additional Note 4)

[0080] The numerical control device as described in Additional Note 3, wherein the analysis unit (42) stops analysis of the robot numerical control command in a case where the payload setting and the actual payload do not match. (Additional Note 5)

[0081] The numerical control device as described in Additional Note 1 or 2, wherein the payload setting comprises a number associated with the payload setting of the robot. (Additional Note 6)

[0082] The numerical control device as described in Additional Note 1 or 2, wherein the payload setting information includes at least one of: weight of the payload; a position of a center of gravity of the payload; or inertial information of the payload. (Additional Note 7)

[0083] The numerical control apparatus as described in Additional Note 1, wherein the robot is a collaborative robot that stops operating 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 device 41 Program input unit 42 Analysis Unit 43 Operating control unit 44 storage unit 45 Robot command signal generation unit 46 Data transmission / reception unit of the control unit 47 Payload Confirmation State Acquisition Unit 48 Control unit 49 Payload setting information confirmation unit 50 display device 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 Dynamic control unit 59 Data transmission / reception unit 60 contact control unit 61 Payload setting confirmation 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

A numerical control device that controls a robot via a robot control device using a numerical control program, the numerical control device comprising: a payload confirmation state acquisition unit that acquires a payload confirmation state, which serves as a state for confirming a payload setting and an actual payload in the robot, from the robot control device; and a payload setting information confirmation unit that transmits payload setting confirmation information for confirming payload setting information based on the payload confirmation state to the robot control device and completes the confirmation of the payload setting and the actual payload. The numerical control device according to claim 1, wherein the payload setting information confirmation unit displays the payload setting confirmation information in a question format on a display unit, transmits the payload setting confirmation information to the robot control device based on a user's response to the payload setting confirmation information in a question format, and completes the confirmation of the payload setting and the actual payload. The numerical control device according to claim 1, further comprising an analysis unit that analyzes a robot numerical control command in the numerical control program, wherein the payload setting information confirmation unit transmits the payload setting confirmation information to the robot control device based on an analysis result of the payload confirmation state and the robot numerical control command and completes the confirmation of the payload setting and the actual payload. The numerical control device according to claim 3, wherein the analysis unit stops analysis of the robot numerical control command in a case where the payload setting and the actual payload do not match. The numerical control device according to claim 1 or 2, wherein the payload setting includes a number associated with the payload setting of the robot. The numerical control device according to claim 1 or 2, wherein the payload setting information includes at least one of: weight of the payload; a position of a center of gravity of the payload; or inertial information of the payload. 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.

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