Numerical control system and robot control device

Abstract

A numerical control system that controls the operation of a machine tool and the operation a robot in a linked manner, comprising a numerical control device that controls the operation of the machine tool on the basis of a numerical control program, a robot control device that controls the operation of the robot on the basis of a robot control program, a variable storage unit that stores the value of a variable that is readable and writable by the numerical control device, and a signal / variable conversion unit that converts the value of the variable of the numerical control device to a signal or a variable for the robot control device, wherein: the robot control device reads out the value of the variable of the numerical control device stored in the variable storage unit; the signal / variable conversion unit converts the value of the read-out variable of the numerical control device to the signal or the variable for the robot control device; and the robot control device controls the operation of the robot on the basis of the converted signal or variable for the robot control device.

Description

[Technical Field]

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

[0002] In recent years, in order to promote automation in machining sites, there has been a demand for numerical control systems that can control the operation of machine tools that machine workpieces in conjunction with the operation of robots, such as the operation of attaching and detaching workpieces to and from machine tools and the operation of opening and closing doors (see, for example, Patent Document 1).

[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. 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, for example, in the numerical control system shown in Patent Document 1, it is possible to select and set an operation program for the robot according to instructions from the user on the numerical control device side. [Prior art documents] [Patent documents]

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

[0005] However, in a numerical control system that controls the operations of a machine tool and a robot in a coordinated manner, when a robot control program is linked via variables of the numerical control device, the robot control device must create a new robot control program using the variables of the numerical control device. As a result, the robot control device cannot use existing robot control programs. Therefore, there is a demand for technology that allows existing robot control programs to be used in a numerical control system that controls the operations of a machine tool and a robot in a coordinated manner.

[0006] The present disclosure aims to provide a technology that enables the use of existing robot control programs in a numerical control system that controls the operations of a machine tool and a robot in conjunction with each other. [Means for solving the problem]

[0007] A numerical control system according to one aspect of the present disclosure is a numerical control system that controls the operations of a machine tool and a robot in conjunction with each other, and includes a numerical control device that controls the operation of the machine tool based on a numerical control program, a robot control device that controls the operation of the robot based on a robot control program, a variable memory unit that stores values of variables that can be read and written by the numerical control device, and a signal variable conversion unit that converts the values of the variables of the numerical control device into signals or variables of the robot control device, wherein the robot control device reads out the values of the variables of the numerical control device stored in the variable memory unit, and the signal variable conversion unit converts the read values of the variables of the numerical control device into signals or variables of the robot control device, and the robot control device controls the operation of the robot based on the converted signals or variables of the robot control device.

[0008] A robot control device according to one aspect of the present disclosure is a robot control device that controls the operation of a machine tool and a robot in conjunction with each other based on a robot control program, and includes a signal variable conversion unit that converts the values of variables of a numerical control device that controls the operation of the machine tool based on a numerical control program into signals or variables of the robot control device, the robot control device reads the values of the variables of the numerical control device from the numerical control device, the signal variable conversion unit converts the read values of the variables of the numerical control device into signals or variables of the robot control device, and the robot control device controls the operation of the robot based on the converted signals or variables of the robot control device. [Effects of the Invention]

[0009] According to the present disclosure, an existing robot control program can be used in a numerical control system that controls the operations of a machine tool and a robot in conjunction with each other. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram of a numerical control system according to an embodiment of the present invention. [Figure 2] FIG. 1 is a functional block diagram of a numerical control system according to an embodiment of the present invention. [Figure 3] FIG. 4 is a diagram illustrating an example of a numerical control program according to the present embodiment. [Figure 4] FIG. 4 is a diagram showing an example of a robot control program created from the numerical control program shown in FIG. 3 using commands to read and write custom macro variables. [Figure 5] FIG. 10 is a diagram showing the correspondence between conditional branch signals of a robot and values of custom macro variables of a numerical control device. [Figure 6] 10 is an example of a robot control program including a conditional branch signal for the robot converted by a signal variable conversion unit. [Figure 7] FIG. 10 is a diagram showing the correspondence between the values of custom macro variables of the numerical control device and conditional branch signals of the robot. [Figure 8]FIG. 4 is a diagram showing an example of a robot control program created from the numerical control program shown in FIG. 3 using commands to read and write custom macro variables. [Figure 9] FIG. 10 is a diagram showing the correspondence between the values of the conditional branch variables of the robot and the custom macro variables of the numerical control device. [Figure 10] 10 is an example of a robot control program including variables for conditional branching of the robot converted by a signal variable conversion unit. [Figure 11] FIG. 10 is a diagram showing the correspondence between the values of custom macro variables of the numerical control device and the conditional branch variables of the robot. [Figure 12] FIG. 10 is a diagram illustrating another example of the numerical control program according to the embodiment. [Figure 13] FIG. 13 is a diagram showing an example of a robot control program created from the numerical control program shown in FIG. 12 using commands to read and write custom macro variables. [Figure 14] FIG. 10 is a diagram showing the correspondence between conditional branch signals of a robot and values of custom macro variables of a numerical control device. [Figure 15] 10 is an example of a robot control program including a conditional branch signal for the robot converted by a signal variable conversion unit. [Figure 16] FIG. 10 is a diagram showing the correspondence between the values of custom macro variables of the numerical control device and conditional branch signals of the robot. [Figure 17] FIG. 10 is a diagram showing the correspondence between the values of the conditional branch variables of the robot and the custom macro variables of the numerical control device. [Figure 18] 10 is an example of a robot control program including variables for conditional branching of the robot converted by a signal variable conversion unit. [Figure 19] FIG. 10 is a diagram showing the correspondence between the values of custom macro variables of the numerical control device and the conditional branch variables of the robot. [Figure 20] 10 is a flowchart showing the flow of a process for converting the value of a custom macro variable of the numerical control device 2 into a signal or variable of the robot control device in the numerical control system according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

[0012] Fig. 1 is a schematic diagram of a numerical control system 1 according to this embodiment. As shown in Fig. 1, the numerical control system 1 includes a machine tool 20 that processes a workpiece (not shown), a numerical control device (CNC) 2 that controls the operation of the machine tool 20, a robot 30 provided near the machine tool 20, and a robot control device 3 that controls the operation of the robot 30. The numerical control system 1 controls the operations of the machine tool 20 and the robot 30 in a linked manner by using the numerical control device 2 and the robot control device 3 that are connected to each other so that they can communicate with each other.

[0013] Machine tool 20 is, for example, but not limited to, a lathe, drill press, milling machine, grinding machine, laser processing machine, injection molding machine, etc. Machine tool 20 performs various operations such as machining of a workpiece (not shown), opening and closing of a chuck that grips the workpiece, and opening and closing of a door provided in a workpiece processing area, in response to various command signals transmitted from numerical control device 2 according to a procedure that will be described later.

[0014] The robot 30 operates under the control of the robot control device 3, and performs a predetermined task on a workpiece being machined by, for example, a machine tool 20. The robot 30 is, for example, an articulated robot, and a tool 30b for gripping, machining, and inspecting the workpiece is attached to the arm tip 30a. In the following, the robot 30 will be described as being a six-axis articulated robot, but the present invention is not limited to this.

[0015] The numerical control device 2 and the robot control device 3 are each computers configured with 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 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 that displays various information to the operator. The numerical control device 2 and the robot control device 3 are capable of transmitting and receiving various signals to each other via, for example, Ethernet (registered trademark).

[0016] The numerical control system 1 according to this embodiment may be, for example, but is not limited to, a system in which a robot 30 is retrofitted to an existing machine tool 20. For example, the numerical control system 1 according to this embodiment is configured such that the robot control device 3 issues an operation request to the numerical control device 2, and the robot control device 3 can read and write variables of the numerical control device 2, in order to control the operation of the machine tool 20 and the operation of the robot 30 in a linked manner.

[0017] FIG. 2 is a functional block diagram of the numerical control system 1 according to this embodiment.

[0018] First, we will explain the detailed configuration of the numerical control device 2. As shown in Fig. 2, the above hardware configuration of the numerical control device 2 realizes various functions such as a machine tool control module 200 that controls the operation of the machine tool 20, a variable storage unit 24 that stores the values of multiple variables that can be read and written by the machine tool control module 200 and a robot control module 300 (described later), and a data transmission / reception unit 25.

[0019] The machine tool control module 200 reads and writes the values of variables stored in the variable memory unit 24 based on the numerical control program, and controls the operation of the machine tool 20. More specifically, the machine tool control module 200 includes a memory unit 21, a program input unit 22, an analysis unit 23, an I / O control unit 26, an interpolation control unit 27, and a servo control unit 28.

[0020] The memory unit 21 stores a numerical control program for controlling the operation of the machine tool 20 (for example, the movement of the control axis, the rotation of the spindle, the opening and closing of the chuck, and the opening and closing of the door). The numerical control program stored in the memory unit 21 is created in advance by an operator in order to control the operation of the machine tool 20 in conjunction with the operation of the robot 30 under the control of the robot control device 3, and is written in a programming language using G-code, M-code, or the like.

[0021] The program input unit 22 reads out the numerical control programs from the storage unit 21 and inputs them to the analysis unit 23 one by one.

[0022] The analysis unit 23 sequentially analyzes the command types based on the numerical control program input from the program input unit 22 for each block, and transmits the analysis results to the I / O control unit 26, the interpolation control unit 27, and the variable storage unit 24.

[0023] When the type of command acquired based on the numerical control program is, for example, a command to open / close the chuck of machine tool 20 or a command to open / close the door of machine tool 20, analysis unit 23 inputs the acquired command to I / O control unit 26. When a command is input from analysis unit 23, I / O control unit 26 inputs an I / O signal corresponding to the input command to machine tool 20. As a result, the chuck or door of machine tool 20 is opened / closed in accordance with the procedure determined by the numerical control program.

[0024] When the type of command acquired based on the numerical control program is, for example, a command to move a control axis of machine tool 20, analysis unit 23 inputs the acquired command to interpolation control unit 27. When a command is input from analysis unit 23, interpolation control unit 27 calculates a movement path of the control axis according to the command by performing interpolation processing, and inputs the calculated movement path to servo control unit 28. Servo control unit 28 feedback-controls the servo motor of machine tool 20 so that the control axis moves along the movement path calculated by interpolation control unit 27. In this way, the operation of machine tool 20 is controlled according to the procedure defined by the numerical control program.

[0025] If the type of command acquired based on the numerical control program is, for example, a command to read the value of a variable stored in the variable memory unit 24 or a command to rewrite the value of a variable stored in the variable memory unit 24, the analysis unit 23 inputs the acquired command into the variable memory unit 24.

[0026] The variable storage unit 24 has a variable memory (not shown) that stores the values of multiple variables, and reads or rewrites the values of the variables stored in the variable memory in response to commands input from the analysis unit 23 or commands input from a robot control module 300 (described below) of the robot control device 3 via the data transmission / reception unit 25.

[0027] In this embodiment, when a variable value assigned to an operation request from the robot control device 3 to the machine tool 20 is set, the machine tool control module 200 and the variable memory unit 24 write the operation completion time to the corresponding variable, and the corresponding operation (e.g., door opening / closing, chuck opening / closing, processing 1 to 3 described below, etc.) is executed.

[0028] The variable memory of the variable storage unit 24 stores the values of a plurality of variables designated by numbers or character strings in a numerical control program for controlling the operation of the machine tool 20 in the machine tool control module 200 and in a robot control program for controlling the operation of the robot 30 in the robot control module 300. In this embodiment, a case will be described in which some (for example, #100 to #107, #200 to #203) of custom macro variables (hereinafter simply referred to as variables) defined in many numerical control devices are assigned as variables to be stored in the variable memory, but the present invention is not limited to this.

[0029] When a command to read the value of a variable stored in the variable memory is input from the analysis unit 23, the variable storage unit 24 reads the value of the variable specified by the command from the variable memory and transmits the read value to the analysis unit 23. When a command to rewrite the value of a variable stored in the variable memory is input from the analysis unit 23, the variable storage unit 24 rewrites the value of the variable specified by the command in the variable memory to a value according to the command. This enables the machine tool control module 200 to read and rewrite the values of variables stored in the variable memory.

[0030] When a command to read the value of a variable stored in the variable memory is input from the robot control module 300 via the data transmission / reception unit 25, the variable storage unit 24 reads the value of the variable specified by the command from the variable memory and transmits the read value to the robot control module 300 via the data transmission / reception unit 25. When a command to rewrite the value of a variable stored in the variable memory is input from the robot control module 300 via the data transmission / reception unit 25, the variable storage unit 24 rewrites the value of the variable specified by the command in the variable memory to a value according to the command. This enables the robot control module 300 to read and rewrite the values of variables stored in the variable memory.

[0031] The variable memory of the variable storage unit 24 stores the values of a plurality of variables that are intended to be used for notifications and requests from the robot control module 300 to the machine tool control module 200, but is not limited to this. It may also store the values of a plurality of variables that are intended to be used for notifications from the machine tool control module 200 to the robot control module 300. It is preferable that the variables are readable from both the machine tool control module 200 and the robot control module 300 and rewritable from both.

[0032] Variable #100 is assigned, for example, from robot control module 300 to machine tool control module 200 to request the stopping of the numerical control program being executed in machine tool control module 200. When the value of variable #100 is 0, it indicates that the stopping of the numerical control program has not been requested (request OFF), and when the value of variable #100 is 1, it indicates that the stopping of the numerical control program has been requested (request ON).

[0033] Variable #101 is assigned, for example, to request the robot control module 300 to the machine tool control module 200 to open the door of machine tool 20. When the value of variable #101 is 0, it indicates that the door opening operation is not requested (request OFF), and when the value of variable #101 is 1, it indicates that the door opening operation is requested (request ON).

[0034] Variable #102 is assigned, for example, to request the closing operation of the door of machine tool 20 from robot control module 300 to machine tool control module 200. When the value of variable #102 is 0, it indicates that the closing operation of the door is not requested (request OFF), and when the value of variable #102 is 1, it indicates that the closing operation of the door is requested (request ON).

[0035] Variable #103 is assigned, for example, from robot control module 300 to machine tool control module 200 to request an operation to open the chuck of machine tool 20. When the value of variable #103 is 0, it indicates that a chuck opening operation is not being requested (request OFF), and when the value of variable #103 is 1, it indicates that a chuck opening operation is being requested (request ON).

[0036] Variable #104 is assigned, for example, from robot control module 300 to machine tool control module 200 to request the closing operation of the chuck of machine tool 20. When the value of variable #104 is 0, it indicates that the closing operation of the chuck is not requested (request OFF), and when the value of variable #104 is 1, it indicates that the closing operation of the chuck is requested (request ON).

[0037] Variable #105 is assigned, for example, from robot control module 300 to machine tool control module 200 to request that machining 1 be performed by machine tool 20. When the value of variable #105 is 0, it indicates that the execution of machining 1 is not being requested (request OFF), and when the value of variable #105 is 1, it indicates that the execution of machining 1 is being requested (request ON).

[0038] Variable #106 is assigned, for example, from robot control module 300 to machine tool control module 200 to request that machining 2 be performed by machine tool 20. When the value of variable #106 is 0, it indicates that the execution of machining 2 is not being requested (request OFF), and when the value of variable #106 is 1, it indicates that the execution of machining 2 is being requested (request ON).

[0039] Variable #107 is assigned, for example, from robot control module 300 to machine tool control module 200 to request that machining 3 be performed by machine tool 20. When the value of variable #107 is 0, it indicates that the execution of machining 3 is not requested (request OFF), and when the value of variable #107 is 1, it indicates that the execution of machining 3 is requested (request ON).

[0040] The variable #200 is assigned, for example, to request the opening operation of the hand 1 of the robot 30 from the machine tool control module 200 to the robot control module 300. When the value of the variable #200 is 0, it indicates that the opening operation of the hand 1 is not requested (request OFF), and when the value of the variable #200 is 1, it indicates that the opening operation of the hand 1 is requested (request ON).

[0041] The variable #201 is assigned, for example, to request the closing operation of the hand 1 of the robot 30 from the machine tool control module 200 to the robot control module 300. When the value of the variable #201 is 0, it indicates that the closing operation of the hand 1 is not requested (request OFF), and when the value of the variable #201 is 1, it indicates that the closing operation of the hand 1 is requested (request ON).

[0042] The variable #202 is assigned, for example, to request the opening operation of the hand 2 of the robot 30 from the machine tool control module 200 to the robot control module 300. When the value of the variable #202 is 0, it indicates that the opening operation of the hand 2 is not requested (request OFF), and when the value of the variable #202 is 1, it indicates that the opening operation of the hand 2 is requested (request ON).

[0043] The variable #203 is assigned, for example, to request the closing operation of the hand 2 of the robot 30 from the machine tool control module 200 to the robot control module 300. When the value of the variable #203 is 0, it indicates that the closing operation of the hand 2 is not requested (request OFF), and when the value of the variable #203 is 1, it indicates that the closing operation of the hand 2 is requested (request ON).

[0044] The values of the multiple variables stored in the variable memory are reset to a predetermined initial value (for example, 0) when the numerical control device 2 is turned on.

[0045] Next, a detailed description will be given of the configuration of the robot control device 3. As shown in Fig. 2, the robot control device 3 has the above hardware configuration to realize various functions such as a robot control module 300 that controls the operation of the robot 30, a data transmission / reception unit 35, a signal variable conversion unit 36, and a signal variable storage unit 37.

[0046] The robot control module 300 reads and writes the values of variables stored in the variable memory unit 24 based on the robot control program, and controls the operation of the robot 30. More specifically, the robot control module 300 includes a memory unit 31, a program input unit 32, an analysis unit 33, a trajectory control unit 38, and a servo control unit 39.

[0047] The storage unit 31 stores a robot control program for controlling the operation of the robot 30. The robot control program stored in the storage unit 31 is created in advance by an operator in order to control the operation of the robot 30 in conjunction with the operation of the machine tool 20 under the control of the numerical control device 2.

[0048] The program input unit 32 reads out the robot control program from the storage unit 31 and inputs it to the analysis unit 33 one by one.

[0049] The analysis unit 33 sequentially analyzes the command types based on the robot control program input from the program input unit 32 for each block, and transmits the analysis results to the trajectory control unit 38, the data transmission / reception unit 35, and the signal variable conversion unit 36.

[0050] When the type of command acquired based on the robot control program is, for example, a command to move a control point of the robot 30 (e.g., the arm tip 30a), the analysis unit 33 inputs the acquired command to the trajectory control unit 38. When the command is input from the analysis unit 33, the trajectory control unit 38 calculates a movement trajectory of the control point of the robot 30 when moving the control point to a position specified by the command, calculates angles of each joint of the robot 30 according to the calculated movement trajectory as target angles, and transmits these target angles to the servo control unit 39. The servo control unit 39 generates robot control signals for the robot 30 by feedback-controlling each servo motor of the robot 30 so that the target angles of each joint transmitted from the trajectory control unit 38 are realized, and inputs the robot control signals to the servo motors of the robot 30. In this way, the movement of the robot 30 is controlled according to the procedure defined in the robot control program.

[0051] If the type of command acquired based on the robot control program is, for example, an instruction to read the value of a variable stored in the variable memory unit 24 or an instruction to rewrite the value of a variable stored in the variable memory unit 24, the analysis unit 33 inputs the acquired command to the data transmission / reception unit 35.

[0052] When the data transmission / reception unit 35 receives a command from the analysis unit 33 to read the value of a variable, it transmits the command to the data transmission / reception unit 25 of the numerical control device 2. As described above, when such a read command is input, the variable storage unit 24 reads the value of the variable specified by the command from the variable memory and sends the read value back to the analysis unit 33 via the data transmission / reception unit 25 and the data transmission / reception unit 35. Furthermore, when the data transmission / reception unit 35 receives a command from the analysis unit 33 to rewrite the value of a variable, it transmits the command to the data transmission / reception unit 25 of the numerical control device 2. As described above, when such a rewrite command is input, the variable storage unit 24 rewrites the value of the variable specified by the command in the variable memory to a value according to the command. This enables the robot control module 300 to read and rewrite the values of variables stored in the variable memory.

[0053] The signal variable conversion unit 36 converts the value of a variable of the numerical control device 2 into a signal or variable of the robot control device 3. Specifically, the signal variable conversion unit 36 converts the value of a custom macro variable of the numerical control device 2 into a signal or variable of the robot control device 3.

[0054] Here, the signal or variable of the robot control device 3 is a conditional branch signal or a conditional branch variable of the robot 30. That is, the signal variable conversion unit 36 converts the value of the custom macro variable of the numerical control device 2 into a conditional branch signal or a conditional branch variable of the robot 30.

[0055] The signal variable storage unit 37 stores the values of the custom macro variables of the numerical control device 2 and the conditional branch signals or conditional branch variables of the robot in association with each other.

[0056] Fig. 3 is a diagram showing an example of a numerical control program according to this embodiment. Fig. 3 shows an example of a numerical control program with program number 0123, and the first block is assigned sequence number N10. Fig. 3 also shows an example of the allocation of the above-mentioned custom macro variables.

[0057] The numerical control program shown in FIG. 3 monitors requests from robot control module 300 by reading out the values of variables #100 to #107, etc. at a predetermined cycle in machine tool control module 200, and controls the operation of machine tool 20 by machine tool control module 200 in accordance with the read values of variables #100 to #107.

[0058] The robot control module 300 controls the operation of the robot 30 in accordance with the robot control program, and rewrites the values of variables #100 to #107 stored in the variable memory of the variable storage unit 24 in accordance with the robot control program.

[0059] More specifically, in the first block, the machine tool control module 200 reads the value of variable #101 stored in the variable memory and determines whether the read value is "1." If the value of variable #101 is "1," that is, if the robot control module 300 has requested that the door of the machine tool 20 be opened, the machine tool control module 200 calls the subprogram with program number "0001" in accordance with the command "M98" for calling the subprogram, and if the value of variable #101 is "0," the process proceeds to the next block. By executing the subprogram with program number "0001," the machine tool control module 200 opens the door of the machine tool 20 and resets the value of variable #101 to "0," before returning to the main program shown in FIG. 3.

[0060] In the next block, the machine tool control module 200 reads the value of variable #102 stored in the variable memory and determines whether the read value is "1." If the value of variable #102 is "1," that is, if the robot control module 300 has requested that the door of the machine tool 20 be closed, the machine tool control module 200 executes the subprogram with program number "0002," and if the value of variable #102 is "0," the machine tool control module 200 proceeds to the next block. By executing the subprogram with program number "0002," the machine tool control module 200 closes the door of the machine tool 20 and resets the value of variable #102 to "0," and then returns to the main program shown in FIG. 3.

[0061] In the next block, the machine tool control module 200 reads the value of variable #103 stored in the variable memory and determines whether the read value is "1." If the value of variable #103 is "1," that is, if the robot control module 300 has requested that the chuck of the machine tool 20 be opened, the machine tool control module 200 executes the subprogram with program number "0003," and if the value of variable #103 is "0," the machine tool control module 200 proceeds to the next block. By executing the subprogram with program number "0003," the machine tool control module 200 opens the chuck of the machine tool 20 and resets the value of variable #103 to "0," before returning to the main program shown in FIG. 3.

[0062] Although not shown in the figure, the machine tool control module 200 similarly reads the value of variable #104 stored in the variable memory and determines whether the read value is "1." If the value of variable #104 is "1," that is, if the robot control module 300 has requested that the chuck of the machine tool 20 be closed, the machine tool control module 200 executes the subprogram with program number "0004," and if the value of variable #104 is "0," the machine tool control module 200 proceeds to the next block. By executing the subprogram with program number "0004," the machine tool control module 200 closes the chuck of the machine tool 20 and resets the value of variable #104 to "0," and then returns to the main program shown in FIG. 3.

[0063] In the next block, the machine tool control module 200 reads the value of variable #105 stored in the variable memory and determines whether the read value is "1." If the value of variable #105 is "1," that is, if the robot control module 300 is requesting that the machine tool 20 perform Machining 1, the machine tool control module 200 executes the subprogram with program number "0005," and if the value of variable #105 is "0," the process proceeds to the next block.

[0064] An example of a subprogram with program number "0005" is shown in Figure 3. When the subprogram with program number "0005" is called, the machine tool control module 200 inputs various commands such as "G00" and "G01" for machining a workpiece using the machine tool 20. The machine tool control module 200 controls the positioning operation, linear interpolation operation, etc. of the machine tool 20 in accordance with the procedures defined by the numerical control program, and machines the workpiece. When the operation of Machining 1 is completed, the machine tool control module 200 rewrites the value of variable #105 stored in the variable memory to "0" and returns to the main program shown in Figure 3 in accordance with command "M99".

[0065] Although not shown, the operation request for machining 2 or machining 3 from the robot control module 300 to the machine tool 20 is also executed by the same numerical control program as in the case of the operation request for machining 1 described above.

[0066] In the next block, the machine tool control module 200 reads the value of variable #100 stored in the variable memory and determines whether the read value is "0." If the value of variable #100 is "0," that is, if the robot control module 300 has not requested that the numerical control program be stopped, the machine tool control module 200 returns to sequence number "N10" and again monitors the values of variables #100 to #107. If the value of variable #100 is "1," that is, if the robot control module 300 has requested that the numerical control program be stopped, the machine tool control module 200 terminates the numerical control program shown in Fig. 3 in accordance with command "M30."

[0067] 4 to 7 are diagrams showing examples of converting the value of a custom macro variable into a conditional branch signal for the robot 30. FIG. 4 is a diagram showing an example of a robot control program created from the numerical control program shown in FIG. 3 using a read / write command for a custom macro variable. In the robot control program shown in FIG. 4, the code on lines 2 and 5 is created using a read / write command for a custom macro variable (custom macro variable #105).

[0068] When linking the robot control program via the custom macro variables of the numerical control device 2 in this way, the robot control device 3 needs to create a new robot control program using the custom macro variables of the numerical control device 2. Therefore, the robot control device 3 will no longer be able to use the existing robot control program.

[0069] Therefore, the robot control device 3 according to this embodiment converts the value of the custom macro variable of the numerical control device 2 into a conditional branch signal or a conditional branch variable of the robot 30, as will be described below.

[0070] 5 is a diagram showing the correspondence between the conditional branch signals of the robot 30 and the values of the custom macro variables of the numerical control device 2. As shown in FIG. 5, the conditional branch signals DI[0], DI[1], DI[2], DI[3], DI[4], DI[5], DI[6], and DI[7] of the robot 30 correspond to the custom macro variables #100, #101, #102, #103, #104, #105, #106, and #107, respectively. As described above, the values of the conditional branch signals and custom macro variables of the robot 30 are stored in the signal variable storage unit 37.

[0071] As described above, the analysis unit 33 determines the type of command in the robot control program, and if the command obtained based on the robot control program commands reading of the value of a variable stored in the variable memory unit 24, the analysis unit 33 reads the value of the variable stored in the variable memory unit 24.

[0072] Then, the signal variable conversion unit 36 converts the value of the read-out custom macro variable of the numerical control device 2 into a conditional branch signal of the robot 30 based on the values of the conditional branch signal and the custom macro variable of the robot 30 stored in the signal variable memory unit 37.

[0073] 6 is an example of a robot control program including conditional branching signals for the robot 30 converted by the signal variable conversion unit 36. The robot control program shown in FIG. 6 executes control of the robot 30 in the same manner as the robot control program shown in FIG.

[0074] In the robot control program shown in FIG. 6, like the robot control program shown in FIG. 4, the code on the second and fifth lines includes conditional branch signals (DO[5] and DI[5]) for the robot 30. However, the values of the custom macro variables of the numerical control device 2 have been converted into conditional branch signals for the robot 30. Therefore, the robot control device 3 does not need to change the code on the second and fifth lines in an existing robot control program. Therefore, the robot control device 3 can use an existing robot control program without creating a new robot control program.

[0075] The robot control device 3 then controls the operation of the robot 30 using the conditional branching signals of the robot 30 converted by the signal variable conversion unit 36 and the robot control program.

[0076] 7 is a diagram showing the correspondence between the values of the custom macro variables of the numerical control device 2 and the conditional branch signals of the robot 30. As shown in Fig. 7, the custom macro variables #100, #101, #102, #103, #104, #105, #106, and #107 correspond to the conditional branch signals DO[0], DO[1], DO[2], DO[3], DO[4], DO[5], DO[6], and DO[7] of the robot 30, respectively. As described above, the values of the conditional branch signals and the custom macro variables of the robot 30 are stored in the signal variable storage unit 37.

[0077] After controlling the operation of the robot 30 based on the conditional branch signal of the robot 30 converted by the signal variable conversion unit 36, the signal variable conversion unit 36 converts the conditional branch signal of the robot 30 into the value of a custom macro variable of the numerical control device 2 based on the value of the conditional branch signal of the robot 30 and the custom macro variable stored in the signal variable memory unit 37.

[0078] The data transmitter / receiver 35 transmits the converted value of the custom macro variable to the data transmitter / receiver 25. Then, the robot control module 300 updates the value of the custom macro variable stored in the variable memory of the variable storage unit 24 based on the value of the custom macro variable received by the data transmitter / receiver 25.

[0079] 8 to 11 are diagrams showing examples of converting the values of custom macro variables into variables for conditional branching of the robot 30. Fig. 8 is a diagram showing an example of a robot control program created from the numerical control program shown in Fig. 3 using commands to read and write custom macro variables. In the robot control program shown in Fig. 8, the code on lines 2 and 5 is created using commands to read and write custom macro variables.

[0080] 9 is a diagram showing the correspondence between the conditional branch variables of the robot 30 and the values of the custom macro variables of the numerical control device 2. As shown in FIG. 9, the conditional branch variables REGI[0], REGI[1], REGI[2], REGI[3], REGI[4], REGI[5], REGI[6], and REGI[7] of the robot 30 correspond to custom macro variables #100, #101, #102, #103, #104, #105, #106, and #107, respectively. As described above, the values of the conditional branch variables and custom macro variables of the robot 30 are stored in the signal variable storage unit 37.

[0081] As described above, the analysis unit 33 determines the type of command in the robot control program, and if the command obtained based on the robot control program commands reading of the value of a variable stored in the variable memory unit 24, the analysis unit 33 reads the value of the variable stored in the variable memory unit 24.

[0082] Then, the signal variable conversion unit 36 converts the value of the read-out custom macro variable of the numerical control device 2 into a conditional branch variable of the robot 30 based on the values of the conditional branch variable and custom macro variable of the robot 30 stored in the signal variable memory unit 37.

[0083] 10 is an example of a robot control program including variables for conditional branching of the robot 30 converted by the signal variable conversion unit 36. The robot control program shown in FIG. 10 executes control of the robot 30 in the same manner as the robot control program shown in FIG.

[0084] 10, like the robot control program shown in FIG. 8, the code on the second and fifth lines includes variables for conditional branching of the robot 30 (register

[15] and register [5]). However, the values of the custom macro variables of the numerical control device 2 have been converted into variables for conditional branching of the robot 30. Therefore, the robot control device 3 does not need to change the code on the second and fifth lines in the existing robot control program.

[0085] The robot control device 3 then controls the operation of the robot 30 using the conditional branch variables of the robot 30 converted by the signal variable conversion unit 36 and the robot control program.

[0086] 11 is a diagram showing the correspondence between the values of the custom macro variables of the numerical control device 2 and the conditional branch variables of the robot 30. As shown in FIG. 11, custom macro variables #100, #101, #102, #103, #104, #105, #106, and #107 correspond to the conditional branch variables register

[10] , register

[11] , register

[12] , register

[13] , register

[14] , register

[15] , register

[16] , and register

[17] of the robot 30, respectively. As described above, the values of these conditional branch variables and custom macro variables of the robot 30 are stored in the signal variable storage unit 37.

[0087] After controlling the operation of the robot 30 based on the conditional branch variables of the robot 30 converted by the signal variable conversion unit 36, the signal variable conversion unit 36 converts the conditional branch variables of the robot 30 into the values of the custom macro variables of the numerical control device 2 based on the values of the conditional branch variables of the robot 30 and the custom macro variables stored in the signal variable memory unit 37.

[0088] The data transmitter / receiver 35 transmits the converted value of the custom macro variable to the data transmitter / receiver 25. Then, the robot control module 300 updates the value of the custom macro variable stored in the variable memory of the variable storage unit 24 based on the value of the custom macro variable received by the data transmitter / receiver 25.

[0089] Fig. 12 is a diagram showing another example of a numerical control program according to this embodiment. Fig. 12 shows, as an example, a numerical control program with program number 0123, and the first block is assigned sequence number N10. Fig. 12 also shows an example of the allocation of the above-mentioned custom macro variables.

[0090] The numerical control program shown in FIG. 12 monitors requests from the robot control module 300 by reading out the values of variables #200 to #203, etc. at a predetermined cycle in the machine tool control module 200, and controls the operation of the machine tool 20 by the machine tool control module 200 in accordance with the read values of variables #200 to #203.

[0091] The robot control module 300 controls the operation of the robot 30 in accordance with the robot control program, and rewrites the values of the variables #200 to #203 stored in the variable memory of the variable storage unit 24 in accordance with the robot control program.

[0092] 13 to 16 are diagrams showing examples of converting the value of a custom macro variable into a conditional branch signal for the robot 30. Fig. 13 is a diagram showing an example of a robot control program created from the numerical control program shown in Fig. 12 using read / write commands for custom macro variables. In the robot control program shown in Fig. 13, the code on the second and third lines in the upper row and the code on the fifth line in the lower row are created using read / write commands for custom macro variables.

[0093] 14 is a diagram showing the correspondence between the conditional branch signals of the robot 30 and the values of the custom macro variables of the numerical control device 2. As shown in Fig. 14, the conditional branch signals DI

[0200] , DI

[0201] , DI

[0202] , and DI

[0203] of the robot 30 correspond to the custom macro variables #200, #201, #202, and #203, respectively. As described above, the values of the conditional branch signals and custom macro variables of the robot 30 are stored in the signal variable storage unit 37.

[0094] As described above, the analysis unit 33 determines the type of command in the robot control program, and if the command obtained based on the robot control program commands reading of the value of a variable stored in the variable memory unit 24, the analysis unit 33 reads the value of the variable stored in the variable memory unit 24.

[0095] Then, the signal variable conversion unit 36 converts the value of the read-out custom macro variable of the numerical control device 2 into a conditional branch signal of the robot 30 based on the values of the conditional branch signal and the custom macro variable of the robot 30 stored in the signal variable memory unit 37.

[0096] 15 is an example of a robot control program including conditional branching signals for the robot 30 converted by the signal variable conversion unit 36. The robot control program shown in FIG. 15 executes control of the robot 30 in the same manner as the robot control program shown in FIG. 13.

[0097] 15, similar to the robot control program shown in FIG. 13, the code on the second line at the top and the code on the fifth line at the bottom include conditional branching signals (DI

[0200] and DO

[0200] ) for the robot 30. However, the values of the custom macro variables of the numerical control device 2 have been converted into conditional branching signals for the robot 30. Therefore, the robot control device 3 does not need to change the code on the second line at the top and the fifth line at the bottom in the existing robot control program.

[0098] The robot control device 3 then controls the operation of the robot 30 using the conditional branching signals of the robot 30 converted by the signal variable conversion unit 36 and the robot control program.

[0099] 16 is a diagram showing the correspondence between the values of the custom macro variables of the numerical control device 2 and the conditional branch signals of the robot 30. As shown in Fig. 16, the custom macro variables #200, #201, #202, and #203 correspond to the conditional branch signals DO

[0200] , DO

[0201] , and DO

[0202] of the robot 30, respectively. As described above, the values of these conditional branch signals and custom macro variables of the robot 30 are stored in the signal variable storage unit 37.

[0100] After controlling the operation of the robot 30 based on the conditional branch signal of the robot 30 converted by the signal variable conversion unit 36, the signal variable conversion unit 36 converts the conditional branch signal of the robot 30 into the value of a custom macro variable of the numerical control device 2 based on the value of the conditional branch signal of the robot 30 and the custom macro variable stored in the signal variable memory unit 37.

[0101] The data transmitter / receiver 35 transmits the converted value of the custom macro variable to the data transmitter / receiver 25. Then, the robot control module 300 updates the value of the custom macro variable stored in the variable memory of the variable storage unit 24 based on the value of the custom macro variable received by the data transmitter / receiver 25.

[0102] 17 to 19 are diagrams showing examples of converting the values of custom macro variables into variables for conditional branching of the robot 30. FIG.

[0103] 17 is a diagram showing the correspondence relationship between the conditional branch variables of the robot 30 and the values of the custom macro variables of the numerical control device 2. As shown in Fig. 17, the conditional branch variables REGI

[0200] , REGI

[0201] , REGI

[0202] , and REGI

[0203] of the robot 30 correspond to the custom macro variables #200, #201, #202, and #203, respectively. As described above, the values of these conditional branch variables and custom macro variables of the robot 30 are stored in the signal variable storage unit 37.

[0104] As described above, the analysis unit 33 determines the type of command in the robot control program, and if the command obtained based on the robot control program commands reading of the value of a variable stored in the variable memory unit 24, the analysis unit 33 reads the value of the variable stored in the variable memory unit 24.

[0105] Then, the signal variable conversion unit 36 converts the value of the read-out custom macro variable of the numerical control device 2 into a conditional branch variable of the robot 30 based on the values of the conditional branch variable and custom macro variable of the robot 30 stored in the signal variable memory unit 37.

[0106] 18 is an example of a robot control program including variables for conditional branching of the robot 30 converted by the signal variable conversion unit 36. The robot control program shown in FIG. 18 executes control of the robot 30 in the same manner as the robot control program shown in FIG.

[0107] 18, similarly to the robot control program shown in FIG. 13, the code on the second line at the top and the code on the fifth line at the bottom include variables for conditional branching of the robot 30 (register

[0200] and register

[0300] ). However, the values of the custom macro variables of the numerical control device 2 have been converted into variables for conditional branching of the robot 30. Therefore, the robot control device 3 does not need to change the code on the second line at the top and the fifth line at the bottom in the existing robot control program.

[0108] The robot control device 3 then controls the operation of the robot 30 using the conditional branch variables of the robot 30 converted by the signal variable conversion unit 36 and the robot control program.

[0109] 19 is a diagram showing the correspondence between the values of the custom macro variables of the numerical control device 2 and the conditional branch variables of the robot 30. As shown in Fig. 19, the custom macro variables #200, #201, #202, and #203 correspond to the conditional branch variables REGI

[0300] , REGI

[0301] , REGI

[0302] , and REGI

[0303] of the robot 30, respectively. As described above, the values of these conditional branch variables and custom macro variables of the robot 30 are stored in the signal variable storage unit 37.

[0110] After controlling the operation of the robot 30 based on the conditional branch variables of the robot 30 converted by the signal variable conversion unit 36, the signal variable conversion unit 36 converts the conditional branch variables of the robot 30 into the values of the custom macro variables of the numerical control device 2 based on the values of the conditional branch variables of the robot 30 and the custom macro variables stored in the signal variable memory unit 37.

[0111] The data transmitter / receiver 35 transmits the converted value of the custom macro variable to the data transmitter / receiver 25. Then, the robot control module 300 updates the value of the custom macro variable stored in the variable memory of the variable storage unit 24 based on the value of the custom macro variable received by the data transmitter / receiver 25.

[0112] In the above-described embodiment, the signal variable conversion unit 36 converted the value of the custom macro variable of the numerical control device 2 into either a conditional branch signal or a conditional branch variable of the robot 30. However, if the robot control program includes both a conditional branch signal and a conditional branch variable of the robot 30, the signal variable conversion unit 36 may convert the value of the custom macro variable of the numerical control device 2 into a conditional branch signal and a conditional branch variable of the robot 30.

[0113] FIG. 20 is a flowchart showing the flow of processing for converting the values of custom macro variables of the numerical control device 2 into signals or variables of the robot control device 3 in the numerical control system 1 according to this embodiment.

[0114] In step S1, the analysis unit 33 determines the type of command in the robot control program, and if the command acquired based on the robot control program commands the reading of the value of a custom macro variable stored in the variable memory unit 24, the analysis unit 33 reads the value of the custom macro variable stored in the variable memory unit 24.

[0115] In step S2, the signal variable conversion unit 36 converts the value of the read-out custom macro variable of the numerical control device 2 into a conditional branch signal or conditional branch variable of the robot 30 based on the value of the conditional branch signal or conditional branch variable of the robot 30 stored in the signal variable memory unit 37 and the value of the custom macro variable.

[0116] In step S3, the robot control device 3 controls the operation of the robot 30 using the conditional branching variables or conditional branching variables of the robot 30 converted by the signal variable conversion unit 36, and the robot control program.

[0117] In step S4, the signal variable conversion unit 36 converts the conditional branch signal or conditional branch variable of the robot 30 into the value of the custom macro variable of the numerical control device 2 based on the value of the conditional branch signal or conditional branch variable of the robot 30 stored in the signal variable memory unit 37 and the value of the custom macro variable.

[0118] In step S5, the data transmitter / receiver 35 transmits the converted custom macro variable value to the data transmitter / receiver 25. In step S6, the robot control module 300 updates the values of the custom macro variables stored in the variable memory of the variable storage unit 24 based on the values of the custom macro variables received by the data transmission / reception unit 25.

[0119] According to this embodiment, the following effects are achieved. A numerical control system 1 that controls the operations of a machine tool 20 and a robot 30 in conjunction with each other includes a numerical control device 2 that controls the operation of the machine tool 20 based on a numerical control program, a robot control device 3 that controls the operation of the robot 30 based on a robot control program, a variable memory unit 24 that stores values of variables that can be read and written by the numerical control device 2, and a signal variable conversion unit 36 that converts the values of the variables of the numerical control device 2 into signals or variables of the robot control device 3. The robot control device 3 reads the values of the variables of the numerical control device stored in the variable memory unit 24, and the signal variable conversion unit 36 converts the read values of the variables of the numerical control device 2 into signals or variables of the robot control device 3. The robot control device 3 controls the operation of the robot 30 based on the converted signals or variables of the robot control device 3. This allows the robot control device 3 of the numerical control system 1 to use an existing robot control program without having to create a new robot control program.

[0120] Furthermore, the signals or variables of the robot control device 3 are conditional branching signals or conditional branching variables of the robot 30. This allows the numerical control system 1 to use an existing robot control program that includes conditional branching signals or conditional branching variables of the robot 30.

[0121] In addition, the numerical control system 1 further includes a signal variable memory unit 37 that stores the values of variables of the numerical control device 2 in correspondence with conditional branching signals or conditional branching variables of the robot 30. This allows the numerical control system 1 to convert the read-out variable values of the numerical control device 2 into signals or variables of the robot control device 3.

[0122] The robot control program also includes a conditional branching signal or a conditional branching variable for the robot 30. This allows the numerical control system 1 to use an existing robot control program that includes a conditional branching signal or a conditional branching variable for the robot 30.

[0123] Furthermore, the signal variable conversion unit 36 converts the signals or variables of the robot control device 3 into the values of the variables of the numerical control device 2, the robot control device 3 transmits the converted values of the variables of the numerical control device 2 to the variable storage unit 24, and the numerical control device 2 updates the variable storage unit 24 using the transmitted values of the variables of the numerical control device 2. This enables the numerical control system 1 to convert the signals or variables of the robot control device 3 into the values of the variables of the numerical control device 2 and update the variable storage unit 24 using the converted values of the variables.

[0124] The present disclosure is not limited to the above-described embodiments, and various modifications and variations are possible.

[0125] For example, in the above embodiment, a case was described in which the numerical control device 2 is provided with a variable memory unit 24 that stores the values of multiple variables that can be read and written from both the machine tool control module 200 and the robot control module 300, but this is not limited to this.

[0126] The variable storage unit may be provided in, for example, a robot control device that is communicably connected to the numerical control device. In this case, the machine tool control module of the numerical control device can read and write the values of the variables stored in the variable storage unit provided in the robot control device via the communication, thereby achieving the same effects as those of the above embodiment.

[0127] The variable storage unit may also be provided in a server communicably connected to the numerical control device and the robot control device, for example. In this case, the machine tool control module of the numerical control device and the robot control module of the robot control device can read and write the values of the variables stored in the variable storage unit provided in the server via the communication, thereby achieving the same effects as in the above embodiment. [Explanation of symbols]

[0128] 1. Numerical Control System 2. Numerical control device 3 Robot control device 20 Machine tools 21 Memory section 22 Program input section 23 Analysis Department 24 Variable storage section 25 Data transmission and reception unit 26 I / O control unit 27 Interpolation control section 28 Servo control unit 30 Robot 30a Arm tip 30b Tools 31 Storage section 32 Program input section 33 Analysis Department 35 Data transmission and reception unit 36 Signal variable transformation section 37 Signal variable storage section 38 Trajectory control section 39 Servo control unit 200 Machine Tool Control Module 300 Robot Control Module

Claims

1. A numerical control system that controls the operation of a machine tool and a robot in conjunction with each other, a numerical control device that controls the operation of the machine tool based on a numerical control program; a robot control device that controls the operation of the robot based on a robot control program; a variable storage unit that stores values of variables that can be read and written by the numerical control device; a signal variable conversion unit that converts the value of the variable of the numerical control device into a signal or variable of the robot control device; Equipped with the robot control device reads out the values of the variables of the numerical control device stored in the variable storage unit, the signal variable conversion unit converts the read value of the variable of the numerical control device into a signal or variable of the robot control device; the robot controller controls the movement of the robot based on the converted signals or variables of the robot controller; the signal or variable of the robot control device is a conditional branch signal or a conditional branch variable of the robot, the robot control device does not change a code corresponding to a conditional branch signal or a conditional branch variable of the robot in the existing robot control program; Numerical control system.

2. 2. The numerical control system according to claim 1, further comprising a signal variable storage unit that stores values of the variables of the numerical control device and conditional branching signals or conditional branching variables of the robot in association with each other.

3. 3. The numerical control system according to claim 1, wherein the robot control program includes a conditional branch signal or a conditional branch variable for the robot.

4. the signal variable conversion unit converts a signal or a variable of the robot control device into a value of the variable of the numerical control device; the robot control device transmits the converted values of the variables of the numerical control device to the variable storage unit; the numerical control device updates the variable storage unit using the transmitted values of the variables of the numerical control device. A numerical control system according to any one of claims 1 to 3.

5. A robot control device that controls the operations of a machine tool and a robot in conjunction with each other based on a robot control program, a signal variable conversion unit that converts the value of a variable of a numerical control device that controls the operation of the machine tool based on a numerical control program into a signal or variable of the robot control device; the robot control device reads out the values of the variables of the numerical control device from the numerical control device; the signal variable conversion unit converts the read value of the variable of the numerical control device into a signal or variable of the robot control device; the robot controller controls the movement of the robot based on the converted signals or variables of the robot controller; the signal or variable of the robot control device is a conditional branch signal or a conditional branch variable of the robot, the robot control device does not change a code corresponding to a conditional branch signal or a conditional branch variable of the robot in the existing robot control program; Robot control device.

6. the signal variable conversion unit converts a signal or a variable of the robot control device into a value of the variable of the numerical control device; the robot control device transmits the converted values of the variables of the numerical control device to a variable storage unit; the numerical control device updates the variable storage unit using the transmitted values of the variables of the numerical control device. The robot control device according to claim 5 .

Images