Robot control device and numerical control system

Abstract

A numerical control system 1 comprises a robot control device 6 that controls an action of a robot 30, and a numerical control device 5 that is communicably connected to the robot control device 6, and controls an action of a machine tool 2. The robot control device 6 comprises: a storage unit 61 that stores a plurality of robot programs determined for each operating action with respect to a target of an operation, the target of the operation being the machine tool 2 and the numerical control device 5; a data transmission and reception unit 69 that acquires a state of the target of the operation; a program selection and activation unit 63 that, among the plurality of programs stored in the storage unit 61, selects and activates a program according to an analysis result: and an action control unit 64 that controls the action of the robot 30 on the basis of the activated robot program.

Description

[Technical field]

[0001] The present disclosure relates to a robot control device and a numerical control system. [Background technology]

[0002] In recent years, in order to promote automation in machining sites, there is a demand for numerical control systems that link and control the operation of a machine tool that processes a workpiece with the operation of a robot that treats the machine tool as an object of operation (for example, the operation of attaching and detaching a workpiece to and from the machine tool, or the opening and closing of the door of the machine tool) (see, for example, Patent Documents 1 and 2).

[0003] Generally, the operation of a machine tool is controlled by a numerical control device, and the operation of a robot is controlled by a robot control device. Therefore, in order to control the operation of the machine tool and the operation of the robot in a coordinated manner, it is necessary to operate both the numerical control device and the robot control device. In contrast, the numerical control system shown in Patent Document 1 makes it easy for the user to set up by enabling the selection of a robot operation program and the setting of the operation program according to a user's instruction from the numerical control device. Note that Patent Document 2 shows a technology in which a machine tool is an operation target and a door of the operation target is opened and closed by a robot, but does not specifically consider how the robot control device and the operation target should be linked. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-195055 A [Patent Document 2] Japanese Patent Application Publication No. 5-104391 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when an existing machine tool is the operation target and the operation of the operation target is controlled in conjunction with the operation of a robot installed later, it is necessary to connect a numerical control device that controls the operation of the operation target and a robot control device that controls the operation of the robot. In this case, it is necessary to add new I / O signals and commands such as M codes to these numerical control devices and robot control devices, and to install new external devices such as a PLC (Programmable Logic Controller). In this case, it is also necessary to edit the existing ladder circuit because the I / O signal needs to be sent to the robot control device via the ladder circuit of the numerical control device. For this reason, it may not be possible to respond flexibly at an actual machining site.

[0006] The present disclosure has been made in consideration of the above problems, and provides a robot control device and a numerical control system that can easily link the movement of an object to be operated with the movement of a robot system with respect to the object to be operated. [Means for solving the problem]

[0007] One aspect of the present disclosure provides a robot control device that controls the operation of a robot system including a robot, the robot control device comprising: a memory unit that stores a plurality of programs defined for each operation of the robot system with respect to an operation target provided within an operating range of the robot system; a state acquisition unit that acquires a state of the operation target; an analysis unit that analyzes the state acquired by the state acquisition unit; a program selection and startup unit that selects and starts a program from the plurality of programs stored in the memory unit in accordance with an analysis result by the analysis unit; and an operation control unit that controls the operation of the robot system based on the program started by the program selection and startup unit.

[0008] One aspect of the present disclosure provides a numerical control system including a robot control device that controls the operation of a robot system including a robot, and a numerical control device that is communicatively connected to the robot control device and controls the operation of a machine tool provided within an operating range of the robot system based on a numerical control program, wherein the robot control device has the machine tool and the numerical control device as operation objects, and includes a memory unit that stores a plurality of programs defined for each operation of the robot system for the operation objects, a state acquisition unit that acquires a state of the operation object, an analysis unit that analyzes the state acquired by the state acquisition unit, a program selection and startup unit that selects and starts a program from the plurality of programs stored in the memory unit in accordance with an analysis result by the analysis unit, and an operation control unit that controls the operation of the robot system based on the program started by the program selection and startup unit. Effect of the Invention

[0009] In one aspect of the present disclosure, the storage unit stores a plurality of programs defined for each operation of the robot system with respect to an operation target provided within the operating range of the robot system, the state acquisition unit acquires a state of the operation target, the analysis unit analyzes the acquired state, the program selection and launch unit selects and launches a program corresponding to the analysis result from the plurality of programs defined for each operation with respect to the operation target, and the operation control unit controls the operation of the robot system based on the launched program. This allows the robot control device to cause the robot system to perform an appropriate operation according to the state of the operation target at that time, making it possible to easily link the operation of the operation target with the operation of the robot system with respect to the operation target. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic diagram of a robot control device according to a first embodiment of the present disclosure and a numerical control system including the robot control device; [Diagram 2] FIG. 2 is a functional block diagram of a numerical control device and a robot control device. [Diagram 3] 1 is a flowchart (part 1) showing a procedure for selecting and starting a robot program for controlling the operation of a robot in a program selection and start section of a robot control device. [Figure 4] 4 is a sequence diagram showing the operation performed by the robot on the operation object and the flow of the process executed on the operation object when the robot control device is operated based on the flowchart shown in FIG. [Diagram 5] FIG. 11 is a functional block diagram of a numerical control system according to a second embodiment of the present disclosure. [Figure 6] FIG. 1 is a diagram illustrating a configuration of a robot system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] First Embodiment Hereinafter, a robot control device 6 according to a first embodiment of the present disclosure and a numerical control system 1 including the robot control device 6 will be described with reference to the drawings.

[0012] The numerical control system 1 includes a machine tool 2 that processes a workpiece (not shown), a numerical control device (CNC) 5 that controls the operation of the machine tool 2, a robot system 3 provided near the machine tool 2 and the numerical control device 5, and a robot control device 6 that controls the operation of the robot system 3. The numerical control system 1 controls the operations of the machine tool 2 and the robot system 3 in a linked manner by using the numerical control device 5 and the robot control device 6 that are communicatively connected to each other.

[0013] Machine tool 2 is, for example, but not limited to, a lathe, a drill press, a milling machine, a grinding machine, a laser processing machine, an injection molding machine, etc. Machine tool 2 performs various operations such as machining an unillustrated workpiece, moving a spindle or a table that processes the workpiece, and locking and unlocking a door that protects the workpiece, in response to various command signals transmitted from numerical control device 5 according to a procedure that will be described later.

[0014] The robot system 3 includes a robot 30 that operates under the control of a robot control device 6, a base 31 that supports the robot 30, and a human sensor 39 provided near the robot 30. The robot 30 operates the machine tool 2 and the numerical control device 5 that are provided within its operating range as operation objects under the control of the robot control device 6. The robot 30 is, for example, a multi-joint robot, and a tool 33 is attached to an arm tip 32 thereof for gripping a workpiece or a door of the machine tool 2 or for pressing a button or a panel. The human sensor 39 detects the presence of a person within the operating range of the robot 30. A detection signal from the human sensor 39 is input to the robot control device 6. In the following, the robot 30 will be described as a collaborative multi-joint robot that works in collaboration with a human worker 9, but is not limited thereto.

[0015] The numerical control device 5 and the robot control device 6 are computers each composed of hardware such as a calculation processing means such as a CPU (Central Processing Unit), auxiliary storage means such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) storing various programs, main storage means such as a RAM (Random Access Memory) for storing data temporarily required for the calculation processing means to execute the programs, operation means such as a keyboard for an operator to perform various operations, and display means such as a display for displaying various information to the operator. The robot control device 6 and the numerical control device 5 are capable of transmitting and receiving various signals to each other, for example, via Ethernet (registered trademark).

[0016] FIG. 2 is a functional block diagram of the numerical control device 5 and the robot control device 6.

[0017] First, a detailed configuration of the numerical control device 5 will be described. As shown in Fig. 2, the numerical control device 5 has various functions, such as a storage unit 51, an operation panel 52, a program selection and starting unit 53, an operation control unit 54, and a data transmission / reception unit 59, realized by the above-mentioned hardware configuration.

[0018] The memory unit 51 stores a plurality of numerical control programs for controlling the operation of the machine tool 2. The numerical control programs stored in the memory unit 51 are created in advance by an operator in order to control the operation of the machine tool 2 in conjunction with the operation of the robot 30 under the control of the robot control device 6, and are written in a program language such as G-code or M-code. The memory unit 51 stores a plurality of numerical control programs for controlling the operation of the machine tool 2, such as a machining program for machining the workpiece W by moving the control axis and spindle of the machine tool 2, an evacuation program for moving the spindle, table, etc. for machining the workpiece W to evacuation positions where they do not interfere with the robot 30, and a door unlocking program for unlocking the door 21.

[0019] The operation panel 52 includes buttons, a touch panel, and the like that can be pressed by a human operator or the robot 30. The operator or the robot 30 can select a numerical control program, start the selected numerical control program, or stop a numerical control program that is being executed by operating the operation panel 52. The operation panel 52 also includes an unlock button that can be pressed by the operator or the robot 30 to unlock the door 21. The operation panel 52 accepts operations by the operator or the robot 30, and transmits a signal corresponding to the accepted operation to the program selection and start-up unit 53.

[0020] When the program selection start-up unit 53 receives a program selection operation through the operation panel 52, it selects a numerical control program designated by the program selection operation from among the multiple numerical control programs stored in the storage unit 51. When the program selection start-up unit 53 receives a program selection operation through the operation panel 52, it starts a predetermined program or a program selected by a previously received program selection operation from among the multiple numerical control programs stored in the storage unit 51, based on the operation received through the operation panel 52. When the program selection start-up unit 53 receives a program stop operation through the operation panel 52, it stops the numerical control program being executed. When the unlock button on the operation panel 52 is pressed, the program selection start-up unit 53 selects a door unlock program from among the multiple numerical control programs stored in the storage unit 51 and starts it.

[0021] The operation control unit 54 controls the operation of the machine tool 2 based on the numerical control program started by the program selection and starting unit 53.

[0022] The data transmission / reception unit 59 transmits various notifications to the robot control device 6 as appropriate, including information on the state of the operation target of the robot 30, more specifically, the execution state of the numerical control program in the numerical control device 5, the state of the machine tool 2, and the like. The notifications transmitted from the data transmission / reception unit 59 to the robot control device 6 include, for example, a preparation completion notification indicating that the numerical control device 5 and the machine tool 2 are in a state where preparations for starting machining of the workpiece W are complete (i.e., a state where the unmachined workpiece W is placed in a predetermined position and the door 21 is closed and further locked), a program end notification indicating that the execution of the numerical control program has been properly completed, an abnormality notification indicating that some abnormality has occurred in the machine tool 2 during the execution of the numerical control program, and a door state notification including information on the open / closed state and locked state of the door 21, and the like.

[0023] Next, a detailed description will be given of the configuration of the robot control device 6. As shown in Fig. 2, the robot control device 6 has various functions realized by the above hardware configuration, such as a storage unit 61, an analysis unit 62, a program selection and startup unit 63, an operation control unit 64, and a data transmission / reception unit 69.

[0024] The storage unit 61 stores a plurality of robot programs that are set as operation targets of the machine tool 2 and the numerical control device 5 provided within the operating range of the robot 30 and that are determined for each operation operation by the robot 30 with respect to the operation targets. The storage unit 61 stores a plurality of robot programs for controlling the operation of the robot 30, such as a start operation program that defines a program start operation operation for the operation panel 52 of the machine tool 2, a stop operation program that defines a program stop operation operation for the operation panel 52, a selection operation program that defines a program selection operation operation for the operation panel 52, an unlock program that defines a door unlock operation for the operation panel 52, a door close operation program that defines a door close operation operation for closing the door 21 of the machine tool 2, a door open operation program that defines a door open operation operation for opening the door 21, and a workpiece exchange program that defines a workpiece exchange operation for a workpiece W installed on the machine tool 2.

[0025] The program start operation operation here refers to bringing the tool 33 of the robot 30 close to the operation panel 52 and further causing this tool 33 to perform a program start operation on the operation panel 52. The program stop operation operation refers to bringing the tool 33 of the robot 30 close to the operation panel 52 and further causing this tool 33 to perform a program stop operation on the operation panel 52.

[0026] The program selection operation action refers to bringing the tool 33 of the robot 30 close to the operation panel 52, and further having the tool 33 perform a program selection action to select a machining program or a save program on the operation panel 52. As described above, in the numerical control device 5 according to this embodiment, the operator or the robot 30 can select a machining program or a save program by operating the operation panel 52. Therefore, hereinafter, a selection operation program that defines a program selection action to select a machining program on the operation panel 52 is referred to as a first selection operation program, and a selection operation program that defines a program selection action to select a save program on the operation panel 52 is referred to as a second selection operation program.

[0027] The door unlocking operation refers to bringing the tool 33 of the robot 30 close to the operation panel 52 and further pressing an unlock button provided on the operation panel 52 with the tool 33. The door closing operation refers to bringing the tool 33 of the robot 30 close to the door 21, gripping the door 21 with the tool 33, and sliding the door 21 in the closing direction to open the door 21. The door opening operation refers to bringing the tool 33 of the robot 30 close to the door 21, gripping the door 21 with the tool 33, and sliding the door 21 in the opening direction to close the door 21. The workpiece replacement operation refers to bringing the tool 33 close to the inside of the machine tool 2, gripping the workpiece W installed in the machine tool 2 with the tool 33, moving the workpiece W to a predetermined position outside the machine tool 2, and then gripping a new workpiece W and moving the new workpiece W to a predetermined position inside the machine tool 2.

[0028] The data transmission / reception unit 69 is communicably connected to the data transmission / reception unit 59 of the numerical control device 5. The data transmission / reception unit 69 acquires a notification regarding the state of the operation target of the robot 30 transmitted from the data transmission / reception unit 59 via the above communication, and transmits the acquired notification to the analysis unit 62. That is, in this embodiment, a state acquisition unit that acquires the state of the operation target of the robot 30 is configured by the data transmission / reception unit 69.

[0029] The analysis unit 62 analyzes the notification sent from the data transmission / reception unit 69 and sends the analysis result to the program selection and start-up unit 63 .

[0030] The program selection and startup unit 63 selects a robot program from among the multiple robot programs stored in the memory unit 61 according to the analysis results by the analysis unit 62, starts it, and sequentially notifies the operation control unit 64 of the commands written in the started robot program.

[0031] The operation control unit 64 controls the operation of the robot 30 and the tool 33 based on the detection signal input from the human sensor 39 and the robot program started by the program selection starting unit 63. More specifically, the operation control unit 64 calculates time series data of the control points of the robot 30 in response to the command notified from the program selection starting unit 63, calculates the target angles of each joint of the robot 30 based on this time series data, and generates a robot control signal for the robot 30 by feedback-controlling each servo motor of the robot 30 so as to realize the target angle, and inputs it to the servo motor of the robot 30. The operation control unit 64 also generates an I / O signal for driving the tool 33 of the robot 30 in response to the command notified from the program selection starting unit 63, and inputs it to the actuator of the tool 33.

[0032] The operation control unit 64 also switches the operation mode of the robot 30 between a collaborative mode and a high-speed mode based on a detection signal input from the human sensor 39. More specifically, the operation control unit 64 controls the operation of the robot 30 in the collaborative mode when the human sensor 39 detects the presence of the worker 9 within the operating range of the robot 30, and controls the operation of the robot 30 in the high-speed mode when the human sensor 39 does not detect the presence of the worker 9 within the operating range of the robot 30.

[0033] In the collaborative mode, the operation control unit 64 controls the operation of the robot 30 at an operating speed that is safe for the surrounding workers 9. In the collaborative mode, the operation control unit 64 stops the operation of the robot 30 when it detects an external force on the robot 30 due to contact. In the high-speed mode, the operation control unit 64 controls the operation of the robot 30 at an operating speed faster than in the collaborative mode.

[0034] Fig. 3 is a flowchart showing the procedure for selecting and starting a robot program for controlling the operation of the robot 30 in the program selection and start-up unit 63 of the robot controller 6. The process shown in Fig. 3 starts in response to the start-up of the robot controller 6 and the numerical controller 5 by the operator, and is repeatedly executed until the robot controller 6 and the numerical controller 5 are stopped by the operator.

[0035] First, in step ST1, the program selection start-up unit 53 determines whether or not a preparation completion notification has been received from the numerical control device 5. The program selection start-up unit 53 waits until the preparation completion notification is received from the numerical control device 5, and proceeds to step ST2 in response to receiving the preparation completion notification.

[0036] Next, in step ST2, in response to receiving a preparation completion notification from the numerical control device 5, the program selection and startup unit 53 selects and starts a first selection operation program and a startup operation program from among the multiple robot programs stored in the storage unit 61 in order to start machining of the workpiece W by the machine tool 2, and then proceeds to step ST3. As a result, under the control of the operation control unit 64, the robot 30 performs a program selection operation action to select a machining program on the operation panel 52 of the numerical control device 5, and then performs a program startup operation action to start the selected machining program on the operation panel 52.

[0037] Next, in step ST3, the program selection and startup unit 53 determines whether or not a program end notification has been received from the numerical control device 5. If the determination result in step ST3 is YES, the program selection and startup unit 53 proceeds to step ST5, and if the determination result in step ST3 is NO, the program selection and startup unit 53 proceeds to step ST4.

[0038] Next, in step ST4, the program selection startup unit 53 judges whether or not an abnormality notification has been received from the numerical control device 5. If the judgment result in step ST4 is YES, the program selection startup unit 53 proceeds to step ST12, and if the judgment result in step ST4 is NO, the program selection startup unit 53 returns to step ST3. That is, the program selection startup unit 53 waits until it receives a program end notification or an abnormality notification from the numerical control device 5, and if it receives a program end notification, it proceeds to step ST5, and if it receives an abnormality notification, it proceeds to step ST12.

[0039] Next, in step ST5, in response to receiving a program end notification from the numerical control device 5, the program selection and start-up unit 53 determines that execution of the machining program has been properly ended in the numerical control device 5, and selects and starts a second selection operation program and a start-up operation program from among the multiple robot programs stored in the storage unit 61 in order to move the spindle, table, etc. for machining the workpiece W in the machine tool 2 to the evacuation position, and then proceeds to step ST6. As a result, under the control of the operation control unit 64, the robot 30 performs a program selection operation operation to select a save program on the operation panel 52 of the numerical control device 5, and then performs a program start-up operation operation to start the selected save program on the operation panel 52.

[0040] Next, in step ST6, the program selection and startup unit 53 determines whether or not a program end notification has been received from the numerical control device 5. If the determination result in step ST6 is YES, the program selection and startup unit 53 proceeds to step ST8, and if the determination result in step ST6 is NO, the program selection and startup unit 53 proceeds to step ST7.

[0041] Next, in step ST7, the program selection startup unit 53 judges whether or not an abnormality notification has been received from the numerical control device 5. If the judgment result in step ST7 is YES, the program selection startup unit 53 proceeds to step ST12, and if the judgment result in step ST7 is NO, the program selection startup unit 53 returns to step ST6. That is, the program selection startup unit 53 waits until it receives a program end notification or an abnormality notification from the numerical control device 5, and if it receives a program end notification, it proceeds to step ST8, and if it receives an abnormality notification, it proceeds to step ST12.

[0042] Next, in step ST8, in response to receiving a program end notification from the numerical controller 5, the program selection and start-up unit 53 determines that the execution of the evacuation program has been properly ended in the numerical controller 5, and selects and starts an unlocking program from among the multiple robot programs stored in the storage unit 61 in order to unlock the door 21 of the machine tool 2, and then proceeds to step ST9. As a result, the robot 30, under the control of the operation control unit 64, performs a door unlocking operation by pressing an unlock button provided on the operation panel 52 of the numerical controller 5.

[0043] Next, in step ST9, the program selection and startup unit 53 selects and starts a door-opening operation program from among the multiple robot programs stored in the storage unit 61 in order to open the unlocked door 21 of the machine tool 2, and then proceeds to step ST10. As a result, the robot 30 performs a door-opening operation to open the door 21 of the machine tool 2 under the control of the operation control unit 64.

[0044] Next, in step ST10, the program selection and startup unit 53 selects and starts a workpiece replacement program from among the multiple robot programs stored in the storage unit 61 in order to replace the workpiece W machined by the machine tool 2 with a new one, and then proceeds to step ST11. As a result, under the control of the operation control unit 64, the robot 30 performs a workpiece replacement operation to replace the workpiece W placed on the machine tool 2 with a new one.

[0045] Next, in step ST11, the program selection and startup unit 53 selects and starts a door closing operation program from among the multiple robot programs stored in the storage unit 61 in order to close the door 21 of the machine tool 2, and then returns to step ST1. As a result, the robot 30 performs a door closing operation operation to close the door 21 of the machine tool 2 under the control of the operation control unit 64.

[0046] In step ST12, the program selection and start-up unit 53, in response to receiving the abnormality notification from the numerical control device 5, determines that some abnormality has occurred during execution of the numerical control program in the numerical control device 5, and selects and starts a stop operation program from among the multiple robot programs stored in the storage unit 61 in order to forcibly stop the numerical control program being executed, and then ends the process shown in Fig. 3. As a result, the robot 30, under the control of the operation control unit 64, performs a program stop operation operation on the operation panel 52 of the numerical control device 5 to stop the numerical control program being executed.

[0047] FIG. 4 is a sequence diagram showing the operations that the robot 30 performs on the operation object (i.e., the machine tool 2 and the numerical control device 3) when the robot control device 6 is operated based on the flowchart shown in FIG. 3, and the flow of processing executed on the operation object.

[0048] First, when preparations for starting machining of the workpiece W in the machine tool 2 are complete, the numerical control device 5 transmits a preparation completion notification to the robot control device 6.

[0049] Next, in response to receiving a preparation completion notification from the numerical control device 5 (see step ST1), the robot control device 6 selects and starts up a first selection operation program and a start-up operation program (see step ST2). In response to this, the robot 30 performs a program selection operation action to select a machining program and a program start-up operation action to start up the selected machining program on the operation panel 52 of the numerical control device 5. In response to receiving the program selection operation and program start-up operation by the robot 30 via the operation panel 52, the numerical control device 5 starts up the machining program. As a result, the machine tool 2 starts machining of the workpiece W.

[0050] Next, the numerical control device 5 transmits a program end notification to the robot control device 6 in response to the completion of machining of the workpiece W in the machine tool 2. Furthermore, in response to receiving the program end notification from the numerical control device 5 (see step ST3), the robot control device 6 selects and starts a second selection operation program and a start operation program (see step ST5). In response to this, the robot 30 performs a program selection operation action to select a program for evacuation on the operation panel 52 of the numerical control device 5, and a program start operation action to start the selected program for evacuation. In response to receiving the program selection operation and program start operation by the robot 30 via the operation panel 52, the numerical control device 5 starts the program for evacuation. As a result, in the machine tool 2, movement of the spindle, table, etc. to the evacuation positions begins.

[0051] Next, the numerical control device 5 transmits a program end notification to the robot control device 6 in response to the completion of movement of the spindle, table, and the like in the machine tool 2 to the retreat positions. Furthermore, in response to receiving the program end notification from the numerical control device 5 (see step ST6), the robot control device 6 selects and starts an unlocking program (see step ST8). In response to this, the robot 30 presses an unlock button provided on the operation panel 52 of the numerical control device 5. In response to the pressing of the unlock button on the operation panel 52, the numerical control device 5 unlocks the door 21 of the machine tool 2.

[0052] Next, the robot control device 6 selects and starts the door-opening operation program (see step ST9). In response to this, the robot 30 opens the door 21 of the machine tool 2.

[0053] Next, the robot control device 6 selects and starts a workpiece exchange program (see step ST10). In response to this, the robot 30 exchanges the workpiece W placed on the machine tool 2.

[0054] Next, the robot control device 6 selects and starts a program for the door closing operation (see step ST11). In response to this, the robot 30 closes the door 21 of the machine tool 2. In addition, in response to the door 21 being closed by the robot 30, the machine tool 2 locks the door 21 in the closed state.

[0055] According to this embodiment, the following effects are achieved. In the robot control device 6, the storage unit 61 stores a plurality of robot programs defined for each operation action on an operation target provided within the operating range of the robot 30, the data transmission / reception unit 69 acquires the state of the operation target, the analysis unit 62 analyzes the acquired state, the program selection and startup unit 63 selects and starts a robot program corresponding to the analysis result from the plurality of robot programs defined for each operation action on the operation target, and the operation control unit 64 controls the operation of the robot 30 based on the started robot program. This allows the robot control device 6 to cause the robot 30 to perform an appropriate operation action according to the state of the operation target at that time, so that the operation of the operation target and the operation action of the robot 30 on the operation target can be easily linked.

[0056] In this embodiment, the machine tool 2 that processes the workpiece W and the numerical control device 5 that controls the operation of the machine tool 2 based on the operation and numerical control program received by the operation panel 52 are the operation targets of the robot 30, and the data transmission / reception unit 69 of the robot control device 6 acquires the execution state of the numerical control program in the numerical control device 5 via communication. As a result, the program selection and startup unit 63 of the robot control device 6 can perform appropriate operations on the machine tool 2 and the numerical control device 5 according to the execution state of the numerical control program in the numerical control device 5.

[0057] In this embodiment, the storage unit 61 of the robot controller 6 stores a plurality of robot programs defined for each operation on the operation panel 52 of the numerical controller 5. This enables the robot controller 6 to perform various operations on the operation panel 52 by the robot 30.

[0058] In this embodiment, the storage unit 61 of the robot control device 6 stores a startup operation program that defines a program startup operation action on the operation panel 52 of the numerical control device 5, and the numerical control device 5 starts a predetermined numerical control program in response to receiving a program startup operation on the operation panel 52. In this way, the robot control device 6 can make the numerical control device 5 start a predetermined numerical control program by having the robot 30 perform a program startup operation on the operation panel 52.

[0059] In this embodiment, the storage unit 61 of the robot control device 6 stores a stop operation program that defines a program stop operation action on the operation panel 52 of the numerical control device 5, and the numerical control device 5 stops the numerical control program being executed in response to receiving a program stop operation on the operation panel 52. In this way, the robot control device 6 can cause the numerical control device 5 to stop the numerical control program being executed by causing the robot 30 to perform a program stop operation on the operation panel 52.

[0060] In this embodiment, the storage unit 61 of the robot control device 6 stores a selection operation program that defines a program selection operation action on the operation panel 52 of the numerical control device 5, and the numerical control device 5 selects a numerical control program designated by the program selection operation from among multiple numerical control programs in response to receiving a program selection operation on the operation panel 52. Thus, the robot control device 6 can cause the numerical control device 5 to select a predetermined numerical control program by having the robot 30 perform a program selection operation on the operation panel 52.

[0061] In this embodiment, the data transmitter / receiver 69 of the robot controller 6 acquires a notification including the open / closed state of the door 21 of the machine tool 2. This enables the robot controller 6 to cause the numerical controller 5 and the machine tool 2 to perform an appropriate operation according to the open / closed state of the door 21 of the machine tool 2 by the robot 30.

[0062] In this embodiment, the storage unit 61 of the robot control device 6 stores at least one of a door closing operation program that defines a door closing operation action for closing the door 21 by the robot 30 and a door opening operation program that defines a door opening operation action for opening the door 21 by the robot 30. This allows the robot control device 6 to open and close the door 21 of the machine tool 2 by the robot 30.

[0063] In this embodiment, the operation control unit 64 of the robot control device 6 switches the operation mode of the robot 30 between a case where the presence of the worker 9 is detected within the operating range of the robot 30 by the human sensor 39 and a case where the presence of the worker 9 is not detected within the operating range of the robot 30 by the human sensor 39. More specifically, when the presence of the worker 9 is detected within the operating range of the robot 30 by the human sensor 39, the operation control unit 64 controls the operation of the robot 30 in a collaboration mode in which the operating speed is slow, and when the presence of the worker 9 is not detected within the operating range of the robot 30 by the human sensor 39, the operation control unit 64 controls the operation of the robot 30 in a high-speed mode in which the operating speed is faster than the collaboration mode. This allows the robot control device 6 to make the robot 30 perform an appropriate operation according to the state of the operation target at that time and the presence or absence of a worker 9 in the vicinity.

[0064] <Second embodiment> Next, a numerical control system according to a second embodiment of the present disclosure will be described with reference to the drawings. In the following description, the same components as those in the numerical control system 1 according to the first embodiment will be denoted by the same reference numerals, and detailed description thereof will be omitted.

[0065] FIG. 5 is a functional block diagram of a numerical control system 1A including a numerical control device 5 and a robot control device 6A according to this embodiment. FIG. 6 is a diagram showing the configuration of a robot system 3A that is the object to be controlled by a robot control device 6A according to this embodiment.

[0066] 6, the robot system 3A according to this embodiment includes a robot 30 that operates under the control of a robot control device 6A, and an automatic guided vehicle 31A that supports the robot 30 and operates under the control of the robot control device 6A. The robot system 3A according to this embodiment differs from the robot system 3 according to the first embodiment in that the robot 30 is mounted on the automatic guided vehicle 31A, which is a moving body.

[0067] The automated guided vehicle 31A moves on the floor surface in response to a control signal transmitted from the robot control device 6A. The robot 30 is moved by the automated guided vehicle 31A, so that the operating range of the robot 30 can be moved. That is, in the robot system 3 according to the first embodiment, the position of the robot 30 is fixed, so that the operating range of the robot 30 is also fixed. In contrast, in the robot system 3A according to the present embodiment, the robot 30 can be moved by the automated guided vehicle 31A, so that the operating range of the entire robot system 3A, which is the combination of the robot 30 and the automated guided vehicle 31A, is wider than that of the robot system 3 according to the first embodiment.

[0068] Next, the configuration of the robot control device 6A will be described in detail with reference to FIG. 5. As shown in FIG. 5, the robot control device 6A realizes various functions such as a memory unit 61A, an analysis unit 62, a program selection and startup unit 63A, an operation control unit 64A, and a data transmission / reception unit 69.

[0069] The storage unit 61A stores a plurality of robot programs defined for each operation operation by the robot 30 with respect to the operation objects, which are the machine tool 2, the numerical control device 5, and the workpiece stocker 25 storing a plurality of workpieces W, which are provided within the operating range of the robot system 3A, and a plurality of movement programs defined for each movement operation of the automatic guided vehicle 31A with respect to these operation objects. In addition to the plurality of robot programs (start operation program, stop operation program, selection operation program, lock release program, door closing operation program, door opening operation program, workpiece exchange program, etc.) described in the first embodiment, the storage unit 61A stores a plurality of robot programs for controlling the operation of the robot 30, such as a workpiece removal operation program that defines a workpiece removal operation for removing the workpiece W stored in the workpiece stocker 25. In addition to the robot programs described above, the memory unit 61A also stores a number of movement programs for controlling the operation of the automatic transport vehicle 31A, such as a machine tool approach program that defines the machine tool approach operation for moving the automatic transport vehicle 31A to the machine tool 2, a numerical control device approach program that defines the numerical control device approach operation for moving the automatic transport vehicle 31A to the numerical control device 5, and a work stocker approach program that defines the work stocker approach operation for moving the automatic transport vehicle 31A to the work stocker 25.

[0070] The workpiece removal operation here refers to bringing the tool 33 of the robot 30 close to the workpiece stocker 25 and having the tool 33 grip one of the multiple works W stored in the workpiece stocker 25 .

[0071] Here, the machine tool approaching operation refers to moving the automated guided vehicle 31A toward a machine tool operation position determined near the machine tool 2. The machine tool operation position refers to a position that includes the machine tool 2 within the operating range of the robot 30 mounted on the automated guided vehicle 31A, and that allows the robot 30 to perform door closing operation, door opening operation, and workpiece exchange operation on the machine tool 2.

[0072] The numerical control device approaching operation means moving the automatic guided vehicle 31A toward a numerical control device operation position determined near the numerical control device 5. The numerical control operation position means a position that includes the operation panel 52 of the numerical control device 5 within the operating range of the robot 30 mounted on the automatic guided vehicle 31A, and that allows the robot 30 to perform a program start operation, a program stop operation, a program selection operation, and a door lock release operation on the operation panel 52.

[0073] The work stocker approach operation means moving the automatic guided vehicle 31A toward a work stocker operation position determined near the work stocker 25. The work stocker operation position means a position that includes the work stocker 25 within the operating range of the robot 30 mounted on the automatic guided vehicle 31A and that allows the robot 30 to perform a workpiece removal operation with respect to the work stocker.

[0074] The program selection and startup unit 63A selects a program from among the multiple programs stored in the memory unit 61A according to the analysis results by the analysis unit 62, starts it, and notifies the sequential operation control unit 64A of the instructions written in the started program.

[0075] The operation control unit 64A controls the operations of the robot 30, the tool 33, and the automatic guided vehicle 31A based on the program started by the program selection starting unit 63A. More specifically, when a robot program is started by the program selection starting unit 63A, the operation control unit 64A controls the operations of the robot 30 and the tool 33 by the same procedure as the operation control unit 64 according to the first embodiment. When a movement program is started by the program selection starting unit 63A, the operation control unit 64A calculates a target movement path for the automatic guided vehicle 31A in response to a command notified by the program selection starting unit 63A, generates a control signal for the automatic guided vehicle 31A so that the automatic guided vehicle 31A moves along the target movement path, and inputs the control signal to the automatic guided vehicle 31A.

[0076] According to this embodiment, the following effects are achieved. In this embodiment, the robot system 3A, which is the control target of the robot controller 6A, includes a robot 30 and an automatic guided vehicle 31A on which the robot 30 is mounted. The storage unit 61A of the robot controller 6A stores a plurality of movement programs defined for each movement operation for moving the automatic guided vehicle 31A toward an operation target such as the machine tool 2, the numerical control device 5, and the workpiece stocker 25. This allows the robot controller 6A to move the automatic guided vehicle 31A to an appropriate position according to the state of the operation target, and to operate the operation target by the robot 30 mounted on the automatic guided vehicle 31A.

[0077] The present disclosure is not limited to the above-described embodiment, and various modifications and variations are possible. [Explanation of symbols]

[0078] 1,1A…Numerical control system 2...Machine tool (operation target) W…Work 21...Door 25...Work stocker (operation target) 3,3A…Robot system 30. Robot 31A…Automatic guided vehicle (mobile body) 33…Tools 5...Numerical control device 51...Storage section 52...Operation panel (operation reception section) 53…Program selection start section 54...Motion control unit 59...Data transmission / reception section 6, 6A…Robot control device 61,61A…Storage section 62…Analysis department 63, 63A…Program selection start section 64, 64A: Operation control section 69...Data transmission / reception unit (status acquisition unit)

Claims

1. A robot control device for controlling an operation of a robot system including a robot and a moving body on which the robot is mounted, a storage unit that stores a plurality of programs that are defined for each operation of the robot system with respect to an operation target that is provided within an operating range of the robot system; A state acquisition unit that acquires a state of the operation target; an analysis unit that analyzes the state acquired by the state acquisition unit; a program selection and startup unit that selects a program corresponding to an analysis result by the analysis unit from among a plurality of programs stored in the storage unit, and starts the program; an operation control unit that controls an operation of the robot system based on the program started by the program selection start unit, the storage unit stores a plurality of programs defined for each movement action of moving the moving object toward the operation target; The operation control unit controls the operation of the robot in a high-speed mode when a human presence sensor does not detect the presence of a human within the operating range, and controls the operation of the robot in a collaborative mode in which the robot continues to operate at an operating speed slower than the high-speed mode when the human presence sensor detects the presence of a human within the operating range.

2. The operation target includes a machine tool that processes a workpiece, and a numerical control device that controls an operation of the machine tool based on an operation and a numerical control program accepted by an operation acceptance unit, The robot control device according to claim 1 , wherein the state acquisition unit is communicatively connected to the numerical control device and acquires an execution state of the numerical control program in the numerical control device via the communication.

3. The robot control device according to claim 2 , wherein the storage unit stores a plurality of programs defined for each operation action by the robot with respect to the operation reception unit.

4. The storage unit stores a program that defines an activation operation action to be performed by the robot with respect to the operation reception unit, The robot control device according to claim 3 , wherein the numerical control device starts a predetermined numerical control program in response to the start-up operation being accepted by the operation acceptance unit.

5. The storage unit stores a program that defines a stop operation action to be performed by the robot with respect to the operation acceptance unit, The robot control device according to claim 3 , wherein the numerical control device stops a currently-executing numerical control program in response to the stop operation being accepted by the operation acceptance unit.

6. the storage unit stores a program that defines a selection operation action to be performed by the robot with respect to the operation reception unit; The robot control device according to claim 3 , wherein the numerical control device selects a numerical control program in response to the selection operation being accepted by the operation accepting unit.

7. The robot control device according to claim 2 , wherein the state acquisition unit acquires an open / closed state of a door of the machine tool.

8. The robot control device according to claim 7 , wherein the storage unit stores at least one of a program that defines a door closing operation action for closing the door by the robot and a program that defines a door opening operation action for opening the door by the robot.

9. The robot control device according to claim 1 , wherein the operation control unit stops the operation of the robot when an external force applied to the robot due to contact is detected in the cooperation mode.

10. A robot control device that controls the operation of a robot system including a robot and a moving body on which the robot is mounted; a numerical control device communicably connected to the robot control device and controlling an operation of a machine tool provided within an operating range of the robot system based on a numerical control program, The robot control device includes: a storage unit that stores a plurality of programs that are defined for each operation of the robot system with respect to the machine tool and the numerical control device as operation objects; A state acquisition unit that acquires a state of the operation target; an analysis unit that analyzes the state acquired by the state acquisition unit; a program selection and startup unit that selects a program corresponding to an analysis result by the analysis unit from among a plurality of programs stored in the storage unit, and starts the program; an operation control unit that controls an operation of the robot system based on the program started by the program selection start unit, the storage unit stores a plurality of programs defined for each movement action of moving the moving object toward the operation target; The operation control unit controls the operation of the robot in a high-speed mode when a human presence sensor does not detect the presence of a human within the operating range, and controls the operation of the robot in a collaborative mode in which the robot continues to operate at an operating speed slower than the high-speed mode when the human presence sensor detects the presence of a human within the operating range.

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