Numerical control device and numerical control system

Abstract

A numerical control device and a numerical control system are provided that allow a machine tool user to easily set information about a load. This numerical control device uses a numerical control program to control a robot via a robot control device and includes a teaching method selection unit to receive a selection from a user from a variety of teaching methods for executing a teaching method for the robot. The variety of teaching methods includes at least one direct teaching method for moving an axis of the robot in response to an external force applied to the robot.

Description

TECHNICAL AREA

[0001] The present disclosure relates to a numerical control device and a numerical control system. BACKGROUND OF THE TECHNOLOGY

[0002] Technologies related to collaborative robots have been disclosed to date that stop their movement when they detect contact with a human. For example, one disclosed technology uses load information regarding a workpiece held by a collaborative robot to accurately measure the robot's contact force.

[0003] Furthermore, technologies related to systems for operating a robot from a machine tool to automate machining operations have been disclosed. For example, according to one disclosed technology, a machine tool user who is familiar with numerical control commands operates a robot using these numerical control commands (see, for example, patent document 1). Citation list of patent documents

[0004] Patent document 1: Japanese unexamined patent application, publication no. 2014-241018 DISCLOSURE OF THE INVENTION Problems to be solved by the invention

[0005] A technique (direct teaching) is known in which a force sensor integrated into a collaborative robot is used to detect the force exerted on the collaborative robot by a user, and the axes of the collaborative robot are moved in the direction in which the force is exerted.

[0006] However, a disadvantage is that machine tool users are often inexperienced in handling a robot's teaching handpiece. Furthermore, another drawback is the time-consuming process of generating a robot motion program by manually controlling the robot's axes from a numerical control device or by performing direct teaching using a robot's teaching handpiece. Therefore, there is a need for a numerical control device and system that allows a choice of several teaching methods using only machine tool settings, without the need for a robot's teaching handpiece. Means to solve the problems

[0007] One aspect of the present disclosure relates to a numerical control device that controls a robot via a robot control device using a numerical control program. The numerical control device includes a teaching method selection unit that accepts a selection by a user from a plurality of teaching methods for performing teaching operations on the robot, wherein the plurality of teaching methods includes at least one direct teaching method that involves moving an axis of the robot in accordance with the external forces exerted on the robot.

[0008] Another aspect of the present disclosure relates to a numerical control system that controls a robot via a robot control device using a numerical control program for a numerical control device. The numerical control device includes a teaching method selection unit that accepts a user's selection from a plurality of teaching methods for performing teaching operations on the robot, wherein the plurality of teaching methods includes at least one direct teaching method that involves moving an axis of the robot in accordance with the external forces exerted on the robot. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a functional block diagram of a numerical control system according to the present embodiment; Fig. Figure 2 is a functional block diagram of a numerical control device and a robot control device according to the present embodiment; Fig. Figure 3 represents a screen displayed on a display / selection unit of the numerical control device; Fig. Figure 4 shows a diagram illustrating an example of software keys for selecting a teaching method for a collaborative robot; Fig. Figure 5 presents a diagram illustrating an example of software keys for selecting a teaching method for the collaborative robots; and Fig. Figure 6 represents a sequence diagram illustrating a signal flow and information flow between the numerical control device and the robot control device according to the present embodiment. PREFERRED METHOD FOR IMPLEMENTING THE INVENTION

[0009] The following is an example of embodiments of the present disclosure. Fig. Figure 1 is a functional block diagram of a numerical control system 1 according to the present embodiment.

[0010] The numerical control system 1 comprises a machine tool 2 that machines a workpiece (not shown), a numerical control device (CNC) 4 that controls the movement of the machine tool 2, a collaborative robot 3 installed near the machine tool 2, and a robot control device 5 that controls the movement of the collaborative robot 3. The numerical control system 1 controls the movement of the machine tool 2 and the movement of the collaborative robot 3 in conjunction with each other by using the numerical control device 4 and the robot control device 5, which are interconnected and communicating with each other.

[0011] Machine tool 2 processes a workpiece (not shown) according to a machine tool control signal transmitted by the numerical control device 4. Machine tool 2 can be, for example, a lathe, a drilling machine, a milling machine, a grinding machine, a laser processing machine, or an injection molding machine, but this is not limited to such machines. It should be noted that machine tool 2 is capable of performing operations such as manual feed (jog feed), axis feed by vibration (jog feed), and the like, as described later.

[0012] The collaborative robot 3 performs movements under the control of the robot control device 5 and, for example, carries out a predetermined task on a workpiece that is to be machined by the machine tool 2. The collaborative robot 3 is, for example, an articulated robot and has an arm end 3a to which a tool 3b is attached for gripping, machining, or inspecting the workpiece. The following describes a case in which the collaborative robot 3 is a six-axis articulated robot, but the collaborative robot 3 is not limited to this. Although the collaborative robot 3 is described as a six-axis articulated robot, the number of axes is not limited to six.

[0013] The collaborative robot 3 has features such as a contact stop function, a retract function, a reverse movement function, and the like, and is capable of working safely alongside humans. The contact stop function is a feature that immediately stops the robot if a person makes contact with the collaborative robot with low force (e.g., 10 N to 20 N (i.e., 1 kgf to 2 kgf)). The retract function is a feature that allows the arm of the collaborative robot 3 to retract along its axes if a person pushes against the arm. The reverse movement function is a feature that mitigates pinching by immediately reversing the arm if the collaborative robot 3 comes into contact with a hard object. The collaborative robot 3 includes an external force sensing unit 31 (see Fig. 2), which consists of a force detection sensor and the like to detect external forces such as forces resulting from contact with a person, etc. The force detection sensor is, for example, a torque sensor, a force sensor, or the like. In particular, the collaborative robot 3 detects contact with a person through the force detection sensor, and the robot control device 5 stops the movement of the collaborative robot 3 in response to the external force detected by the force detection sensor. Because of this configuration, the collaborative robot 3 can work safely in cooperation with humans.

[0014] The collaborative robot 3 also has a direct teaching function that detects the force exerted by an operator through the integrated force detection sensor and changes the position and orientation of the collaborative robot 3 according to the magnitude and direction of the detected force.

[0015] The numerical control device 4 and the robot control device 5 are each a computer consisting of hardware, including a computing unit such as a central processing unit (CPU), auxiliary storage means such as a hard disk drive (HDD) or a solid-state drive (SSD) that stores various computer programs, main memory means such as working memory (RAM) for temporarily storing data required by the computing unit to execute a computer program, operating means such as a keyboard with which an operator can perform various operations, and display means such as a display for showing various information to the operator, etc. The numerical control device 4 and the robot control device 5 are capable of exchanging various signals with each other via, for example, Ethernet (registered trademark).

[0016] Fig. Figure 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 configuration of the numerical control device 4 is described in detail. As shown in Fig. As shown in Figure 2, the numerical control device 4 fulfills various functions using the hardware configuration described above, such as a function to control the movement of the machine tool 2, a function to generate motion paths for control axes of the collaborative robot 3, etc.

[0017] 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 to control the movement of the collaborative robot 3 and the movement of the tool 3b according to a numerical control program for the robot and transmits the commands to the robot control device 5. More precisely, the numerical control device 4 comprises a program input unit 41, an analysis unit 42, a motion control unit 43, a storage unit 44, a robot command signal generation unit 45, a data transmission / receiving unit 46, a display / operating unit 47, and a teaching method selection unit 48.

[0018] The program input unit 41 reads a numerical control program suitable for the robot, consisting of a large number of robot instruction blocks, from the storage unit 44 and enters the program sequentially into the analysis unit 42.

[0019] The analysis unit 42 analyzes the type of command based on the numerical control program entered by the program input unit 41 for each command block and outputs the analysis result to the motion control unit 43 and the robot command signal generation unit 45. More precisely, if the command type of a command block is a numerical machine tool command for machine tool 2, the analysis unit 42 transmits this numerical machine tool command to the motion control unit 43. If the command type of a command block is a numerical control command for the collaborative robot 3, the analysis unit 42 outputs this numerical control command for the robot (hereinafter also referred to as the robot control command) to the robot command signal generation unit 45.

[0020] The motion control unit 43 generates a machine tool control signal to control the movement of the machine tool 2 according to the analysis result transmitted by the analysis unit 42 and inputs the generated signal to actuators that drive the axes of the machine tool 2. The machine tool 2 executes a movement according to the machine tool control signal input by the motion control unit 43 and machines a workpiece (not shown).

[0021] Memory unit 44 stores, for example, a multitude of numerical control programs created based on operator actions. More specifically, the multitude of numerical control programs stored in memory unit 44 includes a numerical control program containing a multitude of command blocks directed to machine tool 2 to control its movement, a numerical control program containing a multitude of command blocks directed to collaborative robot 3 to control its movement, and so on. The numerical control programs stored in memory unit 44 are written in well-known programming languages ​​for controlling the movement of machine tool 2, such as G-code and M-code.

[0022] Memory unit 44 further stores, for example, machine coordinate values ​​that indicate the positions of the axes of machine tool 2 (i.e., the positions of a tool holder, a table, and the like of machine tool 2) operating under the numerical control program. The machine coordinate values ​​are defined in a machine tool coordinate system whose origin is located at a reference point that is fixed at any position on or near machine tool 2. Memory unit 44 is updated sequentially by processing (not shown) so that it stores the latest machine coordinate values ​​as they change sequentially under the numerical control program.

[0023] Furthermore, the memory unit 44 stores, for example, robot coordinate values ​​that indicate the position and orientation of a control point of the collaborative robot 3 (for example, the arm end 3a of the collaborative robot 3), which operates under the control of the robot control device 5; in other words, the positions of each control element of the collaborative robot 3. These robot coordinate values ​​are defined in a robot coordinate system that differs from the machine tool coordinate system described above. The memory unit 44 is sequentially updated with robot coordinate values ​​acquired by the robot control device 5 through processing (not shown), so that the memory unit 44 stores the latest robot coordinate values, which change sequentially under the numerical control program.

[0024] Memory unit 44 further stores, for example, learning positions such as a start and end point of the collaborative robot 3, which were entered by an operator. Specifically, memory unit 44 stores learning positions of the collaborative robot 3 that were entered via a training handheld device or the like, as well as learning positions entered via a keyboard or the like. The learning positions of the collaborative robot 3 include robot coordinate values ​​that indicate the positions of the control axes of the collaborative robot 3, and these robot coordinate values ​​are defined in the robot coordinate system, which differs from the machine tool coordinate system.

[0025] The robot command signal generation unit 45 generates a robot command signal for each robot command block based on the analysis result of each robot command block input by the analysis unit 42 and writes the generated robot command signal to the data transmission / receiving unit 46.

[0026] In particular, the robot command signal generation unit 45 generates a robot command signal for each robot command block based on a robot control command as an analysis result, which is entered by the analysis unit 42, and writes the generated robot command signal to the data transmission / receiving unit 46.

[0027] The data transmission / receiving unit 46 transmits and receives various data, such as commands and robot coordinate values, to and from a data transmission / receiving unit 60 of the robot control device 5. In particular, the data transmission / receiving unit 46 transmits the robot command signal generated by the robot command signal generation unit 45 to the data transmission / receiving unit 60 of the robot control device 5.

[0028] The display / control unit 47 displays the status of the numerical control device 4 and operates the numerical control device 4. In addition to softkeys and a display, the display / control unit 47 includes a touch panel display.

[0029] The teaching method selection unit 48 accepts the selection of a user from a variety of teaching methods to perform teaching operations on the collaborative robot 3. Here, the variety of teaching methods includes at least one direct teaching method (i.e., direct teaching) which involves moving an axis of the collaborative robot 3 in accordance with an external force exerted on the collaborative robot 3.

[0030] Preferably, the plurality of teaching methods comprises at least one of the direct teaching method, an axis feed by means of a handle of the machine tool 2 or an axis feed by shaking the machine tool 2.

[0031] In response to the teaching method selection unit 48 selecting the direct teaching method (direct teaching) from the multitude of teaching methods, which involves moving an axis of the collaborative robot 3 in accordance with an external force exerted on the collaborative robot 3, the data transmission / receiving unit 46 transmits a notification of the direct teaching method to the robot control device 5.

[0032] More precisely, in response to notification of a teaching method from the teaching method selection unit 48, the robot command signal generation unit 45 generates a robot command signal containing that teaching method and writes the generated robot command signal to the data transmission / receiving unit 46. The data transmission / receiving unit 46 then notifies (transmits) the robot command signal to the data transmission / receiving unit 60 of the robot control device 5.

[0033] The teaching method selection unit 48 defines the amount of movement of an axis of the collaborative robot 3 with respect to an external force exerted on the collaborative robot 3 in the direct teaching method (i.e., direct teaching). Here, defining the amount of movement of an axis of the collaborative robot 3 with respect to an external force exerted on the collaborative robot 3 can be viewed as defining the sensitivity in direct teaching.

[0034] Furthermore, the teaching method selection unit 48 defines an axis of the collaborative robot 3 that is to be operated according to the external force exerted on the collaborative robot 3 during the direct teaching process. Here, the definition of the axis of the collaborative robot 3 that is to be operated according to the external force exerted on the collaborative robot 3 can be seen as defining an operating mode in the direct teaching process.

[0035] Furthermore, the teaching method selection unit 48 performs a switch between load settings that include weight information for loads (e.g., a tool, a workpiece, etc.) attached to the collaborative robot 3 in the direct teaching method. For example, when the collaborative robot 3 grasps a workpiece, the teaching method selection unit 48 switches between the load setting before the workpiece is grasped and the load setting after the workpiece is grasped.

[0036] Next, the configuration of the robot control device 5 will be described in detail. As in Fig. As shown in Figure 2, the robot control device 5, using the hardware configuration described above, performs various functions, such as a storage unit 51, an analysis unit 52, a robot instruction generation unit 53, a program management unit 54, a path control unit 55, a kinematics control unit 56, a servo control unit 57, a load setting selection unit 58, a dynamics control unit 59, the data transmission / receiving unit 60, a selection execution unit 61, a contact control unit 62, and a manual axis feed control unit 63. The robot control device 5 uses these functional units to control the movement of the collaborative robot 3 based on commands transmitted by the numerical control device 4.

[0037] The memory unit 51 stores robot programs and various information for controlling the collaborative robot 3. The memory unit 51 also stores load settings for the collaborative robot 3. It should be noted that, although the memory unit 51 is provided in the robot control device 5 in the present embodiment, the memory unit 51 can also be provided in the numerical control device 4, in electronic equipment outside the numerical control device 4 and the robot control device 5, or in an external server.

[0038] The data transmission / receiving unit 60 receives robot command signals transmitted by the data transmission / receiving unit 46 of the numerical control device 4. The data transmission / receiving unit 60 outputs the received robot command signals sequentially to the analysis unit 52.

[0039] The analysis unit 52 analyzes the robot command signal input by the data transmission / receiving unit 60. The analysis unit 52 outputs the analysis result to the robot instruction generation unit 53.

[0040] The robot instruction generation unit 53 generates a robot instruction corresponding to the robot command signal input by the analysis unit 52, based on the analysis result. The robot instruction generation unit 53 outputs the generated robot instruction to the program management unit 54.

[0041] In response to the input of the robot command from the robot instruction generation unit 53, the program management unit 54 generates a motion plan for the collaborative robot 3 according to the robot command signal by executing the robot command sequentially and outputs the motion plan to the path control unit 55.

[0042] If the robot instruction input from the robot instruction generation unit 53 is a block robot instruction, the program management unit 54 adds the input block robot instruction to the robot program stored in the memory unit 51. This generates a robot program that corresponds to the robot command signal transmitted by the numerical control device 4 and stores it in the memory unit 51. The stored robot program is started and executed when the program management unit 54 receives a robot command as a robot instruction.

[0043] In response to the input of a motion plan from the program management unit 54, the path control unit 55 calculates time series data of a control point of the collaborative robot 3 and outputs the time series data to the kinematic control unit 56.

[0044] The kinematics control unit 56 calculates target angles for the joints of the collaborative robot 3 from the entered time series data and inputs the target angles to the servo control unit 57.

[0045] The servo control unit 57 generates a signal for the robot control of the collaborative robot 3 by performing feedback control on the servo motors of the collaborative robot 3, so that the target angles input by the kinematic control unit 56 are achieved, and outputs the signal for the robot control to the servo motors of the collaborative robot 3. The servo control unit 57 generates a robot control signal that reflects a torque calculated by the dynamic control unit 59 described later. In this way, the robot control device 5 can control the collaborative robot 3 based on the load setting information.

[0046] The load setting selection unit 58 sets load information for the collaborative robot 3 by using the load setting information stored in the memory unit 51. Specifically, the load setting selection unit 58 reads the load setting information stored in the memory unit 51 in response to the robot command signal analyzed by the analysis unit 52 and transmits the load setting information to the dynamic control unit 59.

[0047] The dynamic control unit 59 calculates a torque to be applied to the collaborative robot 3 by means of an inverse dynamic calculation based on the load setting information reported by the load setting selection unit 58. The dynamic control unit 59 outputs the calculated torque to the servo control unit 57.

[0048] Inverse dynamics calculation for the collaborative robot 3 is a method for calculating the torque to be applied to each motor to achieve the desired response. This calculation is based on the desired movement (position of each joint, velocity, and acceleration time series data) calculated for a motion path plan for the collaborative robot 3, taking into account the robot's hand load, the force of gravity acting on the collaborative robot 3, and its own weight. Numerical methods such as the calculated torque method and the Newton-Euler method are known for inverse dynamics calculation (e.g., Japanese patent applications, publication numbers H8-118275 and 2015-58520).

[0049] The selection-execution unit 61 switches the teaching method for the collaborative robot 3 after receiving a notification from the data transmission / receiving unit 46. For example, the selection-execution unit 61 switches the teaching method for the collaborative robot 3 from the direct teaching method via axis control by a hand movement of the machine tool 2 to the direct teaching method, according to the direct teaching method notified by the data transmission / receiving unit 46.

[0050] The contact control unit 62 measures (detects) the external force detected by the external force sensing unit 31 of the collaborative robot 3 during a load estimation process. The contact control unit 62 transmits the measured external force to the servo control unit 57, etc.

[0051] The manual axis feed control unit 63 controls and moves an axis of the collaborative robot 3 using a teaching method selected from the multitude of teaching methods. In particular, the manual axis feed control unit 63 moves the axis of the collaborative robot 3 using at least one of the direct teaching methods, an axis feed by gripping the machine tool 2 (manual grip feed), or an axis feed by shaking the machine tool 2 (jog feed).

[0052] Next, the process for selecting the teaching method for the collaborative robot 3 using the numerical control device 4 according to the present embodiment is described. In response to an input operation from a user, the display / operating unit 47 of the numerical control device 4 selects a teaching method from the plurality of teaching methods, and the display / operating unit 47 transmits the selected teaching method to the teaching method selection unit 48.

[0053] Subsequently, the teaching method selection unit 48 transmits the notification of the reported teaching method via the data transmission / receiving unit 46 to the data transmission / receiving unit 60 of the robot control device 5.

[0054] Next, the analysis unit 52 of the robot control device 5 notifies the selection execution unit 61 about the teaching method, after the data transmission / receiving unit 60 has received the notification about the teaching method.

[0055] The selection-execution unit 61 then switches the teaching method for the collaborative robot 3 according to the teaching method notified by the data transmission / receiving unit 46. Furthermore, if the direct teaching method (which involves moving an axis of the collaborative robot 3, including an external force applied to the collaborative robot 3) is selected, the selection-execution unit 61 calculates a direction and magnitude of movement for the collaborative robot 3 in response to the external force detection unit 31 sensing an external force.

[0056] Next, the calculated direction and magnitude of movement are reported to the robot instruction generation unit 53, and then the kinematic control unit 56 calculates target positions for the joint axes of the collaborative robot 3 based on the direction and magnitude of movement for the collaborative robot 3.

[0057] Subsequently, the target positions for the joint axes of the collaborative robot 3 are entered into the servo control unit 57, whereupon the joint axes of the collaborative robot 3 follow the control of the servo control unit 57 to reach the respective target positions.

[0058] Fig. Figure 3 represents a screen 471 displayed on the display / control unit 47 of the numerical control device 4. As in Fig. As shown in Figure 3, the screen 471 displays information for the numerical control device 4 for carrying out various operations, and software keys 472 for selecting a teaching method for the collaborative robot 3 are displayed in the lower left area of ​​the screen 471.

[0059] The Fig. 4 and Fig. Figure 5 shows diagrams illustrating examples of the software keys 472 for selecting a teaching method for the collaborative robot 3. As in Fig. As shown in Figure 4, the software keys comprise 472 keys, encompassing a variety of teaching methods, including "Manual Hand Feed," "Jog Feed," and "Direct Feed." A user can select one of the "Manual Hand Feed," "Jog Feed," or "Direct Feed" options.

[0060] Fig. 5 presents an example where “direct teaching” is used as a teaching method in Fig. 4 was selected. As in Fig. As shown in Figure 5, the software keys comprise 472 keys that can be used to select "Free," "Translation," and "Rotation" as the direct teaching mode. A user can select one of the "Free," "Translation," or "Rotation" options. Furthermore, the software keys 472 can be used similarly to the examples in the Fig. 4 and Fig. 5. Includes a button for setting the sensitivity during the direct teaching process.

[0061] Here, the "Free" mode allows for free movement of the joint axes of the collaborative robot 3 during direct teaching. In "Translation" mode, the collaborative robot 3 can be operated in the X, Y, and Z axes while maintaining the position and orientation of its hand. In "Rotation" mode, the orientation of the collaborative robot 3 can be controlled while the position of its hand remains unchanged. Additionally, the software keys 472 can include a key for a "Direction Indication" mode. In "Direction Indication" mode, the collaborative robot 3 can be operated in a specific direction (X, Y, Z, A, B, or C axis) within a defined coordinate system.

[0062] Furthermore, the teaching method selection unit 48 can specify an operating weight with respect to the sensitivity of direct teaching. A "low" weight for the operation indicates that the range of motion of the collaborative robot 3 is large relative to the actuation force and is used when the collaborative robot 3 is to be moved roughly in a large space. A "high" weight for the operation indicates that the range of motion of the collaborative robot 3 is small relative to the actuation force and is used when the collaborative robot 3 is to be moved precisely in a confined space.

[0063] Fig.Figure 6 presents a diagram illustrating a specific example of the process for selecting a teaching method for the collaborative robot 3 according to the present embodiment. First, the operating mode in the numerical control device 4 is changed from an automatic operating mode or a machining mode to a handling mode. In the illustrated case, the collaborative robot 3 is positioned at a chuck in the machine tool 2, and a workpiece is attached to the chuck.

[0064] Next, the selection-execution unit 61 switches the teaching method of the collaborative robot 3 to "Direct Teaching" according to the teaching procedure reported by the data transmission / receiving unit 46. Furthermore, the selection-execution unit 61 sets the mode to "Free" and the sensitivity to "Low," corresponding to a user input on the display / control unit 47.

[0065] The robot control device 5 starts the direct teaching method under the conditions that the teaching method is “Direct Teaching”, the mode is “Free”, and the sensitivity is “Low”.

[0066] Next, the collaborative robot 3, under the control of the numerical control device 4, grasps the workpiece, and the numerical control device 4 generates a signal to switch a load setting number (load setting no.) and transmits the signal to the robot control device 5. The robot control device 5 switches the load setting number (load setting no.) according to the signal from the numerical control device 4.

[0067] For example, load setting number 1 corresponds to a load setting for a state in which the collaborative robot 3 does not grasp anything, load setting number 2 corresponds to a load setting for a state in which the collaborative robot 3 grasps an object with a weight W1, and load setting number 3 corresponds to a load setting for a state in which the collaborative robot 3 grasps an object with a weight W2. In this way, the multiple load settings are provided according to the weight information of the load.

[0068] The user then performs direct programming to teach the collaborative robot 3 to work inside the machine tool 2.

[0069] The numerical control device 4 then opens the chuck of the machine tool 2, and the selection-execution unit 61 switches the teaching method for the collaborative robot 3 to "Manual Handling" after notifying the data transmission / receiving unit 46. Furthermore, the selection-execution unit 61 selects the "X-axis" of the collaborative robot 3 and, after user input to the display / control unit 47, sets a multiplication factor for the range of motion of the collaborative robot 3 for the manual handling procedure to "0.1x". The robot control device 5 starts manual operation by gripping the robot, provided that the teaching method is "Manual Handling Operation".

[0070] Subsequently, the numerical control device 4 positions the chuck of the machine tool 2 on the workpiece using the manual handling procedure according to an operation entered by the user and closes the chuck after positioning.

[0071] Subsequently, after notifying the transmit / receive unit 46, the selection / execution unit 61 switches the teaching method of the collaborative robot 3 to "Direct Teaching". Furthermore, after user input into the display / control unit 47, the selection / execution unit 61 sets the mode to "Direction Indication (X-axis)" and the sensitivity to "High". The robot control device 5 starts the direct teaching method under the conditions that the teaching method is "Direct Teaching", the mode is "Direction Indication (X-axis)", and the sensitivity is "High".

[0072] Next, the collaborative robot 3 releases the workpiece under the control of the numerical control device 4, and the numerical control device 4 generates a signal to switch the load setting number (load setting no.) and notifies the robot control device 5 of the signal. The robot control device 5 switches the load setting number (load setting no.) according to the switching signal generated by the numerical control device 4.

[0073] The user then performs direct teaching to instruct the collaborative robot 3 to work outside the machine tool 2. In this way, the numerical control system 1 allows the selection of a variety of teaching methods for the collaborative robot 3 and enables the teaching of the collaborative robot 3.

[0074] As described above, in the numerical control system 1 according to the present embodiment, the numerical control device 2 comprises a teaching method selection unit 48, which accepts a selection by the user from a plurality of teaching methods for performing teaching operations on the collaborative robot 3, and the plurality of teaching methods includes at least the direct teaching method (direct teaching), which includes moving an axis of the collaborative robot 3 in accordance with an external force exerted on the collaborative robot 3.

[0075] Due to this configuration, the numerical control system 1 allows the selection of the operating procedure for the collaborative robot 3, usually via the numerical control device 4. Therefore, the numerical control system 1 enables a user of the machine tool 2, who is inexperienced in operating the collaborative robot 3, to operate the collaborative robot 3 without using a training handheld device.

[0076] Furthermore, the numerical control system 1 activates the execution of teaching methods, such as manual hand feed and direct teaching, only with the settings of the machine tool 2, enabling the user of the machine tool 2 to easily create an operating program for the collaborative robot 3.

[0077] Furthermore, the numerical control device 4 also includes the data transmission / receiving unit 46, which, when the direct teaching method, which involves moving an axis of the collaborative robot 3 according to an external force exerted on the collaborative robot 3, is selected from the multitude of teaching methods via the teaching method selection unit 48, sends a notification of the direct teaching method to the robot control device 5. The robot control device 5 includes the selection execution unit 61, which switches the teaching method of the collaborative robot 3 to the direct teaching method notified by the data transmission / receiving unit 46, and the manual axis feed control unit 63, which moves an axis of the collaborative robot 3 using the direct teaching method.

[0078] Due to this configuration, the numerical control system 1 enables the teaching of the collaborative robot 3 using the direct teaching method.

[0079] The teaching method selection unit 48 defines the amount of movement of the axis of the collaborative robot 3 in relation to the external force exerted on the collaborative robot 3 in the direct teaching method. Based on this configuration, the numerical control system 1 can perform an appropriate sensitivity adjustment in the direct teaching method.

[0080] Furthermore, the teaching method selection unit 48 defines an axis of the collaborative robot 3 for the direct teaching method, which is to be operated according to the external force exerted on the collaborative robot 3. Based on this configuration, the numerical control system 1 can appropriately perform the mode setting in the direct teaching method.

[0081] Furthermore, the teaching method selection unit 48 for the direct teaching method switches the load settings, including the weight information for the loads attached to the collaborative robot 3. Based on this configuration, the numerical control system 1 can appropriately adjust the load settings (e.g., tools and workpieces handled by the collaborative robot 3) in the direct teaching method.

[0082] The variety of teaching methods includes at least one direct teaching method, axis feed by a manual handle of the machine tool 2, or axis feed by shaking the machine tool 2. Due to this configuration, the numerical control system 1 enables the teaching of the collaborative robot 3 using direct teaching, axis feed by a manual handle, and axis feed by shaking.

[0083] Furthermore, the collaborative robot 3 stops its movement when it detects contact with a human. Because of this configuration, the numerical control system 1 can safely collaborate with humans using the collaborative robot 3.

[0084] While the embodiments of the present invention have been described above, the numerical control system 1 described above can be implemented by hardware, software, or a combination thereof. Furthermore, the control method performed by the numerical control system 1 described above can also be implemented by hardware, software, or a combination thereof. Here, implementation by software means implementation by a computer that reads and executes a program.

[0085] The program can be stored and fed to a computer using various types of non-transitory, computer-readable media. Non-transitory, computer-readable media include various types of physical storage media. Examples of non-transitory, computer-readable media include magnetic recording media (e.g., a hard disk), magneto-optical recording media (e.g., a magneto-optical disk), 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, RAM (random access memory)).

[0086] Although the present disclosure has been described in detail, it is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, and the like may be made to the embodiments described above without departing from the spirit of the present disclosure or from the spirit of the present disclosure derived from the content of the claims and their equivalents. Furthermore, the embodiments described above may also be implemented in combination. For example, the sequence of operations and the order of processing have been described as non-limiting examples in the embodiments described above. The same applies if numerical values ​​or mathematical formulas are used in the description of the embodiments described above.

[0087] Further remarks on the foregoing embodiments and their modifications are disclosed below. (Additional Note 1)

[0088] A numerical control device (4) that controls a robot (3) via a robot control device (5) using a numerical control program comprises: a teaching method selection unit (48) that accepts a user's selection from a variety of teaching methods for performing teaching operations on the robot, and The multitude of teaching methods includes at least one direct teaching method that involves moving an axis of the robot in accordance with an external force exerted on the robot. (Additional Note 2)

[0089] The numerical control device according to additional note 1 further comprises: a transmit / receive unit (46) which, when the direct teaching method, which involves moving the robot's axis in accordance with an external force applied to the robot, is selected from a variety of teaching methods via the teaching method selection unit, sends a notification of the direct teaching method to the robot control device, and The robot control device includes: a selection execution unit (61) that switches a teaching method for the robot to the direct teaching method according to the direct teaching method notified by the transmit / receive unit; and a robot-side control unit (63) that moves the axis of the robot using the direct teaching method. (Additional Note 3)

[0090] In the numerical control device according to additional note 1 or 2, the teaching method selection unit specifies an amount of movement of the robot's axis in relation to the external force applied to the robot in the direct teaching method. (Additional note 4)

[0091] In the numerical control device according to additional note 1 or 2, the teaching method selection unit determines the axis of the robot that is to be operated in the direct teaching method according to the external force applied to the robot. (Additional note 5)

[0092] In the numerical control device according to additional note 1 or 2, the control method selection unit performs a switching between load settings, including weight information regarding loads attached to the robot in the direct teaching method. (Additional Note 6)

[0093] In the numerical control device according to additional note 1 or 2, the numerous teaching methods include at least one of the following methods: the direct teaching method, axis feed by a handle of the machine tool, or axis feed by jogging the machine tool. (Additional note 7)

[0094] In the numerical control system according to additional note 7 or 8, the robot is a collaborative robot that stops its movement when it detects contact with a human. (Additional Note 8)

[0095] In a numerical control system (1) that controls a robot (3) via a robot control device (5) using a numerical control program for a numerical control device (4), The numerical control device comprises a control procedure selection unit (48) for training operations, which accepts a user's selection from a variety of training operations for performing training operations on the robot, and The multitude of teaching methods includes at least one direct teaching method that involves moving an axis of the robot in accordance with an external force exerted on the robot. (Additional Note 9)

[0096] In the numerical control system according to additional note 8, the numerical control device further comprises: a transmit / receive unit (46) which, when the direct teaching method, which includes moving the robot's axis in accordance with an external force applied to the robot, is selected from the multitude of teaching methods via the teaching method selection unit, sends a notification of the direct teaching method to the robot control device, and The robot control device includes: a selection execution unit (61) that switches a teaching method for the robot from the direct teaching method notified by the transmit / receive unit to the direct teaching method; and a robot-side control unit (63) that moves the axis of the robot using the direct teaching method. (Additional Note 10)

[0097] In the numerical control system according to additional note 8 or 9, the teaching method selection unit specifies an amount of movement of the robot's axis in relation to the external force applied to the robot in the direct teaching method. (Additional Note 11)

[0098] In the numerical control system according to additional note 8 or 9, the teaching method selection unit determines the axis of the robot that is to be operated in the direct teaching method according to the external force applied to the robot. (Additional Note 12)

[0099] In the numerical control system according to additional note 8 or 9, the teaching method selection unit performs a switch between load settings that include weight information regarding loads, including loads applied to the robot in the direct teaching method. (Additional Note 13)

[0100] In the numerical control system according to additional note 8 or 9, the multitude of teaching methods includes at least one direct teaching method, an axis feed by means of a handle of the machine tool, and an axis feed by shaking the machine tool. (Additional Note 14)

[0101] In the numerical control system according to additional note 8 or 9, the robot is a collaborative robot that stops its movement when it detects contact with a human. EXPLANATION OF DRAWING REFERENCES 1 Numerical Control System 2 machine tools 3 Collaborative Robot 4 Numerical control device 5 Robot control device 31 External Force Detection Unit 41 Program input unit 42 analysis units 43 Motion control unit 44 Data storage unit 45 Robot command signal generation unit 46 Data transmission / receiving unit 47 Display / control unit 48 Teaching Method Selection Unit 51 storage unit 52 analysis units 53 Robot command generation unit 54 Program Management Unit 55 Railway control unit 56 Kinematic control unit 57 Servo control unit 58 Load setting unit 59 Dynamic control unit 60 Data transmission / receiving unit 61 Selection execution unit 62 Contact control unit 63 Manual axis feed control unit QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] JP 2014-241018

[0004] JP 8-118275

[0048] JP 2015-58520

[0048]

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 teaching method selection unit that accepts a selection by a user from a variety of teaching methods for performing teaching operations on the robot, wherein the variety of teaching methods includes at least one direct teaching method that involves moving an axis of the robot in accordance with an external force applied to the robot. The numerical control device according to claim 1, further comprising: a transmitter / receiver unit which, when the direct teaching method, which comprises moving the axis of the robot according to an external force exerted on the robot, is selected from a plurality of teaching methods via the teaching method selection unit, sends a notification of the direct teaching method to the robot control device, wherein the robot control device comprises: a selection execution unit which switches a teaching method for the robot to the direct teaching method according to the direct teaching method notified by the transmitter / receiver unit; and a robot-side control unit which moves the axis of the robot using the direct teaching method. The numerical control device according to claim 1 or 2, wherein the teaching method selection unit determines an amount of movement of the axis of the robot in relation to the external force exerted on the robot in the direct teaching method. The numerical control device according to claim 1 or 2, wherein the teaching method selection unit specifies the axis of the robot which is to be operated in the direct teaching method according to the external force exerted on the robot. The numerical control device according to claim 1 or 2, wherein the teaching method selection unit performs the switching between load settings including weight information relating to loads attached to the robot in the direct teaching method. The numerical control device according to claim 1 or 2, wherein the plurality of teaching methods comprises at least one of the direct teaching method, an axis feed by a handle of a machine tool or an axis feed by shaking the machine tool. The numerical control system according to claim 1 or 2, wherein the robot is a collaborative robot that stops its movement when it detects contact with a human. A numerical control system that controls a robot via a robot control device using a numerical control program for a numerical control device, wherein the numerical control device includes a teaching method selection unit that accepts a user's selection from a plurality of teaching methods for performing teaching operations on the robot, and the plurality of teaching methods includes at least one direct teaching method that involves moving an axis of the robot in accordance with an external force applied to the robot. The numerical control system according to claim 8, wherein the numerical control device further comprises: a transmit / receive unit which, when the direct teaching method, comprising moving the axis of the robot according to an external force exerted on the robot, is selected from a plurality of teaching methods via the teaching method selection unit, sends a notification of the direct teaching method to the robot control device, and the robot control device further comprises: a selection execution unit which switches a teaching method for the robot to the direct teaching method according to the direct teaching method notified by the transmit / receive unit; and a robot-side control unit which moves the axis of the robot using the direct teaching method. The numerical control system according to claim 8 or 9, wherein the teaching method selection unit specifies an amount of movement of the robot axis in relation to the external force applied to the robot in the direct teaching method. The numerical control system according to claim 8 or 9, wherein the teaching method selection unit specifies the axis of the robot which is to be operated in the direct teaching method according to the external force exerted on the robot. The numerical control system according to claim 8 or 9, wherein the teaching method selection unit performs the switching between load settings including weight information relating to loads attached to the robot in the direct teaching method. The numerical control system according to claim 8 or 9, wherein the plurality of teaching methods comprises at least one of the direct teaching method, an axis feed by a handle of a machine tool or an axis feed by shaking the machine tool. The numerical control system according to claim 8 or 9, wherein the robot is a collaborative robot that stops its movement in response to the detection of contact with a human.

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