Numerical control device and numerical control system

Abstract

Provided are a numerical control device and a numerical control system that enable a user of a machine tool to easily set information about a load. This numerical control device uses a numerical control program to control a robot by means of a robot control device, and comprises a teaching operation method selection unit for receiving selection by a user from among a plurality of teaching operation methods for performing a teaching operation to the robot. The plurality of teaching operation methods includes at least a direct teaching operation method for moving an axis of the robot according to an external force applied to the robot.

Description

Numerical control device and numerical control system

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

[0002] Conventionally, technologies related to collaborative robots that detect contact with a human and stop their operation have been disclosed, such as a technology that sets load information for the workpiece being held in order to accurately measure the contact force of the collaborative robot.

[0003] Furthermore, in order to automate machining sites, technology has been disclosed relating to a system for operating a robot from a machine tool, such as a technology for operating a robot using numerical control commands that are familiar to machine tool users (see, for example, Patent Document 1).

[0004] Japanese Patent Application Laid-Open No. 2014-241018

[0005] A technology known as direct teach uses a force sensor built into a collaborative robot to detect the force applied to the collaborative robot by a user and moves the axes of the collaborative robot in the direction of the applied force.

[0006] However, there is a problem that machine tool users are unfamiliar with using the robot's teaching console. Also, there is a problem that it is time-consuming to create a robot's operation program while manually feeding the robot's axes from a numerical control device or operating the robot's teaching console with direct teaching. Therefore, there is a demand for a numerical control device and a numerical control system that can select multiple teaching operation methods simply by setting the machine tool, without using the robot's teaching console.

[0007] One aspect of the present disclosure is a numerical control device that controls a robot via a robot control device using a numerical control program, and includes a teaching operation method selection unit that accepts a user's selection from among a plurality of teaching operation methods for performing teaching operations on the robot, and the plurality of teaching operation methods includes at least a direct teaching operation method that moves the axis of the robot in response to an external force applied to the robot.

[0008] One aspect of the present disclosure is a numerical control system that controls a robot via a robot control device using a numerical control program of a numerical control device, wherein the numerical control device has a teaching operation method selection unit that accepts a user's selection from among a plurality of teaching operation methods for performing teaching operations on the robot, and the plurality of teaching operation methods includes at least a direct teaching operation method that moves the axis of the robot in response to an external force applied to the robot.

[0009] Fig. 1 is a functional block diagram of a numerical control system according to the present embodiment. Fig. 2 is a functional block diagram of a numerical control device and a robot control device according to the present embodiment. Fig. 3 shows a display screen displayed on a display / selection unit of the numerical control device. Fig. 4 is a diagram showing an example of software keys for selecting a teaching operation method for a collaborative robot. Fig. 5 is a diagram showing an example of software keys for selecting a teaching operation method for a collaborative robot. Fig. 6 is a sequence diagram showing the flow of signals and information between the numerical control device and the robot control device according to the present embodiment.

[0010] 1 is a functional block diagram of a numerical control system 1 according to an embodiment of the present disclosure.

[0011] The numerical control system 1 includes a machine tool 2 that processes a workpiece (not shown), a numerical control device (CNC) 4 that controls the operation of the machine tool 2, a collaborative robot 3 provided near the machine tool 2, and a robot control device 5 that controls the operation of the collaborative robot 3. The numerical control system 1 controls the operations of the machine tool 2 and the collaborative robot 3 in a linked manner by using the numerical control device 4 and the robot control device 5 that are connected to each other so that they can communicate with each other.

[0012] The machine tool 2 machines a workpiece (not shown) in response to a machine tool control signal transmitted from the numerical control device 4. Here, the machine tool 2 is, for example, a lathe, a drill press, a milling machine, a grinding machine, a laser processing machine, an injection molding machine, etc., but is not limited to these. Note that the machine tool 2 is configured to be able to perform operations such as manual handle feed (handle feed) and axial feed by jogging (jog feed), as will be described later.

[0013] The collaborative robot 3 operates under the control of a robot control device 5 and performs a predetermined task on a workpiece being machined by a machine tool 2, for example. The collaborative robot 3 is, for example, an articulated robot, and a tool 3b for gripping, machining, and inspecting the workpiece is attached to an arm tip 3a. In the following, the collaborative robot 3 will be described as a six-axis articulated robot, but the number of axes is not limited to this. In the following, the collaborative robot 3 will be described as a six-axis articulated robot, but the number of axes is not limited to this.

[0014] The collaborative robot 3 has functions such as a contact stop function, a retreat mode function, and a reverse operation function, allowing it to work safely in collaboration with humans. The contact stop function is a function that immediately stops the collaborative robot 3 when it comes into contact with a human with a light force (e.g., 10 to 20 N (i.e., 1 to 2 kgf)). The retreat mode function is a function that allows the arm of the collaborative robot 3 to retreat along each axis by a human pushing the arm. The reverse operation function is a function that reduces pinching by immediately reversing the arm when the collaborative robot 3 comes into contact with a hard object. The collaborative robot 3 is equipped with an external force detection unit 31 (see FIG. 2 ) configured with an external force detection sensor or the like to detect external forces such as contact with a human. The external force detection sensor is, for example, a torque sensor or a force sensor. That is, the collaborative robot 3 detects contact with a human using the external force detection sensor, and the robot control device 5 stops the operation of the collaborative robot 3 in response to the external force detected by the external force detection sensor. This allows the collaborative robot 3 to work safely in collaboration with humans.

[0015] The collaborative robot 3 also has a direct teach function that detects the force applied by the operator using an internal external force detection sensor and changes the position and posture of the collaborative robot 3 according to the magnitude and direction of the detected force.

[0016] The numerical control device 4 and the robot control device 5 are each computers configured with hardware such as a processing means such as a CPU (Central Processing Unit), auxiliary storage means such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various computer programs, main storage means such as a RAM (Random Access Memory) for storing data temporarily required for the processing means to execute the computer programs, operation means such as a keyboard through which an operator performs various operations, and display means such as a display that displays various information to the operator. The numerical control device 4 and the robot control device 5 are capable of sending and receiving various signals to each other via, for example, Ethernet (registered trademark).

[0017] 2 is a functional block diagram of the numerical control device 4 and the robot control device 5 according to this embodiment. First, a detailed configuration of the numerical control device 4 will be described. As shown in FIG. 2, the numerical control device 4 uses the above hardware configuration to realize various functions such as a function to control the operation of the machine tool 2 and a function to generate a motion path for the control axis of the collaborative robot 3.

[0018] The numerical control device 4 uses a numerical control program to control the collaborative robot 3 via the robot control device 5. That is, the numerical control device 4 generates various commands for controlling the operations of the collaborative robot 3 and the tool 3b in accordance with the numerical control program for the robot, and transmits them to the robot control device 5. More specifically, the numerical control device 4 includes a program input unit 41, an analysis unit 42, an operation control unit 43, a memory unit 44, a robot command signal generation unit 45, a data transmission / reception unit 46, a display / operation unit 47, and a teaching operation method selection unit 48.

[0019] The program input unit 41 reads out a numerical control program for a robot, which is composed of a plurality of robot command blocks, from the storage unit 44 and inputs it to the sequential analysis unit 42 .

[0020] The analysis unit 42 analyzes the command type based on the numerical control program input from the program input unit 41 for each command block, and outputs the analysis result to the operation control unit 43 and the robot command signal generation unit 45. More specifically, when the command type of the command block is a machine tool numerical control command for the machine tool 2, the analysis unit 42 transmits this machine tool numerical control command to the operation control unit 43. When the command type of the command block is a robot numerical control command for the collaborative robot 3, the analysis unit 42 outputs this robot numerical control command (hereinafter also referred to as a robot control command) to the robot command signal generation unit 45.

[0021] The operation control unit 43 generates machine tool control signals for controlling the operation of the machine tool 2 in accordance with the analysis results sent from the analysis unit 42, and inputs the signals to actuators that drive the various axes of the machine tool 2. The machine tool 2 operates in accordance with the machine tool control signals input from the operation control unit 43, and machines a workpiece (not shown).

[0022] The storage unit 44 stores, for example, a plurality of numerical control programs created based on operations by an operator. More specifically, the storage unit 44 stores numerical control programs configured from a plurality of command blocks for the machine tool 2 to control the operation of the machine tool 2, a plurality of command blocks for the collaborative robot 3 to control the operation of the collaborative robot 3, etc. The numerical control programs stored in the storage unit 44 are written in a known programming language for controlling the operation of the machine tool 2, such as G-code or M-code.

[0023] Furthermore, memory unit 44 stores, for example, machine coordinate values ​​indicating the positions of various axes of machine tool 2 operating under the above-mentioned numerical control program (i.e., the positions of the tool post, table, etc. of machine tool 2). These machine coordinate values ​​are defined in a machine tool coordinate system having as its origin a reference point determined at an arbitrary position on or near machine tool 2. Memory unit 44 is successively updated by processing not shown so that the latest values ​​of the machine coordinate values ​​that successively change under the numerical control program are stored.

[0024] The storage unit 44 also stores, for example, robot coordinate values ​​indicating the position and orientation of a control point (e.g., the arm tip 3a of the collaborative robot 3) of the collaborative robot 3 operating under the control of the robot control device 5, in other words, the position of each control axis of the collaborative robot 3. As described above, these robot coordinate values ​​are defined in a robot coordinate system that is different from the machine tool coordinate system. The storage unit 44 is successively updated with the robot coordinate values ​​acquired from the robot control device 5 by processing not shown, so that the latest values ​​of the robot coordinate values ​​that change successively under the numerical control program are stored.

[0025] The memory unit 44 also stores teaching positions such as the start point and end point of the collaborative robot 3 input by the operator. Specifically, the memory unit 44 stores teaching positions of the collaborative robot 3 input from a teach pendant or the like, teaching positions input from a keyboard or the like, etc. The teaching positions of the collaborative robot 3 include robot coordinate values ​​indicating the positions of each control axis of the collaborative robot 3, and these robot coordinate values ​​are defined under a robot coordinate system different from the machine tool coordinate system.

[0026] The robot command signal generator 45 generates a robot command signal for each robot command block based on the analysis results for each robot command block input from the analyzer 42 , and writes the generated robot command signal to the data transmitter / receiver 46 .

[0027] Specifically, the robot command signal generation unit 45 generates a robot command signal for each robot command block based on the robot numerical control command as the analysis result input from the analysis unit 42, and writes the generated robot command signal to the data transmission / reception unit 46.

[0028] The data transmitter / receiver 46 transmits and receives various data such as commands and robot coordinate values ​​to and from the data transmitter / receiver 60 of the robot control device 5. Specifically, the data transmitter / receiver 46 transmits the robot command signal generated by the robot command signal generator 45 to the data transmitter / receiver 60 of the robot control device 5.

[0029] The display and operation unit 47 displays the state of the numerical control device 4 and operates the numerical control device 4. The display and operation unit 47 is configured by a touch panel display in addition to soft keys and a display.

[0030] The teaching operation method selection unit 48 accepts a user's selection from among a plurality of teaching operation methods for teaching the collaborative robot 3. Here, the plurality of teaching operation methods includes at least a direct teaching operation method (i.e., direct teach) in which the axes of the collaborative robot 3 are moved in response to an external force applied to the collaborative robot 3.

[0031] Preferably, the plurality of teaching operation methods include at least one of a direct teaching operation method, axial feed by a handle of the machine tool 2, and axial feed by a jog of the machine tool 2.

[0032] In addition, when the teaching operation method selection unit 48 selects a direct teaching operation method (direct teach) that moves the axis of the collaborative robot 3 in response to an external force applied to the collaborative robot 3 from among multiple teaching operation methods, the data transmission / reception unit 46 notifies the robot control device 5 of the direct teaching operation method.

[0033] More specifically, when the robot command signal generation unit 45 is notified of one teaching operation method by the teaching operation method selection unit 48, the robot command signal generation unit 45 generates a robot command signal including the one teaching operation method and writes the generated robot command signal to the data transmission / reception unit 46. The data transmission / reception unit 46 notifies (transmits) the robot command signal to the data transmission / reception unit 60 of the robot control device 5.

[0034] Furthermore, in the direct teaching method (i.e., direct teach), the teaching operation method selection unit 48 sets the movement amounts of the axes of the collaborative robot 3 in response to an external force applied to the collaborative robot 3. Here, setting the movement amounts of the axes of the collaborative robot 3 in response to an external force applied to the collaborative robot 3 can be considered as setting the sensitivity in direct teach.

[0035] Furthermore, in the direct teaching method, the teaching operation method selection unit 48 specifies an axis of the collaborative robot 3 that operates in response to an external force applied to the collaborative robot 3. Here, specifying an axis of the collaborative robot 3 that operates in response to an external force applied to the collaborative robot 3 can be considered as setting a mode in direct teaching.

[0036] Furthermore, in the direct teaching operation method, the teaching operation method selection unit 48 switches the load setting including weight information of the load (e.g., a tool, a workpiece, etc.) attached to the collaborative robot 3. For example, when the collaborative robot 3 grips a workpiece, the teaching operation method selection unit 48 switches the load setting before and after gripping the workpiece.

[0037] Next, the configuration of the robot control device 5 will be described in detail. As shown in Fig. 2, the robot control device 5 has the above hardware configuration to implement various functions, such as a memory unit 51, an analysis unit 52, a robot command generation unit 53, a program management unit 54, a trajectory control unit 55, a kinematics control unit 56, a servo control unit 57, a load setting selection unit 58, a dynamics control unit 59, a data transmission / reception unit 60, a selection execution unit 61, a contact control unit 62, and a manual axis feed control unit 63. By using these functional units, the robot control device 5 controls the operation of the collaborative robot 3 based on commands transmitted from the numerical control device 4.

[0038] The storage unit 51 stores a robot program and various information for controlling the collaborative robot 3. The storage unit 51 also stores load settings for the collaborative robot 3. In this embodiment, the storage unit 51 is provided in the robot control device 5, but the storage unit 51 may be provided in the numerical control device 4, or in an electronic device or an external server external to the numerical control device 4 and the robot control device 5.

[0039] The data transmitter / receiver 60 receives the robot command signals transmitted from the data transmitter / receiver 46 of the numerical control device 4. The data transmitter / receiver 60 also outputs the received robot command signals to the analyzer 52 one by one.

[0040] The analysis unit 52 analyzes the robot command signal input from the data transmission / reception unit 60. The analysis unit 52 also outputs the analysis result to the robot command generation unit 53.

[0041] The robot command generation unit 53 generates a robot command corresponding to the robot command signal based on the analysis result of the robot command signal input from the analysis unit 52. The robot command generation unit 53 outputs the generated robot command to the program management unit 54.

[0042] When the program management unit 54 receives a robot command from the robot command generation unit 53, it executes the robot command sequentially to generate an operation plan for the collaborative robot 3 in accordance with the robot command signal and outputs it to the trajectory control unit 55.

[0043] Furthermore, when the robot command input from the robot command generation unit 53 is a block robot command, the program management unit 54 adds the input block robot command to the robot program stored in the storage unit 51. As a result, a robot program corresponding to the robot command signal transmitted from the numerical control device 4 is generated and stored in the storage unit 51. The stored robot program is started and played back when the program management unit 54 receives a robot program start command as a robot command.

[0044] When the motion plan is input from the program management unit 54 , the trajectory control unit 55 calculates time-series data of the control points of the collaborative robot 3 and outputs it to the kinematics control unit 56 .

[0045] The kinematics control unit 56 calculates the target angle of each joint of the collaborative robot 3 from the input time series data and inputs it to the servo control unit 57.

[0046] The servo control unit 57 generates robot control signals for the collaborative robot 3 by feedback controlling each servo motor of the collaborative robot 3 so as to realize the target angle input from the kinematics control unit 56, and inputs the signals to the servo motors of the collaborative robot 3. The servo control unit 57 also generates robot control signals that reflect torques calculated by a dynamics control unit 59, which will be described later. This enables the robot control device 5 to control the collaborative robot 3 based on the load setting information.

[0047] The load setting selection unit 58 sets load information for the collaborative robot 3 using the load setting information stored in the storage unit 51. Specifically, the load setting selection unit 58 reads out the load setting information stored in the storage unit 51 in response to the robot command signal analyzed by the analysis unit 52, and notifies the dynamics control unit 59 of the load setting information.

[0048] The dynamics control unit 59 calculates the torque to be input to the collaborative robot 3 by inverse dynamics calculation based on the load setting information notified by the load setting selection unit 58. The dynamics control unit 59 outputs the torque obtained by calculation to the servo control unit 57.

[0049] Here, the inverse dynamics calculation of the collaborative robot 3 is a method of calculating the input torque to each motor to achieve a desired response, taking into account the hand load, gravity, and own weight applied to the collaborative robot 3, based on the desired motion (time-series data of the position, velocity, and acceleration of each joint) calculated in the motion trajectory plan of the collaborative robot 3. Numerical calculation methods related to such inverse dynamics calculations, such as the calculated torque method and the Newton-Euler method, have been disclosed (for example, JP 8-118275 A and JP 2015-58520 A).

[0050] The selection execution unit 61 switches the teaching operation method of the collaborative robot 3 in accordance with the teaching operation method notified by the data transmission / reception unit 46. For example, the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 from axial feed using the handle of the machine tool 2 to the direct teaching operation method in accordance with the direct teaching operation method notified by the data transmission / reception unit 46.

[0051] The contact control unit 62 measures (acquires) the external force detected during the load estimation operation by the external force detection unit 31 of the collaborative robot 3. The contact control unit 62 notifies the servo control unit 57 and the like of the measured external force.

[0052] The manual axis feed control unit 63 controls the movement of the axes of the collaborative robot 3 using one teaching operation method selected from a plurality of teaching operation methods. Specifically, the manual axis feed control unit 63 moves the axes of the collaborative robot 3 using at least one of the direct teaching operation method, axis feed using the handle of the machine tool 2 (manual handle feed), and axis feed using the jog of the machine tool 2 (jog feed).

[0053] Next, a process of selecting a teaching operation method for the collaborative robot 3 from the numerical control device 4 according to this embodiment will be described. The display / operation unit 47 of the numerical control device 4 selects one teaching operation method from a plurality of teaching operation methods in response to an input operation from the user, and the display / operation unit 47 notifies the teaching operation method selection unit 48 of the selected teaching operation method.

[0054] Next, the teaching operation method selection unit 48 notifies the notified teaching operation method to the data transmission / reception unit 60 of the robot control device 5 via the data transmission / reception unit 46 .

[0055] Next, when the teaching operation method is notified to the data transmission / reception unit 60, the analysis unit 52 of the robot control device 5 notifies the selection execution unit 61 of the teaching operation method.

[0056] Next, the selection execution unit 61 switches the teaching operation method for the collaborative robot 3 in accordance with the teaching operation method notified by the data transmission / reception unit 46. Furthermore, if the direct teaching operation method (a method for moving the axes of the collaborative robot 3 in accordance with an external force applied to the collaborative robot 3) is selected, the selection execution unit 61 calculates the movement direction and movement amount of the collaborative robot 3 when an external force is detected by the external force detection unit 31.

[0057] Next, the calculated movement direction and movement amount are notified to the robot command generation unit 53, and then the kinematics control unit 56 calculates the target position of each joint axis of the collaborative robot 3 based on the movement direction and movement amount of the collaborative robot 3.

[0058] Next, when the target position of each joint axis of the collaborative robot 3 is input to the servo control unit 57, each joint axis of the collaborative robot 3 follows the target position of each joint axis according to the control of the servo control unit 57.

[0059] Fig. 3 shows a display screen 471 displayed on the display / operation unit 47 of the numerical control device 4. As shown in Fig. 3, the display screen 471 displays information for performing various operations of the numerical control device 4, and in the lower left portion of the display screen 471, software keys 472 for selecting a teaching operation method for the collaborative robot 3 are displayed.

[0060] 4 and 5 are diagrams showing examples of software keys 472 for selecting a teaching operation method for the collaborative robot 3. As shown in Fig. 4, the software keys 472 include keys that can select "manual handle feed," "jog (JOG) feed," and "direct teach" as multiple teaching operation methods. The user can select one of "manual handle feed," "jog (JOG) feed," and "direct teach."

[0061] Fig. 5 shows an example in which "direct teach" is selected as the teaching operation method in Fig. 4. As shown in Fig. 5, the software keys 472 include keys that allow selection of "free," "translation," and "rotation" as modes in direct teach. The user can select one of "free," "translation," and "rotation."

[0062] 4 and 5, the software keys 472 may include a key for setting the sensitivity in direct teach.

[0063] Here, the direct teach mode "free" is a mode in which each joint axis of the collaborative robot 3 can be freely manipulated. The mode "parallel movement" is a mode in which the collaborative robot 3 can be manipulated in the X, Y, and Z axis directions while maintaining the position and orientation of the tip of the hand of the collaborative robot 3. The mode "rotation" is a mode in which the orientation of the collaborative robot 3 can be manipulated while keeping the position of the tip of the hand of the collaborative robot 3 fixed. The software key 472 may further include a mode "direction specification." The mode "direction specification" is a mode in which the collaborative robot 3 can be manipulated in a specified direction (X, Y, Z, A, B, and C axes) of a specified coordinate system.

[0064] Furthermore, with regard to the sensitivity of direct teach, the teaching operation method selection unit 48 can set the operation weight. A "light" operation weight indicates that the collaborative robot 3 will move a long distance relative to the operating force, and is used when it is desired to move the collaborative robot 3 roughly in a large space. A "heavy" operation weight indicates that the collaborative robot 3 will move a short distance relative to the operating force, and is used when it is desired to move the collaborative robot 3 precisely in a small space.

[0065] 6 is a diagram showing a specific example of a process for selecting a teaching operation method for the collaborative robot 3 according to this embodiment. First, the operation mode of the numerical control device 4 is changed from the automatic operation mode or the edit mode to the handle mode. The collaborative robot 3 is positioned in a chuck in the machine tool 2, and a workpiece is attached to the chuck.

[0066] Next, the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 to "direct teach" in accordance with the teaching operation method notified by the data transmission / reception unit 46. Furthermore, the selection execution unit 61 sets the mode to "free" and the sensitivity to "light" in accordance with the input operation by the user to the display / operation unit 47.

[0067] The robot control device 5 starts the direct teach operation under the conditions of the teaching operation method "direct teach", the mode "free" and the sensitivity "light".

[0068] Next, the collaborative robot 3 grips the workpiece under the control of the numerical control device 4, and the numerical control device 4 generates a signal for switching the load setting number (load setting no.) and notifies the robot control device 5. The robot control device 5 switches the load setting number (load setting no.) in accordance with the signal notified from the numerical control device 4.

[0069] For example, load setting No. 1 is the load setting when the collaborative robot 3 is not gripping anything, load setting No. 2 is the load setting when the collaborative robot 3 is gripping an object with a weight W1, and load setting No. 3 is the load setting when the collaborative robot 3 is gripping an object with a weight W2. In this way, the load setting is set to a plurality of levels according to the weight information of the load.

[0070] Next, the user uses direct teach to teach the collaborative robot 3 into the machine tool 2.

[0071] Next, the numerical control device 4 opens the chuck of the machine tool 2, and the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 to "manual handle" in accordance with the teaching operation method notified by the data transmission / reception unit 46. Furthermore, in the manual handle operation method, the selection execution unit 61 selects the "X axis" of the collaborative robot 3 in accordance with the user's input operation to the display / operation unit 47, and sets the magnification of the movement amount of the collaborative robot 3 to "0.1 times." The robot control device 5 starts operation using the manual handle under the conditions of the teaching operation method "manual handle operation method."

[0072] Next, the numerical control device 4 uses the manual handle operation method to align the chuck of the machine tool 2 with the workpiece in response to an input operation from the user, and after alignment, closes the chuck.

[0073] Next, the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 to "direct teach" in accordance with the teaching operation method notified by the data transmission / reception unit 46. Furthermore, the selection execution unit 61 sets the mode to "direction specification (X axis)" and the sensitivity to "heavy" in accordance with the user's input operation to the display / operation unit 47. The robot control device 5 starts the direct teach operation under the conditions of the teaching operation method "direct teach", the mode "direction specification (X axis)", and the sensitivity "heavy".

[0074] Next, the collaborative robot 3 releases the workpiece under the control of the numerical control device 4, and the numerical control device 4 generates a signal for switching the load setting number (load setting no.) and notifies the robot control device 5. The robot control device 5 switches the load setting number (load setting no.) in accordance with the signal notified from the numerical control device 4.

[0075] Next, the user uses direct teach to teach the collaborative robot 3 from outside the machine tool 2. In this way, the numerical control system 1 can select a plurality of teaching operation methods for the collaborative robot 3 and teach the collaborative robot 3.

[0076] As described above, according to this embodiment, in the numerical control system 1, the numerical control device 2 is provided with a teaching operation method selection unit 48 that accepts a user's selection from among a plurality of teaching operation methods for teaching the collaborative robot 3, and the plurality of teaching operation methods includes at least a direct teaching operation method (direct teach) that moves the axis of the collaborative robot 3 in response to an external force applied to the collaborative robot 3.

[0077] With this configuration, the numerical control system 1 can select an operation method for the collaborative robot 3 from the numerical control device 4. Therefore, the numerical control system 1 allows a user of the machine tool 2 who is unfamiliar with operating the collaborative robot 3 to operate the collaborative robot 3 without using a teaching pendant.

[0078] Furthermore, the numerical control system 1 enables teaching operation methods such as manual handle feed and direct teach simply by configuring the machine tool 2, so the user of the machine tool 2 can easily create an operation program for the collaborative robot 3.

[0079] Furthermore, the numerical control device 4 further includes a data transmission / reception unit 46 that, when the teaching operation method selection unit 48 selects a direct teaching operation method for moving the axes of the collaborative robot 3 in response to an external force applied to the collaborative robot 3 from among a plurality of teaching operation methods, notifies the robot control device 5 of the selected direct teaching operation method. The robot control device 5 further includes a selection execution unit 61 that switches the teaching operation method of the collaborative robot 3 to the direct teaching operation method in response to the direct teaching operation method notified by the data transmission / reception unit 46, and a manual axis feed control unit 63 that moves the axes of the collaborative robot 3 using the direct teaching operation method.

[0080] With this configuration, the numerical control system 1 can teach the collaborative robot 3 using the direct teaching operation method.

[0081] The teaching operation method selection unit 48 sets the amount of movement of the axes of the collaborative robot 3 in response to an external force applied to the collaborative robot 3 in the direct teaching operation method. By being configured in this manner, the numerical control system 1 can suitably set the sensitivity in the direct teaching operation method.

[0082] Furthermore, in the direct teaching operation method, the teaching operation method selection unit 48 specifies an axis of the collaborative robot 3 that operates in response to an external force applied to the collaborative robot 3. With this configuration, the numerical control system 1 can suitably set the mode in the direct teaching operation method.

[0083] Furthermore, in the direct teaching operation method, the teaching operation method selection unit 48 switches the load setting including the weight information of the load attached to the collaborative robot 3. By being provided with such a configuration, the numerical control system 1 can suitably set the load (for example, the tool or workpiece of the collaborative robot 3) in the direct teaching operation method.

[0084] The plurality of teaching operation methods include at least one of a direct teaching operation method, axial feed using a handle of the machine tool 2, and axial feed using a jog of the machine tool 2. With this configuration, the numerical control system 1 can teach the collaborative robot 3 using direct teach, axial feed using a manual handle, and axial feed using a jog.

[0085] Furthermore, the collaborative robot 3 detects contact with a human and stops its operation. With this configuration, the numerical control system 1 can use the collaborative robot 3 to work safely in collaboration with a human.

[0086] The above has described an embodiment of the present invention, but the above-described numerical control system 1 can be realized by hardware, software, or a combination of these. Furthermore, the control method performed by the above-described numerical control system 1 can also be realized by hardware, software, or a combination of these. Here, "realized by software" means that it is realized by a computer reading and executing a program.

[0087] The program can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)).

[0088] Although the present disclosure has been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments.

[0089] The following supplementary notes are further disclosed regarding the above-described embodiment and modified examples: (Supplementary Note 1) A numerical control device (4) that controls a robot (3) via a robot control device (5) using a numerical control program, comprising a teaching operation method selection unit (48) that accepts a user's selection from among a plurality of teaching operation methods for teaching the robot, the plurality of teaching operation methods including at least a direct teaching operation method that moves an axis of the robot in response to an external force applied to the robot. (Supplementary Note 2) The numerical control device according to Supplementary Note 1, further comprising: a transmitting / receiving unit (46) that, when a direct teaching operation method for moving an axis of the robot in response to an external force applied to the robot is selected from the plurality of teaching operation methods by the teaching operation method selection unit, notifies the robot control device of the direct teaching operation method, and the robot control device further comprises: a selection execution unit (61) that switches the teaching operation method of the robot to the direct teaching operation method in response to the direct teaching operation method notified by the transmitting / receiving unit, and a robot-side control unit (63) that moves the axis of the robot using the direct teaching operation method. (Supplementary Note 3) The numerical control device according to Supplementary Note 1 or 2, wherein the teaching operation method selection unit sets a movement amount of the axis of the robot in response to an external force applied to the robot in the direct teaching operation method. (Supplementary Note 4) The numerical control device according to Supplementary Note 1 or 2, wherein the teaching operation method selection unit specifies an axis of the robot that moves in response to an external force applied to the robot in the direct teaching operation method. (Supplementary Note 5) The numerical control device according to Supplementary Note 1 or 2, wherein the teaching operation method selection unit switches load settings including weight information of a load attached to the robot in the direct teaching operation method. (Supplementary Note 6) The numerical control device according to Supplementary Note 1 or 2, wherein the plurality of teaching operation methods include at least one of the direct teaching operation method, axial feed by a handle of the machine tool, and axial feed by a jog of the machine tool. (Supplementary Note 7) The numerical control system according to Supplementary Note 7 or 8, wherein the robot is a collaborative robot that detects contact with a person and stops operation.(Supplementary Note 8) A numerical control system (1) that controls a robot (3) via a robot control device (5) using a numerical control program of a numerical control device (4), wherein the numerical control device is provided with a teaching operation method selection unit (48) that accepts a user's selection from among a plurality of teaching operation methods for teaching the robot, and the plurality of teaching operation methods include at least a direct teaching operation method that moves an axis of the robot in response to an external force applied to the robot. (Supplementary Note 9) The numerical control system according to Supplementary Note 8, wherein the numerical control device further comprises a transmitting / receiving unit (46) that, when a direct teaching operation method of moving an axis of the robot in response to an external force applied to the robot is selected from the plurality of teaching operation methods by the teaching operation method selection unit, notifies the robot control device of the direct teaching operation method, and the robot control device further comprises: a selection execution unit (61) that switches the teaching operation method of the robot to the direct teaching operation method in response to the direct teaching operation method notified by the transmitting / receiving unit, and a robot-side control unit (63) that moves the axis of the robot using the direct teaching operation method. (Supplementary Note 10) The numerical control system according to Supplementary Note 8 or 9, wherein the teaching operation method selection unit sets the amount of movement of the axis of the robot in response to an external force applied to the robot in the direct teaching operation method. (Supplementary Note 11) The numerical control system according to Supplementary Note 8 or 9, wherein the teaching operation method selection unit specifies an axis of the robot that operates in response to an external force applied to the robot in the direct teaching operation method. (Supplementary Note 12) The numerical control system according to Supplementary Note 8 or 9, wherein the teaching operation method selection unit switches a load setting including weight information of a load attached to the robot in the direct teaching operation method. (Supplementary Note 13) The numerical control system according to Supplementary Note 8 or 9, wherein the plurality of teaching operation methods include at least one of the direct teaching operation method, axial feed by a handle of the machine tool, and axial feed by a jog of the machine tool. (Supplementary Note 14) The numerical control system according to Supplementary Note 8 or 9, wherein the robot is a collaborative robot that detects contact with a person and stops operation.

[0090] REFERENCE SIGNS LIST 1 Numerical control system 2 Machine tool 3 Collaborative robot 4 Numerical control device 5 Robot control device 31 External force detection unit 41 Program input unit 42 Analysis unit 43 Motion control unit 44 Memory unit 45 Robot command signal generation unit 46 Data transmission / reception unit 47 Display / operation unit 48 Teaching operation selection unit 51 Memory unit 52 Analysis unit 53 Robot command generation unit 54 Program management unit 55 Trajectory control unit 56 Kinematics control unit 57 Servo control unit 58 Load setting selection unit 59 Dynamics control unit 60 Data transmission / reception unit 61 Selection execution unit 62 Contact control unit 63 Manual axis feed control unit

Claims

1. A numerical control device that controls a robot via a robot control device using a numerical control program, comprising a teaching operation method selection unit that accepts a user's selection from among a plurality of teaching operation methods for teaching the robot, the plurality of teaching operation methods including at least a direct teaching operation method for moving an axis of the robot in response to an external force applied to the robot.

2. The numerical control device according to claim 1, further comprising a transmission / reception unit which, when a direct teaching operation method for moving an axis of the robot in response to an external force applied to the robot is selected from the plurality of teaching operation methods in the teaching operation method selection unit, notifies the robot control device of the direct teaching operation method, and the robot control device further comprises: a selection execution unit which switches the teaching operation method of the robot to the direct teaching operation method in response to the direct teaching operation method notified by the transmission / reception unit; and a robot side control unit which moves the axis of the robot using the direct teaching operation method.

3. A numerical control device according to claim 1 or 2, wherein the teaching operation method selection unit sets the amount of movement of the axis of the robot in response to an external force applied to the robot in the direct teaching operation method.

4. A numerical control device according to claim 1 or 2, wherein the teaching operation method selection unit specifies an axis of the robot that operates in response to an external force applied to the robot in the direct teaching operation method.

5. A numerical control device according to claim 1 or 2, wherein the teaching operation method selection unit switches a load setting including weight information of a load attached to the robot in the direct teaching operation method.

6. A numerical control device according to claim 1 or 2, wherein the plurality of teaching operation methods include at least one of the direct teaching operation method, axial feed by a handle of a machine tool, and axial feed by a jog of the machine tool.

7. The numerical control system according to claim 1 or 2, wherein the robot is a collaborative robot that detects contact with a human and stops its operation.

8. A numerical control system that controls a robot via a robot control device using a numerical control program of a numerical control device, wherein the numerical control device has a teaching operation method selection unit that accepts a user's selection from among a plurality of teaching operation methods for teaching the robot, and the plurality of teaching operation methods includes at least a direct teaching operation method that moves an axis of the robot in response to an external force applied to the robot.

9. The numerical control system according to claim 8, further comprising: a transmission / reception unit which, when a direct teaching operation method for moving an axis of the robot in response to an external force applied to the robot is selected from the plurality of teaching operation methods in the teaching operation method selection unit, notifies the robot control unit of the direct teaching operation method; and the robot control unit further comprises: a selection execution unit which switches the teaching operation method of the robot to the direct teaching operation method in response to the direct teaching operation method notified by the transmission / reception unit; and a robot side control unit which moves the axis of the robot using the direct teaching operation method.

10. A numerical control system as described in claim 8 or 9, wherein the teaching operation method selection unit sets the amount of movement of the axis of the robot in response to an external force applied to the robot in the direct teaching operation method.

11. A numerical control system as described in claim 8 or 9, wherein the teaching operation method selection unit specifies an axis of the robot that operates in response to an external force applied to the robot in the direct teaching operation method.

12. A numerical control system according to claim 8 or 9, wherein the teaching operation method selection unit switches a load setting including weight information of a load attached to the robot in the direct teaching operation method.

13. A numerical control system according to claim 8 or 9, wherein the plurality of teaching operation methods include at least one of the direct teaching operation method, axial feed by a handle of a machine tool, and axial feed by a jog of the machine tool.

14. The numerical control system according to claim 8 or 9, wherein the robot is a collaborative robot that detects contact with a human and stops its operation.

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