Processing system, machine tool system, and workpiece processing method

Abstract

This processing system is provided with: a robot that loads a workpiece into a machine tool; a robot control device; a numerical control device; and a machine tool. When the weight of the workpiece is defined as a first weight, the robot control device sets workpiece weight data indicating the first weight as one of the control parameters of the robot, and controls the loading operation of the robot on the basis of the control parameter and loading path data specifying the loading path of the workpiece. The numerical control device transmits the work weight data or first basic data for calculating the first weight to the robot control device, and generates an operation command by executing a processing program. The machine tool processes the workpiece into a product on the basis of the operation command.

Description

Machining system, machine tool system, and workpiece machining method

[0001] The present invention relates to a machining system, a machine tool system, and a workpiece machining method.

[0002] 2. Description of the Related Art Techniques for using a robot to carry a workpiece into a machine tool are known.

[0003] As a related technique, Patent Document 1 discloses a robot loader control device. The robot loader control device described in Patent Document 1 includes a movement pattern storage unit that stores workpiece movement paths as movement patterns in advance, and a movement pattern determination unit that determines the movement pattern based on determination conditions. The robot loader control device automatically determines an appropriate movement pattern as a workpiece movement position path based on workpiece data received from a processing machine, reference position data for the machine and robot loader, and predetermined determination conditions.

[0004] Japanese Patent Application Publication No. 5-108135

[0005] An object of the present invention is to provide a machining system, a machine tool system, and a workpiece machining method that can reduce the workload when setting workpiece weight data in a robot control device.

[0006] In some embodiments, the machining system includes a robot that loads a workpiece into a machine tool; a robot control device that, when the weight of the workpiece is defined as a first weight, sets workpiece weight data indicating the first weight as one of the control parameters of the robot and controls the loading operation of the robot based on the control parameter and load route data that specifies the load route for the workpiece; a numerical control device that sends the workpiece weight data or first basic data for calculating the first weight to the robot control device and generates operation commands by executing a machining program; and the machine tool that processes the workpiece into a product based on the operation commands.

[0007] In some embodiments, the machine tool system includes a machine tool that receives a workpiece from a robot controlled by a robot control device and processes the workpiece into a product based on operation commands received from a numerical control device, and the numerical control device that, when the weight of the workpiece is defined as a first weight, sends the workpiece weight data or first basic data for calculating the first weight to the robot control device so that the workpiece weight data indicating the first weight is set as one of the control parameters of the robot, and generates the operation commands by executing a processing program.

[0008] In some embodiments, the workpiece machining method includes the steps of: at least one of a robot control device, a numerical control device, a simulation device, and a CAD / CAM system calculating the volume of the workpiece based on shape data of the workpiece; at least one of the robot control device, the numerical control device, the simulation device, and the CAD / CAM system calculating the weight of the workpiece based on the calculated volume of the workpiece and workpiece density data indicating the density of the material constituting the workpiece; the robot control device setting the calculated weight of the workpiece as one of the control parameters of the robot; the robot control device generating a carry-in operation command based on the control parameter and carry-in route data; the robot receiving the carry-in operation command carrying the workpiece into a machine tool; the numerical control device generating an operation command by executing a machining program associated with the workpiece; and the machine tool receiving the operation command machining the workpiece into a product.

[0009] The present invention can provide a machining system, a machine tool system, and a workpiece machining method that can reduce the workload when setting workpiece weight data in a robot control device.

[0010] FIG. 1 is a diagram schematically showing a machining system according to a first embodiment. FIG. 2 is a diagram schematically showing a machining system according to the first embodiment. FIG. 3 is a diagram showing an example of control parameters. FIG. 4 is a diagram schematically showing a state in which workpiece weight data is sent from a numerical control device to a robot control device. FIG. 5 is a diagram schematically showing a state in which first basic data for calculating the weight of a workpiece is sent from the numerical control device to the robot control device. FIG. 6 is a diagram schematically showing a state in which the numerical control device can control a controlled device. FIG. 7 is a diagram schematically showing a machining system according to the first embodiment. FIG. 8 is a diagram schematically showing a machining system according to the first embodiment. FIG. 9 is a diagram showing an example of control parameters. FIG. 10 is a diagram showing an example of control parameters. FIG. 11 is a diagram schematically showing a state in which product weight data is sent from the numerical control device to the robot control device. FIG. 12 is a diagram schematically showing a state in which second basic data for calculating the weight of a product is sent from the numerical control device to the robot control device. FIG. 13 is a diagram schematically showing a machining system according to the first embodiment. FIG. 14 is a diagram showing an example of control parameters. FIG. 15 is a diagram showing an example of control parameters. FIG. 16 is a diagram showing a state in which a numerical control device can communicate with a robot control device. FIG. 17 is a diagram showing a state in which a robot control device can control a robot. FIG. 18 is a diagram showing an example of a numerical control device. FIG. 19 is a diagram showing an example of a numerical control device. FIG. 20 is a diagram showing a state in which a numerical control device can receive data from a simulation device. FIG. 21 is a diagram showing an example of a simulation device. FIG. 22 is a diagram showing a state in which a numerical control device can receive data from a simulation device. FIG. 23 is a diagram showing a state in which a numerical control device can receive data from a simulation device. FIG. 24 is a diagram showing a state in which a numerical control device can receive data from a CAD / CAM system. FIG. 25 is a diagram showing an example of a CAD / CAM system. FIG. 26 is a diagram schematically showing an example of a procedure for deriving workpiece weight data by a numerical control device.FIG. 27 is a table schematically showing association data associating a plurality of materials with the densities of the plurality of materials. FIG. 28 is a diagram schematically showing how workpiece shape data is input. FIG. 29 is a diagram schematically showing how data for generating a machining program is input. FIG. 30 is a diagram schematically showing how data for generating a machining program is input. FIG. 31 is a diagram schematically showing an example of a procedure for deriving product weight data by a numerical control device. FIG. 32 is a diagram schematically showing an example of a CAD / CAM system. FIG. 33 is a diagram schematically showing an example of a numerical control device. FIG. 34 is a diagram schematically showing an example of a numerical control device. FIG. 35 is a diagram schematically showing how a machine tool has a workpiece support device and a second workpiece support device. FIG. 36 is a diagram schematically showing a machine tool system according to the second embodiment. FIG. 37 is a diagram schematically showing how a numerical control device can control equipment to be controlled. FIG. 38 is a flowchart showing an example of a workpiece machining method according to the third embodiment. FIG. 39 is a flowchart showing an example of a workpiece machining method according to the third embodiment.

[0011] Hereinafter, a machining system 100, a machine tool system 1, and a workpiece machining method according to an embodiment will be described with reference to the drawings. In the following description of the embodiment, parts and members having the same functions are denoted by the same reference numerals, and repeated description of parts and members denoted by the same reference numerals will be omitted.

[0012] (Definition of terms) In this specification, the weight of the workpiece E is defined as a first weight w1, the volume of the workpiece E is defined as a first volume v1, and the density of the material constituting the workpiece E (in other words, the weight per unit volume of the material constituting the workpiece E) is defined as a first density d1.

[0013] In this specification, the product P includes all objects formed by processing using the machine tool 6. The product P is not limited to a final product. The product P may also be a semi-finished product.

[0014] In this specification, the weight of the product P is defined as a second weight w2, the volume of the product P is defined as a second volume v2, and the density of the material constituting the product P (in other words, the weight per unit volume of the material constituting the product P) is defined as a second density d2. The second density d2 is usually the same as the first density d1. However, in cases such as when the machining performed by the machine tool 6 includes adding new material to the workpiece E, the second density d2 may be different from the first density d1.

[0015] First Embodiment A machining system 100 according to a first embodiment will be described with reference to FIGS. 1 to 35. FIGS. 1 and 2 are diagrams schematically illustrating the machining system 100 according to the first embodiment. FIG. 3 is a diagram illustrating an example of a control parameter Q. FIG. 4 is a diagram schematically illustrating how workpiece weight data W1 is sent from the numerical control device 5 to the robot control device 3. FIG. 5 is a diagram schematically illustrating how first basic data A1 for calculating the weight of a workpiece is sent from the numerical control device 5 to the robot control device 3. FIG. 6 is a diagram schematically illustrating how the numerical control device 5 can control controlled equipment. FIGS. 7 and 8 are diagrams schematically illustrating the machining system 100 according to the first embodiment. FIGS. 9 and 10 are diagrams illustrating an example of the control parameter Q. FIG. 11 is a diagram schematically illustrating how product weight data W2 is sent from the numerical control device 5 to the robot control device 3. FIG. 12 is a diagram schematically illustrating how second basic data A2 for calculating the weight of a product is sent from the numerical control device 5 to the robot control device 3. FIG. 13 is a diagram schematically illustrating the machining system 100 in the first embodiment. FIGS. 14 and 15 are diagrams illustrating an example of the control parameter Q. FIG. 16 is a diagram schematically illustrating how the numerical control device 5 can communicate with the robot control device 3. FIG. 17 is a diagram schematically illustrating how the robot control device 3 can control the robot 2. FIGS. 18 and 19 are diagrams schematically illustrating an example of the numerical control device 5. FIG. 20 is a diagram schematically illustrating how the numerical control device 5 can receive data from the simulation device 8. FIG. 21 is a diagram schematically illustrating an example of the simulation device 8. FIGS. 22 and 23 are diagrams schematically illustrating how the numerical control device 5 can receive data from the simulation device 8. FIG. 24 is a diagram schematically illustrating how the numerical control device 5 can receive data from the CAD / CAM system 9. Fig. 25 is a diagram schematically showing an example of the CAD / CAM system 9. Fig. 26 is a diagram schematically showing an example of a procedure for deriving workpiece weight data W1 by the numerical control device 5. Fig. 27 is a table schematically showing association data r1 that associates a plurality of materials with the densities of the plurality of materials.Fig. 28 is a diagram schematically showing how workpiece shape data SD is input. Fig. 29 is a diagram schematically showing how data for generating a machining program is input. Fig. 30 is a diagram schematically showing how data for generating a machining program is input. Fig. 31 is a diagram schematically showing an example of a procedure for deriving product weight data W2 by the numerical control device 5. Fig. 32 is a diagram schematically showing an example of a CAD / CAM system 9. Figs. 33 and 34 are diagrams schematically showing examples of the numerical control device 5. Fig. 35 is a diagram schematically showing how a machine tool 6 has a workpiece support device 62 and a second workpiece support device 65.

[0016] As illustrated in FIG. 1 , the machining system 100 in the first embodiment includes a robot 2 , a robot control device 3 , a numerical control device 5 , and a machine tool 6 .

[0017] 1 , the machine tool 6 has a machining head 61 (e.g., a turret 61T) that holds a tool T, a workpiece support device 62 that supports a workpiece, and a moving device 63 that moves the machining head 61 relative to the workpiece support device 62. The machine tool 6 may have a wall 67 that has an opening OP formed therein through which the workpiece E and / or product can pass, a door 68 that opens and closes the opening OP, and a door moving device 69 that moves the door 68.

[0018] 2 , the robot 2 carries the workpiece E into the machine tool 6. More specifically, the robot 2 carries the workpiece E into the machine tool 6 through an opening OP. The robot 2 may be able to transfer the workpiece E to the workpiece support device 62.

[0019] 2, the robot 2 has a plurality of arms 21 including a distal arm 21e, and a gripper 23 (e.g., a robot hand 230) that grips the workpiece E. In the example shown in Fig. 2, the gripper 23 is attached to the distal arm 21e.

[0020] 2 , the robot 2 has a second gripper 24 (e.g., a second robot hand 240). The second gripper 24 is attached to the distal arm 21e. The number of grippers included in the robot 2 may be one, two, or three or more. In other words, the second gripper 24 may be omitted from the robot 2, or the robot 2 may have another gripper in addition to the gripper 23 and the second gripper 24.

[0021] The robot control device 3 sets workpiece weight data W1 indicating the weight of the workpiece E (in other words, the first weight w1) as one of the control parameters Q of the robot 2. The control parameter Q includes, for example, the workpiece weight data W1 and weight data of each structure attached to the distal arm 21e. In the example shown in FIG. 3 , the robot control device 3 sets the workpiece weight data W1 as one of the control parameters Q of the robot 2, sets weight data 23w of the gripper 23 (e.g., weight data of the robot hand 230) as another of the control parameters Q of the robot 2, and sets weight data 24w of the second gripper 24 (e.g., weight data of the second robot hand 240) as yet another of the control parameters Q of the robot 2. Note that the number of data included in the control parameters Q varies depending on the number of structures attached to the distal arm 21e, etc.

[0022] When the gripper 23 grips the workpiece E (more specifically, at any timing during the period from immediately before the gripper 23 starts the gripping operation of the workpiece E to immediately after the gripper 23 completes the gripping operation of the workpiece E), the robot control device 3 switches the state of the workpiece weight data W1, which is one of the control parameters Q, from an inactive state to an active state. In this way, the workpiece weight data W1 is reflected in the control parameter Q. The robot control device 3 controls the carry-in operation of the robot 2 based on the control parameter Q (more specifically, the control parameter Q in a state in which the workpiece weight data W1 is activated) and carry-in route data 326 that specifies the carry-in route of the workpiece E. In the example shown in FIGS. 4 and 5 , both the control parameter Q and the carry-in route data 326 are stored in the memory of the robot control device 3.

[0023] 4 , the numerical control device 5 sends workpiece weight data W1 indicating a first weight w1 to the robot control device 3. In addition, the robot control device 3 sets the workpiece weight data W1 acquired from the numerical control device 5 as one of the control parameters Q of the robot 2.

[0024] 5, the numerical control device 5 may send first basic data A1 for calculating the weight of the workpiece E (in other words, the first weight w1) to the robot control device 3. The first basic data A1 includes, for example, workpiece volume data V1 indicating the volume of the workpiece E. The first basic data A1 may include the workpiece volume data V1 and workpiece density data D1 indicating the density of the material constituting the workpiece E.

[0025] 5 , the robot control device 3 derives workpiece weight data W1 based on at least the first basic data A1, and sets the derived workpiece weight data W1 as one of the control parameters Q. More specifically, the robot control device 3 derives the workpiece weight data W1 based on the workpiece volume data V1 and the workpiece density data D1. The robot control device 3 also sets the derived workpiece weight data W1 as one of the control parameters Q.

[0026] 6, the numerical control device 5 generates an operation command C by executing a machining program PM associated with a workpiece E. The machine tool 6 machines the workpiece E into a product based on the operation command C.

[0027] In this specification, the execution of the machining program PM by the numerical control device 5 encompasses the execution of the machining program PM by the numerical control device 5 via the machining operation program 529. In other words, the numerical control device 5 may process (in other words, interpret) the machining program PM by executing the machining operation program 529. Based on this processing (in other words, based on this interpretation), the numerical control device 5 generates operation commands C to be transmitted to each of the multiple control target devices of the machine tool 6.

[0028] In the machining system 100 of the first embodiment, the workpiece weight data W1 is reflected in the control parameter Q of the robot 2. Therefore, the robot control device 3 can more accurately control the position of the workpiece E. For example, the robot control device 3 can control the operation of the arm 21 by taking into consideration distortion of the arm 21 caused by the weight of the workpiece E. Furthermore, because the control parameter Q is set more appropriately, false detection is less likely to occur when detecting a collision between the robot 2 and another object while the robot 2 is loading the workpiece E.

[0029] Furthermore, in the machining system 100 in the first embodiment, the workpiece weight data W1 or the first basic data A1 for calculating the weight of the workpiece E is sent from the numerical control device 5 to the robot control device 3. Therefore, the operator does not need to manually input the weight of the workpiece E into the robot control device 3. For example, every time the type of workpiece E is switched, the operator does not need to manually input the weight of the workpiece E after switching into the robot control device 3. Therefore, the workload on the operator is reduced.

[0030] (Optional Additional Configuration) Next, optional additional configurations that can be employed in the processing system 100 in the first embodiment will be described with reference to FIGS.

[0031] 8 , the robot 2 can carry the product P out of the machine tool 6. More specifically, the robot 2 receives the product P from the workpiece support device 62. The robot 2 also carries the product P out of the machine tool 6 through the opening OP.

[0032] In the example shown in FIG. 9 , the robot control device 3 sets product weight data W2 indicating the weight of the product P (in other words, the second weight w2) as one of the control parameters Q of the robot 2. The control parameter Q includes, for example, the product weight data W2 and weight data of each of the structures attached to the distal arm 21 e. In the example shown in FIG. 9 , the robot control device 3 sets the product weight data W2 as one of the control parameters Q of the robot 2, sets weight data 23 w of the gripper 23 (e.g., weight data of the robot hand 230) as another of the control parameters Q of the robot 2, and sets weight data 24 w of the second gripper 24 (e.g., weight data of the second robot hand 240) as yet another of the control parameters Q of the robot 2. Note that the number of data included in the control parameters Q varies depending on, for example, the number of structures attached to the distal arm 21 e.

[0033] When the gripper 23 grips the product P (more specifically, at any timing during the period from immediately before the gripper 23 starts the gripping operation of the product P to immediately after the gripper 23 completes the gripping operation of the product P), the robot control device 3 switches the state of the product weight data W2, which is one of the control parameters Q, from an inactive state (see FIG. 9 ) to an active state (see FIG. 10 ). In this manner, the product weight data W2 is reflected in the control parameter Q. In this specification, the active state of data means a state in which the data is reflected in the control parameter Q. In addition, in this specification, the inactive state of data means a state in which the data is not reflected in the control parameter Q.

[0034] The robot controller 3 controls the carrying-out operation of the robot 2 based on the control parameters Q including the product weight data W2 (more specifically, the control parameters Q in a state in which the product weight data W2 is activated) and the carry-out route data 327 that specifies the carry-out route for the product P. In the example shown in FIG. 11 , both the control parameters Q and the carry-out route data 327 are stored in the memory of the robot controller 3.

[0035] 13, the robot 2 may be capable of concurrently carrying in the workpiece E to the machine tool 6 and carrying out the product P from the machine tool 6. In the example shown in FIG. 13, the gripper 23 can grip the product P while the second gripper 24 is gripping the workpiece E.

[0036] 14 , the robot control device 3 sets each of the workpiece weight data W1 and the product weight data W2 as one of the control parameters Q. Furthermore, when the robot 2 is supporting both the workpiece E and the product P, the robot control device 3 controls the operation of the robot 2 based on the control parameter Q that reflects both the workpiece weight data W1 and the product weight data W2 (in other words, the control parameter Q in a state in which both the workpiece weight data W1 and the product weight data W2 are activated), and the carry-in route data 326 or the carry-out route data 327.

[0037] For example, the robot controller 3 activates the workpiece weight data W1 when the robot 2 receives the workpiece E. The robot controller 3 controls the carry-in operation of the robot 2 based on the control parameter Q (see FIG. 15 ) in which the workpiece weight data W1 is activated and the product weight data W2 is inactivated, and the carry-in route data 326. Thereafter, the robot controller 3 activates the product weight data W2 when the robot 2 supporting the workpiece E receives the product P. The robot controller 3 controls the operation of the robot 2 based on the control parameter Q (see FIG. 14 ) in which both the workpiece weight data W1 and the product weight data W2 are activated, and the carry-in route data 326 or the carry-out route data 327. Thereafter, the robot controller 3 inactivates the workpiece weight data W1 when the robot 2 hands over the workpiece E to the workpiece support device 62. In addition, the robot control device 3 controls the unloading operation of the robot 2 based on the control parameter Q (see Figure 10) in a state where the work weight data W1 is inactivated and the product weight data W2 is activated, and the unloading route data 327.

[0038] 11 , the numerical control device 5 sends product weight data W2 indicating the second weight w2 to the robot control device 3. In addition, the robot control device 3 sets the product weight data W2 acquired from the numerical control device 5 as one of the control parameters Q of the robot 2.

[0039] 12, the numerical control device 5 may send second basic data A2 for calculating the weight of the product P (in other words, the second weight w2) to the robot control device 3. The second basic data A2 may include, for example, product volume data V2 indicating the volume of the product P. The second basic data A2 may include the product volume data V2 and product density data D2 indicating the density of the material that constitutes the product P. Note that the product density data D2 is usually the same as the workpiece density data D1.

[0040] 12 , the robot control device 3 derives product weight data W2 based on at least the second basic data A2, and sets the derived product weight data W2 as one of the control parameters Q. More specifically, the robot control device 3 derives product weight data W2 based on product volume data V2 and product density data D2. The robot control device 3 also sets the derived product weight data W2 as one of the control parameters Q.

[0041] 11 and 12, the product weight data W2 is reflected in the control parameter Q of the robot 2. This allows the robot control device 3 to more accurately control the position of the product P. For example, the robot control device 3 can control the operation of the arm 21 by taking into account distortion of the arm 21 caused by the weight of the product P. Furthermore, because the control parameter Q is set more appropriately, false detection is less likely to occur when detecting a collision between the robot 2 and another object while carrying out the product P.

[0042] 11 and 12, the product weight data W2 or the second basic data A2 for calculating the weight of the product P is sent from the numerical control device 5 to the robot control device 3. Therefore, the operator does not need to manually input the weight of the product P into the robot control device 3. For example, every time the type of product P is switched, the operator does not need to manually input the weight of the product P after switching into the robot control device 3. This reduces the workload on the operator.

[0043] (Numerical Control Device 5) One computer may function as the numerical control device 5, or multiple computers may cooperate to function as the numerical control device 5. As illustrated in Fig. 16 , the numerical control device 5 includes a hardware processor 50 (hereinafter simply referred to as "processor 50"), a memory 52, a communication circuit 55, an input device 56, and a display 57. In the example illustrated in Fig. 16 , the processor 50, the memory 52, the communication circuit 55, the input device 56, and the display 57 are connected to one another via a bus 58. In the example illustrated in Fig. 16 , the display 57 is a touch panel display 572 that also functions as the input device 56.

[0044] The memory 52 is a storage medium readable by the processor 50 of the numerical control device 5. The memory 52 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, or a flash memory, or may be a magnetic disk or other type of memory. The memory 52 stores data and programs. The memory 52 may be distributed across multiple locations.

[0045] As illustrated in FIG. 6 , the communication circuit 55 transmits an operation command C to the controlled devices of the machine tool 6 (e.g., the machining head 61, the workpiece support device 62, the moving device 63, the door moving device 69, etc.). Also, as illustrated in FIGS. 4 and 5 , the communication circuit 55 transmits data such as workpiece weight data W1 or first basic data A1 for calculating the weight of the workpiece E to the robot control device 3. In the example illustrated in FIGS. 4 and 5 , the communication circuit 55a that transmits operation commands to the controlled devices of the machine tool 6 is a separate circuit from the communication circuit 55b that transmits data to the robot control device 3. Alternatively, the communication circuit 55a that transmits operation commands to the controlled devices of the machine tool 6 may be the same circuit as the communication circuit 55b that transmits data to the robot control device 3. Furthermore, data transmission and reception between the robot control device 3 and the numerical control device 5 may be performed via a bus.

[0046] The input device 56 is not limited to the touch panel display 572. For example, the numerical control device 5 may include an input device such as a button, a switch, a lever, a pointing device, or a keyboard, and a display that displays data input to the input device or other information.

[0047] (Robot control device 3) One computer may function as the robot control device 3, or multiple computers may work together to function as the robot control device 3. As illustrated in Fig. 16 , the robot control device 3 includes a processor (hereinafter referred to as a "second processor 30" to distinguish it from the processor 50 of the numerical control device 5), a memory (hereinafter referred to as a "second memory 32" to distinguish it from the memory 52 of the numerical control device 5), a communication circuit (hereinafter referred to as a "second communication circuit 35" to distinguish it from the communication circuit 55 of the numerical control device 5), an input device (hereinafter referred to as a "second input device 36" to distinguish it from the input device 56 of the numerical control device 5), and a display (hereinafter referred to as a "second display 37" to distinguish it from the display 57 of the numerical control device 5). In the example shown in FIG. 16, the second processor 30, the second memory 32, the second communication circuit 35, the second input device 36, and the second display 37 are connected to each other via a bus (hereinafter referred to as the "second bus 38" to distinguish it from the bus 58 of the numerical control device 5).

[0048] The second memory 32 is a storage medium readable by the second processor 30. The second memory 32 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, or a flash memory, or may be a magnetic disk or other type of memory. The second memory 32 stores data and programs. The second memory 32 may be distributed across multiple locations.

[0049] 17 , the second communication circuit 35 transmits a transport operation command J to the robot 2. As illustrated in FIGS. 4 and 5 , the second communication circuit 35 receives data such as workpiece weight data W1 or first basic data A1 for calculating the weight of the workpiece E from the numerical control device 5. In the example illustrated in FIGS. 4 and 5 , the second communication circuit 35a that receives data from the numerical control device 5 is a separate circuit from the second communication circuit 35b that transmits the transport operation command to the robot 2. Alternatively, the second communication circuit 35a that receives data from the numerical control device 5 may be the same circuit as the second communication circuit 35b that transmits the transport operation command to the robot 2.

[0050] The second input device 36 is, for example, a touch panel display, a button, a switch, a lever, a pointing device, a keyboard, or the like.

[0051] 18 , the numerical control device 5 may be capable of executing a machining simulation for virtually machining the workpiece E. By executing the machining simulation by the numerical control device 5, the workpiece E is virtually machined.

[0052] 18 , the numerical controller 5 virtually executes the machining program PM stored in the memory 52 to perform a machining simulation. In this specification, virtually executing the machining program PM by the numerical controller 5 encompasses the numerical controller 5 executing the machining program PM via the second arithmetic program PG2. In other words, the numerical controller 5 may process (interpret) the machining program PM by executing the second arithmetic program PG2. Based on this processing (based on this interpretation), the numerical controller 5 virtually operates multiple controlled devices of the machine tool 6 on the display 57.

[0053] 18 , the numerical control device 5 virtually executes the machining program PM to generate three-dimensional shape data SH1 of the workpiece E. Furthermore, by virtually executing the machining program PM, the numerical control device 5 moves a tool T (e.g., a cutting tool T1) relative to the workpiece E on the display 57. In the example shown in FIG. 19 , the numerical control device 5 virtually executes the machining program PM to generate three-dimensional shape data SH2 of the product P.

[0054] Alternatively, as illustrated in FIG. 20 , the numerical control device 5 in the first embodiment may be configured to be able to communicate with a simulation device 8 provided separately from the numerical control device 5 .

[0055] 21 , the simulation device 8 includes a third processor 80, a third memory 82, a third communication circuit 85, a third input device 86, and a third display 87. The third memory 82 is a storage medium readable by the third processor 80.

[0056] 22, the simulation device 8 can execute a machining simulation for virtually machining the workpiece E. By executing the machining simulation by the simulation device 8, the workpiece E is virtually machined.

[0057] 21 , the simulation device 8 performs a machining simulation by virtually executing the machining program PM stored in the third memory 82. In this specification, the simulation device 8 virtually executing the machining program PM includes the simulation device 8 executing the machining program PM via the second arithmetic program PG2. In other words, the simulation device 8 may process (interpret) the machining program PM by executing the second arithmetic program PG2. Based on the processing (based on the interpretation), the simulation device 8 virtually operates a plurality of control target devices of the machine tool 6 on the third display 87.

[0058] 21 , the simulation device 8 virtually executes the machining program PM to generate three-dimensional shape data SH1 of the workpiece E. Furthermore, by virtually executing the machining program PM, the simulation device 8 moves a tool T (e.g., a cutting tool T1) relative to the workpiece E on the display 57. In the example shown in FIG. 23 , the simulation device 8 virtually executes the machining program PM to generate three-dimensional shape data SH2 of the product P.

[0059] 24, the numerical control device 5 may be configured to be able to communicate with a CAD / CAM system 9. In this specification, the term "CAD / CAM system" refers to a system that is provided separately from the numerical control device 5 and that creates workpiece shape data and NC data with the assistance of a computer. Additionally, the CAD / CAM system 9 may create product shape data.

[0060] 25 , the CAD / CAM system 9 includes a fourth processor 90, a fourth memory 92, a fourth communication circuit 95, a fourth input device 96, and a fourth display 97. The fourth memory 92 is a storage medium readable by the fourth processor 90.

[0061] (Calculation of First Weight w1) The weight of the workpiece E (in other words, the first weight w1) may be calculated by the robot control device 3, the numerical control device 5, or any computer capable of communicating with the numerical control device 5 (e.g., the simulation device 8 or the CAD / CAM system 9). The first weight w1 is calculated based on the volume of the workpiece E (in other words, the first volume v1) and the density of the material constituting the workpiece E (in other words, the first density d1). More specifically, the first weight w1 is calculated by multiplying the first volume v1 by the first density d1. Note that when the material constituting the workpiece E includes a first material and a second material, the first weight w1 is calculated based on the volume of the portion composed of the first material, the density of the first material, the volume of the portion composed of the second material, and the density of the second material.

[0062] (When the calculation of the first weight w1 is performed by the robot control device 3) As illustrated in Figure 5, when the calculation of the first weight w1 is performed by the robot control device 3, the robot control device 3 receives first basic data A1 for calculating the first weight w1 from the numerical control device 5.

[0063] The first basic data A1 received by the robot control device 3 from the numerical control device 5 may include workpiece volume data V1 indicating the first volume v1. In this case, the robot control device 3 calculates the first weight w1 based on the workpiece volume data V1 received from the numerical control device 5 and the workpiece density data D1 stored in the second memory 32.

[0064] The first basic data A1 received by the robot control device 3 from the numerical control device 5 may include workpiece volume data V1 and workpiece density data D1. In this case, the robot control device 3 calculates the first weight w1 based on the workpiece volume data V1 and workpiece density data D1 received from the numerical control device 5.

[0065] The first basic data A1 that the robot control device 3 receives from the numerical control device 5 may include shape data of the workpiece E. In this case, the robot control device 3 derives workpiece volume data V1 based on the shape data of the workpiece E. Furthermore, the robot control device 3 calculates the first weight w1 based on the workpiece volume data V1 and the workpiece density data D1.

[0066] 4 , when the first weight w1 is calculated by the numerical control device 5, the numerical control device 5 calculates the first weight w1 based on the workpiece volume data V1 and the workpiece density data D1. The numerical control device 5 also sends workpiece weight data W1 indicating the first weight w1 to the robot control device 3.

[0067] (When the first weight w1 is calculated by an arbitrary computer other than the numerical control device 5 and the robot control device 3) When the first weight w1 is calculated by an arbitrary computer other than the numerical control device 5 and the robot control device 3 (e.g., the simulation device 8 or the CAD / CAM system 9, etc.), the computer (e.g., the simulation device 8 or the CAD / CAM system 9, etc.) calculates the first weight w1 based on the workpiece volume data V1 and the workpiece density data D1. The numerical control device 5 receives workpiece weight data W1 indicating the first weight w1 from the computer (e.g., the simulation device 8 or the CAD / CAM system 9, etc.). In addition, the numerical control device 5 sends the workpiece weight data W1 indicating the first weight w1 to the robot control device 3.

[0068] (Calculation of Second Weight w2) The weight of the product P (in other words, the second weight w2) may be calculated by the robot control device 3, the numerical control device 5, or any computer (e.g., the simulation device 8 or the CAD / CAM system 9) that can communicate with the numerical control device 5. The second weight w2 is calculated based on the volume of the product P (in other words, the second volume v2) and the density of the material constituting the product P (in other words, the second density d2). More specifically, the second weight w2 is calculated by multiplying the second volume v2 by the second density d2. The second density d2 is typically the same as the first density d1 (in other words, the density of the material constituting the workpiece E). When the material constituting the product P includes a first material and a second material, the second weight w2 is calculated based on the volume of the portion composed of the first material, the density of the first material, the volume of the portion composed of the second material, and the density of the second material.

[0069] (When the calculation of the second weight w2 is performed by the robot control device 3) As illustrated in Figure 12, when the calculation of the second weight w2 is performed by the robot control device 3, the robot control device 3 receives second basic data A2 for calculating the second weight w2 from the numerical control device 5.

[0070] The second basic data A2 received by the robot control device 3 from the numerical control device 5 may include product volume data V2. In this case, the robot control device 3 calculates the second weight w2 based on the product volume data V2 received from the numerical control device 5 and the product density data D2 stored in the second memory 32. Note that the product density data D2 is usually the same as the workpiece density data D1.

[0071] The second basic data A2 that the robot control device 3 receives from the numerical control device 5 may include product volume data V2 and product density data D2. In this case, the robot control device 3 calculates the second weight w2 based on the product volume data V2 received from the numerical control device 5 and the product density data D2 received from the numerical control device 5.

[0072] The second basic data A2 that the robot control device 3 receives from the numerical control device 5 may include shape data of the product P. In this case, the robot control device 3 derives product volume data V2 based on the shape data of the product P. Furthermore, the robot control device 3 calculates the second weight w2 based on the product volume data V2 and the product density data D2.

[0073] 11 , when the second weight w2 is calculated by the numerical control device 5, the numerical control device 5 calculates the second weight w2 based on the product volume data V2 and the product density data D2. The numerical control device 5 also sends product weight data W2 indicating the second weight w2 to the robot control device 3. Note that the product density data D2 is usually the same as the workpiece density data D1.

[0074] (When the second weight w2 is calculated by an arbitrary computer other than the numerical control device 5 and the robot control device 3) When the second weight w2 is calculated by an arbitrary computer other than the numerical control device 5 and the robot control device 3 (e.g., the simulation device 8 or the CAD / CAM system 9, etc.), the computer (e.g., the simulation device 8 or the CAD / CAM system 9, etc.) calculates the second weight w2 based on the product volume data V2 and the product density data D2. The numerical control device 5 receives product weight data W2 indicating the second weight w2 from the computer (e.g., the simulation device 8 or the CAD / CAM system 9, etc.). The numerical control device 5 also sends the product weight data W2 indicating the second weight w2 to the robot control device 3.

[0075] (First calculation mode M1) In the example described in Figure 4, the numerical control device 5 can execute a first calculation mode M1 to calculate a first weight w1 based on work volume data V1 indicating a first volume v1 and work density data D1 indicating a first density d1.

[0076] In the example shown in FIG. 4 , the memory 52 stores workpiece volume data V1 and workpiece density data D1. The memory 52 also stores a calculation program PG executed by the processor 50. In the example shown in FIG. 4 , the numerical control device 5 (more specifically, the processor 50) executes the calculation program PG to calculate a first weight w1 based on the workpiece volume data V1 and the workpiece density data D1. More specifically, the processor 50 executing the calculation program PG calculates the first weight w1 by multiplying the first volume v1 by the first density d1. The calculated first weight w1 is stored in the memory 52 as workpiece weight data W1.

[0077] 26 , the memory 52 stores workpiece volume data V1, association data r1 (see FIG. 27 ) that associates a plurality of materials with the densities of the plurality of materials, and data m1 that identifies the material that constitutes the workpiece E. As illustrated in FIG. 28 , the numerical control device 5 may acquire the data m1 that identifies the material that constitutes the workpiece E via the input device 56. In other words, the data m1 that identifies the material that constitutes the workpiece E may be input to the numerical control device 5 by an operator via the input device 56. Alternatively, the numerical control device 5 may acquire the data m1 that identifies the material that constitutes the workpiece E from another computer.

[0078] In the example shown in FIG. 26 , the numerical control device 5 (more specifically, the processor 50) executes the calculation program PG to derive the density of the material constituting the workpiece E (in other words, the first density d1) based on data m1 identifying the material constituting the workpiece E and association data r1 associating multiple materials with the densities of the multiple materials. The derived first density d1 is stored in the memory 52 as workpiece density data D1. The numerical control device 5 (more specifically, the processor 50) also executes the calculation program PG to calculate a first weight w1 based on the workpiece volume data V1 and the workpiece density data D1. More specifically, the processor 50 executing the calculation program PG calculates the first weight w1 by multiplying the first volume v1 by the first density d1. The calculated first weight w1 is stored in the memory 52 as workpiece weight data W1.

[0079] When the numerical control device 5 is capable of executing the first calculation mode M1 in which the first weight w1 is calculated based on the work volume data V1 and the work density data D1, the operator is not burdened with the work of measuring the weight of the work E.

[0080] 4 and 26 illustrate an example in which the processor 50 of the numerical control device 5 executes the calculation program PG to calculate the first weight w1. Alternatively, the second processor 30 of the robot control device 3, the third processor 80 of the simulation device 8, or the fourth processor 90 of the CAD / CAM system 9 may execute the calculation program PG to calculate the first weight w1 by the robot control device 3, the simulation device 8, or the CAD / CAM system 9. In other words, in the description of "(First Calculation Mode M1)," the terms "numerical control device 5," "processor 50," "memory 52," and "input device 56" can be replaced with "robot control device 3," "second processor 30," "second memory 32," and "second input device 36," respectively. Furthermore, in the description of "(First Calculation Mode M1)," the terms "numerical control device 5," "processor 50," "memory 52," and "input device 56" can be replaced with "simulation device 8," "third processor 80," "third memory 82," and "third input device 86," respectively. Furthermore, in the explanation of "(first calculation mode M1)," the "numerical control device 5," "processor 50," "memory 52," and "input device 56" can be read as "CAD / CAM system 9," "fourth processor 90," "fourth memory 92," and "fourth input device 96," respectively.

[0081] (Second Calculation Mode M2) In the example shown in FIG. 4, the numerical control device 5 can execute a second calculation mode M2 ​​in which the first volume v1 is calculated based on the shape data SD of the workpiece used to generate the machining program PM.

[0082] 28 , the numerical control device 5 may acquire the shape data SD of the workpiece E used to generate the machining program PM via the input device 56. In other words, the shape data SD of the workpiece E used to generate the machining program PM may be input to the numerical control device 5 by an operator via the input device 56. Alternatively, the numerical control device 5 may acquire the shape data SD of the workpiece E used to generate the machining program PM from another computer. The shape data SD of the workpiece E acquired by the numerical control device 5 is stored in the memory 52.

[0083] As illustrated in FIG. 28, when the workpiece E is a hollow round bar, the shape data SD of the workpiece E includes an outer diameter SD1 of the workpiece E, an inner diameter SD2 of the workpiece E, and a height SD3 of the workpiece E.

[0084] 28 , the numerical control device 5 (more specifically, the processor 50) executes the calculation program PG to calculate a first volume v1 based on the shape data SD of the workpiece E. For example, if the workpiece E is a hollow round bar, the numerical control device 5 calculates the first volume v1 based on the outer diameter SD1 of the workpiece E, the inner diameter SD2 of the workpiece E, and the height SD3 of the workpiece E. More specifically, the numerical control device 5 calculates the first volume v1 using the formula "first volume v1 = π × height SD3 × (outer diameter SD1 × outer diameter SD1 - inner diameter SD2 × inner diameter SD2) / 4." The calculated first volume v1 is stored in the memory 52 as workpiece volume data V1.

[0085] It goes without saying that if the workpiece E has a shape other than a hollow round bar, the algorithm for calculating the first volume v1 will be different from the algorithm described above. Any known algorithm can be used as the algorithm for calculating the volume of the workpiece E (in other words, the first volume v1) based on the shape data SD of the workpiece E.

[0086] 4 and 28 have described an example in which the processor 50 of the numerical control device 5 executes the calculation program PG, thereby calculating the first volume v1 by the numerical control device 5. Alternatively, the third processor 80 of the simulation device 8 may execute the calculation program PG, thereby calculating the first volume v1 by the simulation device 8. In other words, in the description of "(second calculation mode M2)," the "numerical control device 5," the "processor 50," the "memory 52," and the "input device 56" can be replaced with the "simulation device 8," the "third processor 80," the "third memory 82," and the "third input device 86," respectively.

[0087] 18 and 22, the numerical control device 5 or the simulation device 8 may be capable of executing a second calculation mode M2 ​​in which the first volume v1 is calculated based on the shape data of the workpiece E (more specifically, the three-dimensional shape data SH1 of the workpiece E) generated by executing a machining simulation. More specifically, the numerical control device 5 or the simulation device 8 generates the shape data of the workpiece E (more specifically, the three-dimensional shape data SH1 of the workpiece E) by virtually executing the machining program PM. Furthermore, the numerical control device 5 or the simulation device 8 calculates the volume of the workpiece E (in other words, the first volume v1) based on the shape data of the workpiece E (more specifically, the three-dimensional shape data SH1 of the workpiece E) by executing the calculation program PG. The calculated first volume v1 is stored in the memory 52 (or the third memory 82) as the workpiece volume data V1.

[0088] When the numerical control device 5 or the simulation device 8 is capable of executing the second calculation mode M2, the numerical control device 5 or the simulation device 8 can calculate the first volume v1 based on the shape data SD of the workpiece E used to generate the machining program PM or the shape data of the workpiece E generated by executing the machining simulation. Therefore, the operator is not required to input additional data just for the purpose of calculating the first volume v1.

[0089] Alternatively, the CAD / CAM system 9 may be capable of executing a second calculation mode M2 ​​that calculates the first volume v1 based on the shape data of the workpiece E (more specifically, the three-dimensional shape data SH1 of the workpiece E).

[0090] 25 , the CAD / CAM system 9 executes the drawing program 928 stored in the fourth memory 92 to create shape data of the workpiece E (more specifically, three-dimensional shape data SH1 of the workpiece E) based on data input via the fourth input device 96 or the fourth communication circuit 95. The CAD / CAM system 9 (more specifically, the fourth processor 90) executes the calculation program PG to calculate the volume of the workpiece E (in other words, the first volume v1) based on the shape data of the workpiece E (more specifically, the three-dimensional shape data SH1 of the workpiece E). The calculated first volume v1 is stored in the fourth memory 92 as workpiece volume data V1.

[0091] When the first volume v1 is calculated by the simulation device 8 or the CAD / CAM system 9, workpiece volume data V1 indicating the first volume v1 is transmitted to the numerical control device 5. Alternatively, the simulation device 8 or the CAD / CAM system 9 may derive the workpiece weight data W1 based on the workpiece volume data V1 indicating the first volume v1 and the workpiece density data D1. In this case, the workpiece weight data W1 indicating the first weight w1 is transmitted from the simulation device 8 or the CAD / CAM system 9 to the numerical control device 5.

[0092] When the above-described first calculation mode M1 is executed, the first volume v1 calculated in the second calculation mode M2 ​​is used by at least one of the robot control device 3, the numerical control device 5, the simulation device 8, and the CAD / CAM system 9. For example, the numerical control device 5 calculates the first weight w1 based on the first volume v1 calculated by executing the second calculation mode M2 ​​and the workpiece density data D1.

[0093] (Machining Program Generation Mode MA) The numerical control device 5 can execute a machining program generation mode MA in which a machining program PM is generated.

[0094] 29, the numerical control device 5 (more specifically, the processor 50) can execute a machining program generation mode MA to generate a machining program PM based on the shape data SD (see FIG. 28) of the workpiece E, data DA2 specifying the type of machining tool, data DA3 specifying the machining range, and data DA4 specifying the machining speed. The machining program PM generated by the numerical control device 5 is stored in the memory 52.

[0095] The data DA2 specifying the type of machining tool includes, for example, data specifying whether the machining tool is a turning tool, a milling tool, or some other tool. The data DA3 specifying the machining range includes, for example, data specifying the cutting depth, data specifying the cutting start point, and data specifying the cutting end point. The data DA4 specifying the machining speed may include data specifying the feed rate of the tool, data specifying the rotational speed of the milling tool, or data specifying the rotational speed at which the workpiece E is rotated.

[0096] 29 has described an example in which the machining program PM is generated by the numerical control device 5. Alternatively, the machining program PM may be generated by the simulation device 8. In other words, in the description of "(machining program generation mode MA)," the "numerical control device 5," the "processor 50," and the "memory 52" can be read as the "simulation device 8," the "third processor 80," and the "third memory 82," respectively. The machining program PM generated by the simulation device 8 is transmitted to the numerical control device 5.

[0097] 30 , the CAD / CAM system 9 (more specifically, the fourth processor 90) may be capable of executing a machining program generation mode MA that generates a machining program (more specifically, the EIA program PM1) based on the shape data SD of the workpiece E, data DA2 that specifies the type of machining tool, data DA3 that specifies the machining range, and data DA4 that specifies the machining speed. The machining program (more specifically, the EIA program PM1) generated by the CAD / CAM system 9 is transmitted to the numerical control device 5.

[0098] (Third calculation mode M3) In the example described in Figure 11, the numerical control device 5 can execute a third calculation mode M3 to calculate the second weight w2 based on product volume data V2 indicating the second volume v2 and product density data D2 indicating the second density d2.

[0099] In the example shown in FIG. 11 , the memory 52 stores product volume data V2 and product density data D2. The memory 52 also stores a calculation program PG executed by the processor 50. In the example shown in FIG. 11 , the numerical control device 5 (more specifically, the processor 50) executes the calculation program PG to calculate the second weight w2 based on the product volume data V2 and the product density data D2. More specifically, the processor 50 executing the calculation program PG calculates the second weight w2 by multiplying the second volume v2 by the second density d2. The calculated second weight w2 is stored in the memory 52 as product weight data W2.

[0100] 31, the memory 52 stores product volume data V2, association data r1 (see FIG. 27) that associates a plurality of materials with the densities of the plurality of materials, and data m2 that identifies the material that constitutes the product P. Note that the data m2 that identifies the material that constitutes the product P is usually the same as the data m1 that identifies the material that constitutes the workpiece E.

[0101] 31 , the numerical control device 5 (more specifically, the processor 50) executes the calculation program PG to derive the density of the material constituting the product P (in other words, the second density d2) based on data m2 identifying the material constituting the product P and association data r1 associating multiple materials with the densities of the multiple materials. The derived second density d2 is stored in the memory 52 as product density data D2. Note that if the product density data D2 is the same as the workpiece density data D1, the process of deriving the density of the material constituting the product P (in other words, the process of deriving the second density d2) is omitted.

[0102] 31 , the numerical control device 5 (more specifically, the processor 50) executes the calculation program PG to calculate the second weight w2 based on the product volume data V2 and the product density data D2. More specifically, the processor 50 executing the calculation program PG calculates the second weight w2 by multiplying the second volume v2 by the second density d2. The calculated second weight w2 is stored in the memory 52 as product weight data W2.

[0103] When the numerical control device 5 is capable of executing the third calculation mode M3 in which the second weight w2 is calculated based on the product volume data V2 and the product density data D2, the operator is not burdened with the work of measuring the weight of the product P.

[0104] 11 and 31 illustrate an example in which the processor 50 of the numerical control device 5 executes the calculation program PG to calculate the second weight w2. Alternatively, the second processor 30 of the robot control device 3, the third processor 80 of the simulation device 8, or the fourth processor 90 of the CAD / CAM system 9 may execute the calculation program PG to calculate the second weight w2 by the robot control device 3, the simulation device 8, or the CAD / CAM system 9. In other words, in the description of "(Third Calculation Mode M3)," the "numerical control device 5," the "processor 50," and the "memory 52" can be replaced with the "robot control device 3," the "second processor 30," and the "second memory 32," respectively. Furthermore, in the description of "(Third Calculation Mode M3)," the "numerical control device 5," the "processor 50," and the "memory 52" can be replaced with the "simulation device 8," the "third processor 80," and the "third memory 82," respectively. Furthermore, in the explanation of "(third calculation mode M3)," the "numerical control device 5," "processor 50," and "memory 52" can be replaced with the "CAD / CAM system 9," "fourth processor 90," and "fourth memory 92," respectively.

[0105] (Fourth Calculation Mode M4) In the example shown in FIG. 19, the numerical control device 5 can execute a fourth calculation mode M4 in which the volume of the product P (in other words, the second volume v2) is calculated based on a machining simulation.

[0106] For example, the numerical control device 5 (more specifically, the processor 50) virtually executes the machining program PM to identify a portion of the workpiece E that will come into contact with the cutting tool as a portion to be removed. Furthermore, the numerical control device 5 (more specifically, the processor 50) virtually executes the machining program PM to generate three-dimensional shape data SH2 of the product P obtained by removing the portion to be removed from the workpiece E. Furthermore, the numerical control device 5 (more specifically, the processor 50) executes the calculation program PG to calculate the volume of the product P (in other words, the second volume v2) based on the three-dimensional shape data SH2 of the product P. The calculated second volume v2 is stored in the memory 52 as product volume data V2.

[0107] Alternatively, the numerical control device 5 (more specifically, the processor 50) virtually executes the machining program PM to identify a portion of the workpiece E that will come into contact with the cutting tool as a removal portion. The numerical control device 5 (more specifically, the processor 50) also executes the calculation program PG to calculate the volume of the removal portion as a removal volume. Furthermore, the numerical control device 5 (more specifically, the processor 50) executes the calculation program PG to calculate the volume of the product P (in other words, the second volume v2) by subtracting the volume of the removal portion from the volume of the workpiece E (in other words, the first volume v1). The calculated second volume v2 is stored in the memory 52 as product volume data V2.

[0108] 19 has described an example in which the numerical control device 5 calculates the second volume v2 based on a machining simulation. Alternatively, as illustrated in FIG. 23 , the simulation device 8 may calculate the second volume v2 based on a machining simulation. In other words, in the description of the "(fourth calculation mode M4)," the "numerical control device 5," the "processor 50," and the "memory 52" can be replaced with the "simulation device 8," the "third processor 80," and the "third memory 82," respectively.

[0109] As illustrated in Figure 23, the second basic data A2 including the product volume data V2 derived by the simulation device 8 (or the product weight data W2 derived based on the product volume data V2 and the product density data D2) is transmitted to the numerical control device 5.

[0110] When the numerical control device 5 or the simulation device 8 is capable of executing the fourth calculation mode M4, the numerical control device 5 or the simulation device 8 can calculate the second volume v2 based on the machining simulation. Therefore, the operator is not required to input additional data just for the purpose of calculating the second volume v2.

[0111] Alternatively, the CAD / CAM system 9 may be capable of executing a fourth calculation mode M4 that calculates the second volume v2 based on the shape data of the product P (more specifically, the three-dimensional shape data SH2 of the product P).

[0112] 32 , the CAD / CAM system 9 executes the drawing program 928 stored in the fourth memory 92 to create shape data of the product P (more specifically, three-dimensional shape data SH2 of the product P) based on data input via the fourth input device 96 or the fourth communication circuit 95. Furthermore, the CAD / CAM system 9 (more specifically, the fourth processor 90) executes the calculation program PG to calculate the volume of the product P (in other words, the second volume v2) based on the shape data of the product P (more specifically, the three-dimensional shape data SH2 of the product P). The calculated second volume v2 is stored in the fourth memory 92 as product volume data V2.

[0113] As illustrated in Figure 32, the second basic data A2 including the product volume data V2 derived by the CAD / CAM system 9 (or the product weight data W2 derived based on the product volume data V2 and the product density data D2) is transmitted to the numerical control device 5.

[0114] When the third calculation mode M3 described above is executed, the second volume v2 calculated in the fourth calculation mode M4 is used by at least one of the robot control device 3, the numerical control device 5, the simulation device 8, and the CAD / CAM system 9. For example, the numerical control device 5 calculates the second weight w2 based on the second volume v2 calculated by executing the fourth calculation mode M4 and the product density data D2 stored in the memory 52.

[0115] 4, the numerical control device 5 sends workpiece weight data W1 indicating the first weight w1 to the robot control device 3. Alternatively, as illustrated in FIG. 5, the numerical control device 5 may send first basic data A1 for calculating the first weight w1 to the robot control device 3.

[0116] The robot control device 3 sets the workpiece weight data W1 indicating the first weight w1 as one of the control parameters Q of the robot 2 (see, for example, FIG. 3). When the workpiece weight data W1 is reflected in the control parameter Q of the robot 2, the robot control device 3 can more accurately control the position of the workpiece E. For example, the robot control device 3 can control the operation of the arm 21 by taking into account distortion of the arm 21 caused by the weight of the workpiece E. Furthermore, because the control parameter Q is set more appropriately, false detection is less likely to occur when detecting a collision between the robot 2 and another object while carrying in the workpiece E.

[0117] The control parameter Q may be set as one of the collision determination parameters for detecting a collision between the robot 2 and an obstacle. For example, in the example shown in FIG. 4 , the robot 2 has an acceleration sensor 25. The acceleration sensor 25 may be disposed on the arm 21 or the gripper 23. The robot control device 3 determines whether or not a collision has occurred between the robot 2 or the workpiece E and an obstacle (e.g., an operator or an object) based on a signal received from the acceleration sensor 25 and collision determination parameters including the control parameter Q reflecting the workpiece weight data W1. Furthermore, if it is determined that the robot 2 or the workpiece E has collided with an obstacle, the robot control device 3 stops the operation of the robot 2. If the workpiece weight data W1 is not reflected in the control parameter Q, false detection of a collision is likely to occur. For example, if the acceleration indicated by the acceleration sensor 25 changes, the robot control device 3 cannot accurately determine whether the change is due to a collision or the inertia of the workpiece E or the like.

[0118] 11 , the numerical control device 5 sends product weight data W2 indicating the second weight w2 to the robot control device 3. Alternatively, as illustrated in FIG. 12 , the numerical control device 5 may send second basic data A2 for calculating the second weight w2 to the robot control device 3.

[0119] The robot control device 3 sets the product weight data W2 indicating the second weight w2 as one of the control parameters Q of the robot 2 (see, for example, FIG. 10 ). When the product weight data W2 is reflected in the control parameter Q of the robot 2, the robot control device 3 can more accurately control the position of the product P. For example, the robot control device 3 can control the operation of the arm 21 by taking into account distortion of the arm 21 caused by the weight of the product P. Furthermore, because the control parameter Q is set more appropriately, false detection is less likely to occur in detecting a collision between the robot 2 and another object while carrying out the product P. The control parameter Q reflecting the product weight data W2 may be set as one of the collision determination parameters for detecting a collision between the robot 2 and an obstacle.

[0120] 33 , the numerical control device 5 may send to the robot control device 3 first data DT1 specifying the outer dimensions of the workpiece and / or second data DT2 specifying the outer dimensions of the components of the machine tool. Additionally, the numerical control device 5 may send to the robot control device 3 third data DT3 identifying the support device to which the workpiece E is attached. In the example shown in FIG. 33 , the first data DT1 includes the height dimension h1 of the workpiece E and the gripping height h2 of the workpiece E. The second data DT2 includes the height dimension h3 of the jaws. Furthermore, the third data DT3 includes identification data hd1 specifying the workpiece support device 62.

[0121] The robot control device 3 sets the carry-in route data 326 based on, for example, the first data DT1, the second data DT2, and the third data DT3. Furthermore, the robot control device 3 controls the carry-in operation of the robot 2 (in other words, the operation of the robot 2 to carry the workpiece E into the machine tool 6) based on the control parameter Q reflecting the workpiece weight data W1 and the carry-in route data 326.

[0122] 34, the numerical control device 5 may send to the robot control device 3 fourth data DT4 specifying the outer dimensions of the product P and / or fifth data DT5 specifying the outer dimensions of the components of the machine tool. Additionally, the numerical control device 5 may send to the robot control device 3 sixth data DT6 identifying the support device from which the product P is to be removed. In the example shown in FIG. 34, the fourth data DT4 includes a height dimension h4 of the product P and a gripping height h5 of the product P. The fifth data DT5 includes a height dimension h6 of the jaws. In addition, the sixth data DT6 includes identification data hd2 specifying the second workpiece support device 65.

[0123] The robot control device 3 sets the carry-out path data 327 based on, for example, the fourth data DT4, the fifth data DT5, and the sixth data DT6. Furthermore, the robot control device 3 controls the carry-out operation of the robot 2 (in other words, the operation of the robot 2 to carry out the product P from the machine tool 6) based on the control parameter Q reflecting the product weight data W2 and the carry-out path data 327.

[0124] 35 , the following procedure is assumed: (1) a workpiece E carried into the machine tool 6 by the robot 2 is attached to the workpiece support device 62; (2) the partially machined workpiece E is transferred from the workpiece support device 62 to the second workpiece support device 65; (3) the workpiece E supported by the second workpiece support device 65 is machined into a product P; and (4) the product P supported by the second workpiece support device 65 is handed over to the robot 2. In this case, the sixth data DT6 described above is different from the third data DT3 described above. On the other hand, in the example described in FIG. 13 , the procedure is assumed: a product P supported by the workpiece support device 62 is handed over to the robot 2. In this case, the sixth data DT6 described above is the same as the third data DT3 described above.

[0125] Second Embodiment A machine tool system 1 according to a second embodiment will be described with reference to Figures 1 to 37. Figure 36 is a diagram schematically showing the machine tool system 1 according to the second embodiment. Figure 37 is a diagram schematically showing how a numerical control device 5 can control equipment to be controlled.

[0126] In the second embodiment, differences from the first embodiment will be mainly described. On the other hand, in the second embodiment, repeated descriptions of matters already described in the first embodiment will be omitted. Therefore, it goes without saying that matters already described in the first embodiment can be applied to the second embodiment even if they are not explicitly described in the second embodiment. Conversely, all matters described in the second embodiment can be applied to the first embodiment.

[0127] As illustrated in FIG. 36 , the machine tool system 1 in the second embodiment includes a machine tool 6 and a numerical control device 5 .

[0128] 36 , the machine tool 6 has a machining head 61 (e.g., a turret 61T) that holds a tool T, a workpiece support device 62 that supports a workpiece, and a moving device 63 that moves the machining head 61 relative to the workpiece support device 62. The machine tool 6 may have a wall 67 that has an opening OP through which the workpiece and / or product can pass, a door 68 that opens and closes the opening OP, and a door moving device 69 that moves the door 68. The machine tool 6 may also have a second workpiece support device 65 that is provided separately from the workpiece support device 62.

[0129] As illustrated in Fig. 35, the machine tool 6 receives a workpiece E from a robot 2 controlled by a robot control device 3. Furthermore, as illustrated in Fig. 37, the machine tool 6 processes the workpiece E into a product based on an operation command C received from a numerical control device 5.

[0130] 4, the numerical control device 5 sends the workpiece weight data W1 indicating the first weight w1 to the robot control device 3 so that the workpiece weight data W1 is set as one of the control parameters Q of the robot 2. Upon receiving the workpiece weight data W1, the robot control device 3 sets the workpiece weight data W1 as one of the control parameters Q of the robot 2 (see, for example, FIG. 3).

[0131] 5 , the numerical control device 5 sends first basic data A1 for calculating the first weight w1 to the robot control device 3 so that workpiece weight data W1 indicating the first weight w1 is set as one of the control parameters Q of the robot 2. The first basic data A1 includes, for example, workpiece volume data V1. The first basic data A1 may include the workpiece volume data V1 and workpiece density data D1.

[0132] The robot control device 3 receives the first basic data A1, derives the work weight data W1 based on the first basic data A1, and sets the work weight data W1 as one of the control parameters Q of the robot 2 (see, for example, Figure 3).

[0133] 33 , the numerical control device 5 sends first data DT1 specifying the outer dimensions of the workpiece, second data DT2 specifying the outer dimensions of the components of the machine tool, and / or third data DT3 identifying the support device to which the workpiece E is attached to the robot control device 3. The robot control device 3 sets carry-in route data 326 specifying the workpiece carry-in route, for example, based on the first data DT1, second data DT2, third data DT3, and position data of the components of the machine tool (for example, position data of the workpiece support device 62 and position data of the opening OP).

[0134] 37 , the numerical control device 5 generates an operation command C by executing a machining program PM associated with a workpiece E. The generated operation command C is transmitted from the numerical control device 5 to the machine tool 6, and the machine tool 6 machines the workpiece E into a product based on the operation command C received from the numerical control device 5.

[0135] The machine tool 6, numerical control device 5, robot 2, and robot control device 3 have already been explained in the first embodiment, so repeated explanations of the machine tool 6, numerical control device 5, robot 2, and robot control device 3 will be omitted.

[0136] The machine tool system 1 in the second embodiment has the same effects as the machining system 100 in the first embodiment.

[0137] As illustrated in FIG. 35 , the machine tool 6 may be configured to be able to transfer a product P to a robot 2 controlled by a robot control device 3 .

[0138] 11, the numerical control device 5 sends the product weight data W2 to the robot control device 3 so that the product weight data W2 is set as one of the control parameters Q of the robot 2. Upon receiving the product weight data W2, the robot control device 3 sets the product weight data W2 as one of the control parameters Q of the robot 2 (see, for example, FIG. 10).

[0139] 12, the numerical control device 5 sends second basic data A2 for calculating the second weight w2 to the robot control device 3 so that the product weight data W2 is set as one of the control parameters of the robot 2. The second basic data A2 includes, for example, product volume data V2. The second basic data A2 may include the product volume data V2 and product density data D2. Note that the product density data D2 is usually the same as the workpiece density data D1.

[0140] The robot control device 3 receives the second basic data A2, derives product weight data W2 based on the second basic data A2, and sets the product weight data W2 as one of the control parameters Q of the robot 2 (see, for example, Figure 10).

[0141] 34 , the numerical control device 5 sends to the robot control device 3 fourth data DT4 specifying the external dimensions of the product P, fifth data DT5 specifying the external dimensions of the components of the machine tool, and / or sixth data DT6 identifying the support device from which the product P is to be removed. The robot control device 3 sets carry-out path data 327 specifying the carry-out path of the product, based on, for example, the fourth data DT4, the fifth data DT5, the sixth data DT6, and the position data of the components of the machine tool (for example, the position data of the second workpiece support device 65 and the position data of the opening OP).

[0142] (Optional Additional Configuration) Next, optional additional configurations that can be employed in the machine tool system 1 in the second embodiment (or the machining system 100 in the first embodiment) will be described with reference to FIGS. 1 to 37.

[0143] 37 , the numerical control device 5 generates a first operation command C1 by executing the machining program PM. The door moving device 69 receives the first operation command C1 from the numerical control device 5 and moves the door 68 from the closed position (in other words, the position that closes the opening OP) to the open position (in other words, the position that opens the opening OP). The robot control device 3 controls the carry-in operation of the robot 2 based on the control parameter Q that reflects the workpiece weight data W1 and the carry-in route data 326 so that the workpiece E is transferred to the workpiece support device 62 through the opening OP.

[0144] 37 , the numerical control device 5 generates a second operation command C2 by executing the machining program PM. The door moving device 69 receives the second operation command C2 from the numerical control device 5 and moves the door 68 from the open position (in other words, the position that opens the opening OP) to the closed position (in other words, the position that closes the opening OP).

[0145] In the example shown in FIG. 37 , the numerical controller 5 generates a third motion command C3 by executing the machining program PM. The workpiece support device 62, which receives the third motion command C3 from the numerical controller 5, rotates the support member that supports the workpiece E (e.g., the jaws that grip the workpiece E) around the first axis AX. The numerical controller 5 also generates a fourth motion command C4 by executing the machining program PM. The movement device 63, which receives the fourth motion command C4 from the numerical controller 5, moves the machining head 61 relative to the workpiece support device 62 so that the tool T contacts the workpiece E. In this way, the workpiece E is cut by the tool T. The numerical controller 5 may also generate a fifth motion command C5 by executing the machining program PM. The machining head 61, which receives the fifth motion command C5 from the numerical controller 5, rotates the tool T2 around the tool's central axis. In this way, the workpiece E is milled by the tool T2.

[0146] The numerical control device 5 may generate a transfer command by executing the machining program PM. The machine tool 6 that receives the transfer command transfers the workpiece E from the workpiece supporting device 62 to the second workpiece supporting device 65. The transfer may be performed by the workpiece supporting device 62 and the second workpiece supporting device 65 themselves, or may be performed by a transfer device that is provided separately from the workpiece supporting device 62 and the second workpiece supporting device 65.

[0147] 37 , the numerical control device 5 generates a sixth operation command C6 by executing the machining program PM. The door moving device 69 receives the sixth operation command C6 from the numerical control device 5 and moves the door 68 from the closed position (in other words, the position that closes the opening OP) to the open position (in other words, the position that opens the opening OP). The robot control device 3 controls the carry-out operation of the robot 2 based on the control parameter Q that reflects the product weight data W2 and the carry-out path data 327 so that the product P is removed from the machine tool 6 through the opening OP.

[0148] 35 , the numerical control device 5 is communicably connected to the robot control device 3. The numerical control device 5 and the robot control device 3 may be connected by wire or wirelessly. When the numerical control device 5 and the robot control device 3 are incorporated into one unit, the numerical control device 5 and the robot control device 3 may be communicably connected by a bus.

[0149] 20, the numerical control device 5 is communicably connected to the simulation device 8. The numerical control device 5 and the simulation device 8 may be connected by wire or wirelessly.

[0150] 24, the numerical control device 5 is communicably connected to the CAD / CAM system 9. The numerical control device 5 and the CAD / CAM system 9 may be connected by wire or wirelessly.

[0151] 28, the numerical control device 5 can execute the second calculation mode M2 ​​to calculate the first volume v1 (in other words, the volume of the workpiece E) based on the workpiece shape data SD used to generate the machining program PM. Also, in the example shown in Fig. 18, the numerical control device 5 can execute the second calculation mode M2 ​​to calculate the first volume v1 (in other words, the volume of the workpiece E) based on the workpiece shape data (more specifically, the three-dimensional shape data SH1 of the workpiece E) generated by executing a machining simulation. The first volume v1 calculated by executing the second calculation mode M2 ​​is stored in the memory 52 as workpiece volume data V1.

[0152] Alternatively, as exemplified in Fig. 22, the simulation device 8 may be capable of executing a second calculation mode M2 ​​in which the first volume v1 (in other words, the volume of the workpiece E) is calculated based on the workpiece shape data SD used in generating the machining program PM or the workpiece shape data (more specifically, the three-dimensional shape data SH1 of the workpiece E) generated by executing the machining simulation. Still alternatively, as exemplified in Fig. 25, the CAD / CAM system 9 may be capable of executing a second calculation mode M2 ​​in which the first volume v1 (in other words, the volume of the workpiece E) is calculated based on the workpiece shape data (more specifically, the three-dimensional shape data SH1 of the workpiece E).

[0153] When the second calculation mode M2 ​​is executed by the simulation device 8 or the CAD / CAM system 9, the numerical control device 5 is configured to receive the work volume data V1 or the work weight data W1 (more specifically, the work weight data W1 derived based on the work volume data V1 and the work density data D1) from the simulation device 8 or the CAD / CAM system 9.

[0154] The second calculation mode M2 ​​has already been described in the first embodiment, so a repeated description of the second calculation mode M2 ​​will be omitted.

[0155] 4, the numerical control device 5 can execute a first calculation mode M1 to calculate a first weight w1 (in other words, the weight of the workpiece E) based on the workpiece volume data V1 and the workpiece density data D1. The first weight w1 calculated by executing the first calculation mode M1 is stored in the memory 52 as workpiece weight data W1. The numerical control device 5 also sends the workpiece weight data W1 to the robot control device 3.

[0156] Alternatively, the simulation device 8 or the CAD / CAM system 9 may be capable of executing a first calculation mode M1 in which the simulation device 8 or the CAD / CAM system 9 calculates the first weight w1 (in other words, the weight of the workpiece E) based on the workpiece volume data V1 and the workpiece density data D1. In this case, the numerical control device 5 is configured to receive workpiece weight data W1 indicating the first weight w1 from the simulation device 8 or the CAD / CAM system 9.

[0157] The first calculation mode M1 has already been described in the first embodiment, and therefore a repeated description of the first calculation mode M1 will be omitted.

[0158] 19 , the numerical control device 5 can execute a fourth calculation mode M4 to calculate the volume of the product P (in other words, the second volume v2) based on the machining simulation. The second volume v2 calculated by executing the fourth calculation mode M4 is stored in the memory 52 as product volume data V2.

[0159] Alternatively, as illustrated in Fig. 23, the simulation device 8 may be capable of executing a fourth calculation mode M4 in which the volume of the product P (in other words, the second volume v2) is calculated based on a processing simulation. Still alternatively, as illustrated in Fig. 32, the CAD / CAM system 9 may be capable of executing the fourth calculation mode M4 in which the second volume v2 is calculated based on shape data of the product P (more specifically, three-dimensional shape data SH2 of the product P).

[0160] When the fourth calculation mode M4 is executed by the simulation device 8 or the CAD / CAM system 9, the numerical control device 5 is configured to receive the product volume data V2 or the product weight data W2 (more specifically, the product weight data W2 derived based on the product volume data V2 and the product density data D2) from the simulation device 8 or the CAD / CAM system 9.

[0161] The fourth calculation mode M4 has already been described in the first embodiment, and therefore a repeated description of the fourth calculation mode M4 will be omitted.

[0162] 11, the numerical control device 5 can execute a third calculation mode M3 to calculate a second weight w2 (in other words, the weight of the product P) based on the product volume data V2 and the product density data D2. The second weight w2 calculated by executing the third calculation mode M3 is stored in the memory 52 as product weight data W2. The numerical control device 5 also sends the product weight data W2 to the robot control device 3. Note that the product density data D2 is usually the same as the workpiece density data D1.

[0163] Alternatively, the simulation device 8 or the CAD / CAM system 9 may be capable of executing a third calculation mode M3 in which the simulation device 8 or the CAD / CAM system 9 calculates the second weight w2 (in other words, the weight of the product P) based on the product volume data V2 and the product density data D2. In this case, the numerical control device 5 is configured to receive product weight data W2 indicating the second weight w2 from the simulation device 8 or the CAD / CAM system 9.

[0164] The third calculation mode M3 has already been described in the first embodiment, so a repeated description of the third calculation mode M3 will be omitted.

[0165] 29, the numerical control device 5 can execute a machining program generation mode MA to generate a machining program PM. The machining program PM generated by executing the machining program generation mode MA is stored in the memory 52.

[0166] Alternatively, the simulation device 8 may be capable of executing a machining program generation mode MA for generating the machining program PM. Further alternatively, the CAD / CAM system 9 may be capable of executing a machining program generation mode MA for generating a machining program (more specifically, the EIA program PM1).

[0167] When the machining program is generated by the simulation device 8 or the CAD / CAM system 9 , the numerical control device 5 is configured to receive the machining program from the simulation device 8 or the CAD / CAM system 9 .

[0168] The machining program generation mode MA has already been described in the first embodiment, so a repeated description of the machining program generation mode MA will be omitted.

[0169] Third Embodiment A workpiece machining method according to a third embodiment will be described with reference to Figures 1 to 39. Figures 38 and 39 are flowcharts showing an example of the workpiece machining method according to the third embodiment.

[0170] The workpiece machining method in the third embodiment may be performed using the machining system 100 in the first embodiment, or may be performed using another machining system. The machining system 100 has already been described in the first embodiment, so a repeated description of the machining system 100 will be omitted. The workpiece machining method in the third embodiment may be performed using the machine tool system 1 in the second embodiment, or may be performed using another machine tool system. The machine tool system 1 has already been described in the second embodiment, so a repeated description of the machine tool system 1 will be omitted.

[0171] In a first step ST1, the volume of the workpiece E is calculated. The first step ST1 is a workpiece volume calculation process. In the workpiece volume calculation process, at least one of the robot control device 3, the numerical control device 5, the simulation device 8, and the CAD / CAM system 9 calculates a first volume v1 (in other words, the volume of the workpiece E) based on the shape data of the workpiece E.

[0172] In the example shown in Figure 28, the workpiece volume calculation process (first step ST1) includes the numerical control device 5 (or the simulation device 8) calculating the first volume v1 based on the workpiece shape data SD used to generate the machining program PM.

[0173] 28 , the shape data SD of the workpiece E used to generate the machining program PM may be input to the numerical control device 5 by an operator via the input device 56. Alternatively, the shape data SD of the workpiece E used to generate the machining program PM may be input to the numerical control device 5 from another computer via the communication circuit 55.

[0174] 18 and 22, the workpiece volume calculation step (first step ST1) may include the numerical control device 5 (or the simulation device 8) calculating the first volume v1 based on shape data of the workpiece E generated by execution of a machining simulation (more specifically, three-dimensional shape data SH1 of the workpiece E). More specifically, the workpiece volume calculation step (first step ST1) includes: (1) the numerical control device 5 (or the simulation device 8) virtually executing a machining program PM to generate three-dimensional shape data SH1 of the workpiece E; and (2) the numerical control device 5 (or the simulation device 8) executing a calculation program PG to calculate the first volume v1 based on the three-dimensional shape data SH1 of the workpiece E.

[0175] Further alternatively, as illustrated in FIG. 25, the work volume calculation process (first step ST1) may include the CAD / CAM system 9 calculating the first volume v1 based on the shape data of the work E (more specifically, the three-dimensional shape data SH1 of the work E).

[0176] When the calculation of the first volume v1 is performed by the numerical control device 5, the workpiece volume data V1 indicating the first volume v1 is stored in the memory 52 of the numerical control device 5. When the calculation of the first volume v1 is performed by the robot control device 3, the workpiece volume data V1 indicating the first volume v1 is stored in the second memory 32 of the robot control device 3. When the calculation of the first volume v1 is performed by the simulation device 8, the workpiece volume data V1 indicating the first volume v1 is stored in the third memory 82 of the simulation device 8. When the calculation of the first volume v1 is performed by the CAD / CAM system 9, the workpiece volume data V1 indicating the first volume v1 is stored in the fourth memory 92 of the CAD / CAM system 9.

[0177] When the calculation of the first volume v1 is performed by the simulation device 8 or the CAD / CAM system 9, the workpiece volume data V1 indicating the first volume v1 may be transmitted from the simulation device 8 or the CAD / CAM system 9 to the numerical control device 5. In this case, the workpiece volume data V1 is stored in the memory 52 of the numerical control device 5. The workpiece volume data V1 may also be transmitted from the numerical control device 5 to the robot control device 3 (see the third step ST3 described later). In this case, the workpiece volume data V1 is stored in the second memory 32 of the robot control device 3.

[0178] In the second step ST2, the first weight w1 (in other words, the weight of the workpiece E) is calculated. The second step ST2 is a workpiece weight calculation process. In the workpiece weight calculation process, at least one of the robot control device 3, the numerical control device 5, the simulation device 8, and the CAD / CAM system 9 calculates the first weight w1 based on the workpiece volume data V1 and the workpiece density data D1.

[0179] 4, workpiece volume data V1 and workpiece density data D1 are stored in the memory 52 of the numerical control device 5. In this case, the workpiece weight calculation step (second step ST2) may include the numerical control device 5 executing the calculation program PG calculating a first weight w1 based on the workpiece volume data V1 and the workpiece density data D1.

[0180] 26 , the memory 52 of the numerical control device 5 stores workpiece volume data V1, association data r1 (see FIG. 27 ) that associates a plurality of materials with the densities of the plurality of materials, and data m1 that identifies the material that constitutes the workpiece E. In this case, the workpiece weight calculation step (second step ST2) may include the numerical control device 5 executing the calculation program PG calculating a first weight w1 based on the workpiece volume data V1, the association data r1, and the data m1 that identifies the material that constitutes the workpiece E. More specifically, the workpiece weight calculation step (second step ST2) may include (1) the numerical control device 5 deriving workpiece density data D1 based on the association data r1 and the data m1 that identifies the material that constitutes the workpiece E, and (2) the numerical control device 5 calculating the first weight w1 based on the derived workpiece density data D1 and the workpiece volume data V1.

[0181] 21 , workpiece volume data V1 and workpiece density data D1 are stored in the third memory 82 of the simulation device 8. In this case, the workpiece weight calculation step (second step ST2) may include the simulation device 8 executing the calculation program PG calculating the first weight w1 based on the workpiece volume data V1 and the workpiece density data D1.

[0182] 21 , the third memory 82 of the simulation device 8 stores workpiece volume data V1, association data r1 (see FIG. 27 ) that associates a plurality of materials with the densities of the plurality of materials, and data m1 that identifies the material that constitutes the workpiece E. In this case, the workpiece weight calculation step (second step ST2) may include the simulation device 8 executing the calculation program PG calculating the first weight w1 based on the workpiece volume data V1, the association data r1, and the data m1 that identifies the material that constitutes the workpiece E.

[0183] 5, workpiece volume data V1 and workpiece density data D1 are stored in the second memory 32 of the robot control device 3. In this case, the workpiece weight calculation step (second step ST2) may include the robot control device 3 executing the calculation program PG calculating a first weight w1 based on the workpiece volume data V1 and the workpiece density data D1.

[0184] 25, workpiece volume data V1 and workpiece density data D1 are stored in the fourth memory 92 of the CAD / CAM system 9. In this case, the workpiece weight calculation step (second step ST2) may include the CAD / CAM system 9 executing the calculation program PG calculating the first weight w1 based on the workpiece volume data V1 and the workpiece density data D1.

[0185] When the calculation of the first weight w1 is performed by the numerical control device 5, the workpiece weight data W1 indicating the first weight w1 is stored in the memory 52 of the numerical control device 5. When the calculation of the first weight w1 is performed by the robot control device 3, the workpiece weight data W1 indicating the first weight w1 is stored in the second memory 32 of the robot control device 3. When the calculation of the first weight w1 is performed by the simulation device 8, the workpiece weight data W1 indicating the first weight w1 is stored in the third memory 82 of the simulation device 8. When the calculation of the first weight w1 is performed by the CAD / CAM system 9, the workpiece weight data W1 indicating the first weight w1 is stored in the fourth memory 92 of the CAD / CAM system 9.

[0186] When the calculation of the first weight w1 is performed by the simulation device 8 or the CAD / CAM system 9, workpiece weight data W1 indicating the first weight w1 is transmitted from the simulation device 8 or the CAD / CAM system 9 to the numerical control device 5. In this case, the workpiece weight data W1 is stored in the memory 52 of the numerical control device 5. When the calculation of the first weight w1 is performed by a device other than the robot control device 3, the workpiece weight data W1 is transmitted from the numerical control device 5 to the robot control device 3 (see the third step ST3 described below). In this case, the workpiece weight data W1 is stored in the second memory 32 of the robot control device 3.

[0187] In a third step ST3, data is transmitted from the numerical control device 5 to the robot control device 3. The third step ST3 is a data transmission step.

[0188] The data transmission step (third step ST3) includes transmitting at least one of first basic data A1 (see FIG. 5) for calculating the first weight w1 and workpiece weight data W1 (see FIG. 4) from the numerical control device 5 to the robot control device 3. Note that if both the workpiece volume calculation step (first step ST1) and the workpiece weight calculation step (second step ST2) are performed by the robot control device 3, the step of transmitting at least one of the first basic data A1 and workpiece weight data W1 from the numerical control device 5 to the robot control device 3 may be omitted.

[0189] The first basic data A1 includes, for example, workpiece volume data V1. When the first basic data A1 is transmitted from the numerical control device 5 to the robot control device 3, a data transmission step (third step ST3) is executed before the workpiece weight calculation step (second step ST2). In addition, in the workpiece weight calculation step (second step ST2), the robot control device 3 calculates a first weight w1 based on the workpiece volume data V1 and the workpiece density data D1.

[0190] When the workpiece weight data W1 is transmitted from the numerical control device 5 to the robot control device 3, the data transmission step (third step ST3) is executed after the workpiece weight calculation step (second step ST2).

[0191] 33 , the data transmission step (third step ST3) may include transmitting first data DT1 specifying the outer dimensions of the workpiece and / or second data DT2 specifying the outer dimensions of the components of the machine tool from the numerical control device 5 to the robot control device 3. Additionally, the data transmission step (third step ST3) may include transmitting third data DT3 identifying the support device to which the workpiece E is attached from the numerical control device 5 to the robot control device 3.

[0192] The data transmission step (third step ST3) may be executed when triggered by a data request signal being transmitted from the robot control device 3 to the numerical control device 5. Alternatively, the data transmission step (third step ST3) may be executed by the numerical control device 5 regardless of whether a request is received from the robot control device 3.

[0193] In the fourth step ST4, the robot control device 3 sets data for controlling the carry-in operation of the robot 2. The fourth step ST4 is a first setting step.

[0194] 3, the first setting step (fourth step ST4) includes the robot control device 3 setting the workpiece weight data W1 as one of the control parameters Q of the robot 2. As illustrated in FIG. 3, the control parameter Q may include weight data of each of the structures attached to the distal arm 21e.

[0195] The first setting process (fourth step ST4) may include the robot control device 3 setting the delivery route data 326 based on the above-mentioned first data DT1, the above-mentioned second data DT2, and the above-mentioned third data DT3.

[0196] In a fifth step ST5, a carry-in operation command is generated. The fifth step ST5 is a first command generation step. The first command generation step (fifth step ST5) includes the robot control device 3 generating a carry-in operation command based on the control parameter Q reflecting the workpiece weight data W1 and the carry-in route data 326. The first command generation step (fifth step ST5) may include the robot control device 3 switching the state of the workpiece weight data W1, which is one of the control parameters Q, from an inactive state to an active state when the gripper 23 grips the workpiece E (more specifically, at any timing during the period from immediately before the gripper 23 starts the gripping operation of the workpiece E to immediately after the gripper 23 completes the gripping operation of the workpiece E). After the state of the workpiece weight data W1 is switched to the active state, the robot control device 3 generates a carry-in operation command for the robot 2 based on the control parameter Q in a state in which the workpiece weight data W1 is activated and the carry-in route data 326 that specifies the carry-in route of the workpiece E.

[0197] In sixth step ST6, the workpiece E is loaded into the machine tool 6. The sixth step ST6 is a loading step. The loading step (sixth step ST6) includes the robot 2 receiving the loading operation command loading the workpiece E into the machine tool 6. The loading step (sixth step ST6) may be executed in parallel with the first command generation step (fifth step ST5). More specifically, the robot control device 3 may generate a portion of the loading operation command for the robot 2, and the robot 2 may execute a portion of the operation of loading the workpiece E into the machine tool 6 based on the portion of the loading operation command, which may be executed repeatedly in stages from the start of loading the workpiece E to the completion of loading the workpiece E.

[0198] The loading process (sixth step ST6) may include (1) the door moving device 69 moving the door 68 from a closed position to an open position, (2) the robot 2 receiving the loading operation command loading the workpiece E into the machine tool 6, and (3) after the workpiece E has been loaded into the machine tool 6, the door moving device 69 moving the door 68 from the open position to the closed position.

[0199] In seventh step ST7, an operation command C (see FIG. 6) for controlling the machine tool 6 is generated. The seventh step ST7 is a second command generation step. The second command generation step (seventh step ST7) includes the numerical control device 5 generating the operation command C by executing the machining program PM associated with the workpiece E. The second command generation step (seventh step ST7) includes, for example, generating a movement operation command (C4) for controlling the movement device 63.

[0200] In eighth step ST8, the workpiece E is machined into the product P. The eighth step ST8 is a machining process. The machining process (eighth step ST8) includes the machine tool 6 receiving the operation command C machining the workpiece E into the product P. The machining process (eighth step ST8) includes, for example, the moving device 63 receiving the movement operation command (C4) moving the machining head 61 relative to the workpiece support device 62 so that the tool T comes into contact with the workpiece E. When the tool T comes into contact with the workpiece E, the workpiece E is machined by the tool T.

[0201] In the workpiece machining method of the third embodiment, the workpiece weight data W1 is reflected in the control parameter Q of the robot 2. Therefore, the robot control device 3 can more accurately control the position of the workpiece E. For example, the robot control device 3 can control the operation of the arm 21 taking into consideration distortion of the arm 21 caused by the weight of the workpiece E. Furthermore, because the control parameter Q is set more appropriately, false detection is less likely to occur when detecting a collision between the robot 2 and another object while the robot 2 is loading the workpiece E.

[0202] Furthermore, in the workpiece machining method of the third embodiment, the operator does not need to manually input the weight of the workpiece E into the robot control device 3. For example, every time the type of workpiece E is switched, the operator does not need to manually input the weight of the workpiece E after switching into the robot control device 3. This reduces the workload on the operator.

[0203] Additionally, the workpiece machining method in the third embodiment may include a process in which the robot 2 transports the product P from the machine tool 6 (more specifically, the following ninth step ST9 to fourteenth step ST14).

[0204] In a ninth step ST9, the volume of the product P is calculated. The ninth step ST9 is a product volume calculation step. In the product volume calculation step, at least one of the numerical control device 5, the simulation device 8, and the CAD / CAM system 9 calculates the second volume v2 (in other words, the volume of the product P) based on the shape data of the product P or the processing simulation.

[0205] In the examples described in Figures 19 and 23, in the product volume calculation process (ninth step ST9), the numerical control device 5 (or the simulation device 8) calculates the second volume v2 (in other words, the volume of the product P) based on the processing simulation.

[0206] More specifically, the product volume calculation process (ninth step ST9) includes: (1) the numerical control device 5 or simulation device 8 virtually executing the machining program PM identifying the portion of the workpiece E that will come into contact with the cutting tool as the removal portion; (2) the numerical control device 5 or simulation device 8 virtually executing the machining program PM generating three-dimensional shape data SH2 of the product P from which the removal portion has been removed from the workpiece E; and (3) the numerical control device 5 or simulation device 8 executing the calculation program PG calculating the second volume v2 (in other words, the volume of the product P) based on the three-dimensional shape data SH2 of the product P.

[0207] Alternatively, the product volume calculation process (ninth step ST9) includes: (1) the numerical control device 5 or simulation device 8 virtually executing the machining program PM identifying the portion of the workpiece E that will come into contact with the cutting tool as the removal portion; (2) the numerical control device 5 or simulation device 8 executing the calculation program PG calculating the volume of the removal portion as the removal volume; and (3) the numerical control device 5 or simulation device 8 executing the calculation program PG calculating the second volume v2 (in other words, the volume of the product P) by subtracting the volume of the removal portion from the first volume v1 (in other words, the volume of the workpiece E).

[0208] Further alternatively, as illustrated in FIG. 32, the product volume calculation process (ninth step ST9) may include the CAD / CAM system 9 calculating the second volume v2 based on the shape data of the product P (more specifically, the three-dimensional shape data SH2 of the product P).

[0209] When the calculation of the second volume v2 is performed by the numerical control device 5, the product volume data V2 indicating the second volume v2 is stored in the memory 52 of the numerical control device 5. When the calculation of the second volume v2 is performed by the simulation device 8, the product volume data V2 indicating the second volume v2 is stored in the third memory 82 of the simulation device 8. When the calculation of the second volume v2 is performed by the CAD / CAM system 9, the product volume data V2 indicating the second volume v2 is stored in the fourth memory 92 of the CAD / CAM system 9.

[0210] When the calculation of the second volume v2 is performed by the simulation device 8 or the CAD / CAM system 9, the product volume data V2 indicating the second volume v2 may be transmitted from the simulation device 8 or the CAD / CAM system 9 to the numerical control device 5. In this case, the product volume data V2 is stored in the memory 52 of the numerical control device 5. The product volume data V2 may also be transmitted from the numerical control device 5 to the robot control device 3 (see an eleventh step ST11 described later). In this case, the product volume data V2 is stored in the second memory 32 of the robot control device 3.

[0211] In a tenth step ST10, a second weight w2 (in other words, the weight of the product P) is calculated. The tenth step ST10 is a product weight calculation process. In the product weight calculation process, at least one of the robot control device 3, the numerical control device 5, the simulation device 8, and the CAD / CAM system 9 calculates the second weight w2 based on the product volume data V2 and the product density data D2. Note that the product density data D2 is usually the same as the workpiece density data D1.

[0212] When the calculation of the second weight w2 is performed by the numerical control device 5, the product weight data W2 indicating the second weight w2 is stored in the memory 52 of the numerical control device 5. When the calculation of the second weight w2 is performed by the robot control device 3, the product weight data W2 indicating the second weight w2 is stored in the second memory 32 of the robot control device 3. When the calculation of the second weight w2 is performed by the simulation device 8, the product weight data W2 indicating the second weight w2 is stored in the third memory 82 of the simulation device 8. When the calculation of the second weight w2 is performed by the CAD / CAM system 9, the product weight data W2 indicating the second weight w2 is stored in the fourth memory 92 of the CAD / CAM system 9.

[0213] If the calculation of the second weight w2 is performed by the simulation device 8 or the CAD / CAM system 9, the product weight data W2 indicating the second weight w2 is transmitted from the simulation device 8 or the CAD / CAM system 9 to the numerical control device 5. In this case, the product weight data W2 is stored in the memory 52 of the numerical control device 5. If the calculation of the second weight w2 is performed by a device other than the robot control device 3, the product weight data W2 is transmitted from the numerical control device 5 to the robot control device 3 (see an eleventh step ST11 described later). In this case, the product weight data W2 is stored in the second memory 32 of the robot control device 3.

[0214] The product volume calculation step (ninth step ST9) and the product weight calculation step (tenth step ST10) may be performed at timings close to the timings at which the workpiece volume calculation step (first step ST1) and the workpiece weight calculation step (tenth step ST10) are performed, respectively. For example, the product volume calculation step (ninth step ST9) and the product weight calculation step (tenth step ST10) may be performed before the data transmission step (third step ST3).

[0215] In an eleventh step ST11, data is transmitted from the numerical control device 5 to the robot control device 3. A third step ST3 is a second data transmission step.

[0216] The second data transmission process (eleventh step ST11) includes transmitting at least one of the second basic data A2 (see Figure 12) for calculating the second weight w2 and the product weight data W2 (see Figure 11) from the numerical control device 5 to the robot control device 3.

[0217] The second basic data A2 includes, for example, product volume data V2. When the second basic data A2 is transmitted from the numerical control device 5 to the robot control device 3, a second data transmission step (eleventh step ST11) is executed before the product weight calculation step (tenth step ST10). In addition, in the product weight calculation step (eleventh step ST11), the robot control device 3 calculates a second weight w2 based on the product volume data V2 and the product density data D2.

[0218] When the product weight data W2 is transmitted from the numerical control device 5 to the robot control device 3, the second data transmission step (eleventh step ST11) is executed after the product weight calculation step (tenth step ST10).

[0219] 34 , the second data transmission step (eleventh step ST11) may include transmitting fourth data DT4 specifying the outer dimensions of the product and / or fifth data DT5 specifying the outer dimensions of the components of the machine tool from the numerical control device 5 to the robot control device 3. Additionally, the second data transmission step (eleventh step ST11) may include transmitting sixth data DT6 identifying the support device from which the product P is to be removed from the numerical control device 5 to the robot control device 3.

[0220] The second data transmission step (eleventh step ST11) may be performed after the data transmission step (third step ST3) or may be performed at the same timing as the data transmission step (third step ST3). For example, the second data transmission step (eleventh step ST11) may be included in the data transmission step (third step ST3). In this case, in the data transmission step (third step ST3), data including the workpiece weight data W1, the product weight data W2, the first data DT1, the second data DT2, the third data DT3, the fourth data DT4, the fifth data DT5, and the sixth data DT6 may be transmitted from the numerical control device 5 to the robot control device 3.

[0221] In a twelfth step ST12, the robot control device 3 sets data for controlling the carrying-out operation of the robot 2. The twelfth step ST12 is a second setting step.

[0222] 10, the second setting step (twelfth step ST12) includes the robot control device 3 setting the product weight data W2 as one of the control parameters Q of the robot 2. As illustrated in Fig. 10, the control parameter Q may include weight data of each of the structures attached to the distal arm 21e.

[0223] The second setting process (twelfth step ST12) may include the robot control device 3 setting the output route data 327 based on the above-mentioned fourth data DT4, the above-mentioned fifth data DT5, and the above-mentioned sixth data DT6.

[0224] The second setting step (twelfth step ST12) may be performed after the first setting step (fourth step ST4) or may be performed at the same timing as the first setting step (fourth step ST4). For example, in the first setting step (fourth step ST4), both the workpiece weight data W1 may be set as one of the control parameters Q of the robot 2 and the product weight data W2 may be set as one of the control parameters Q of the robot 2.

[0225] In a thirteenth step ST13, a carry-out operation command is generated. The thirteenth step ST13 is a third command generation step. The third command generation step (thirteenth step ST13) includes the robot control device 3 generating a carry-out operation command based on the control parameter Q reflecting the product weight data W2 and the carry-out path data 327. The third command generation step (thirteenth step ST13) may include the robot control device 3 switching the state of the product weight data W2, which is one of the control parameters Q, from an inactive state to an active state when the gripper 23 grips the product P (more specifically, at any timing during the period from immediately before the gripper 23 starts the gripping operation of the product P to immediately after the gripper 23 completes the gripping operation of the product P). After the state of the product weight data W2 is switched to the active state, the robot control device 3 generates a carry-out operation command for the robot 2 based on the control parameter Q in a state in which the product weight data W2 is activated and the carry-out path data 327 that specifies the carry-out path of the product P.

[0226] In fourteenth step ST14, the product P is carried out from the machine tool 6. The fourteenth step ST14 is a carrying-out step. The carrying-out step (fourteenth step ST14) includes the robot 2 receiving the carrying-out operation command carrying out the product P from the machine tool 6. The carrying-out step (fourteenth step ST14) may be executed in parallel with the third command generation step (thirteenth step ST13). More specifically, the robot control device 3 may generate a portion of the carrying-out operation command for the robot 2 and, based on the portion of the carrying-out operation command, the robot 2 may execute a portion of the operation of carrying out the product P from the machine tool 6, which may be repeatedly executed in stages from the start of carrying-out of the product P to the completion of carrying-out of the product P.

[0227] The present invention is not limited to the above-described embodiments or modifications, and it is clear that each embodiment or modification can be appropriately modified or changed within the scope of the technical concept of the present invention. Furthermore, various techniques used in each embodiment or modification can be applied to other embodiments or modifications as long as no technical contradiction occurs. Furthermore, optional additional configurations in each embodiment or modification can be omitted as appropriate.

[0228] For example, in the embodiment, the robot 2 may be a non-self-propelled robot or a self-propelled robot. Furthermore, in the embodiment, there is no particular limitation on the type of machine tool 6. The machine tool 6 may be a lathe, a machining center, or a multi-tasking machine. The machine tool 6 may include an additive manufacturing device.

[0229] 1...machine tool system, 2...robot, 3...robot control device, 5...numerical control device, 6...machine tool, 8...simulation device, 9...CAD / CAM system, 21...arm, 21e...tip arm, 23...gripping body, 23w...gripping body weight data, 24...second gripping body, 24w...second gripping body weight data, 25...acceleration sensor, 30...second processor, 32...second memory, 35, 35a, 35b...second communication circuit, 36...second input device, 37...second display, 38...second bus, 50...hardware processor, 52...memory, 55, 55a, 55b...communication circuit , 56...input device, 57...display, 58...bus, 61...machining head, 61T...turret, 62...workpiece support device, 63...moving device, 65...second workpiece support device, 67...wall, 68...door, 69...door moving device, 80...third processor, 82...third memory, 85...third communication circuit, 86...third input device, 87...third display, 90...fourth processor, 92...fourth memory, 95...fourth communication circuit, 96...fourth input device, 97...fourth display, 100...machining system, 230...robot hand, 240...second robot hand, 326...carry-in route data, 327...Extraction path data, 529...Machining calculation program, 572...Touch panel display, 928...Drawing program, A1...First basic data, A2...Second basic data, C...Operation command, C1...First operation command, C2...Second operation command, C3...Third operation command, C4...Fourth operation command, C5...Fifth operation command, C6...Sixth operation command, D1...Workpiece density data, D2...Product density data, DA2...Data specifying the type of machining tool, DA3...Data specifying the machining range, DA4...Data specifying the machining speed, DT1...First data specifying the outer dimensions of the workpiece, DT2... Second data specifying the external dimensions of the components of the machine tool, DT3...third data identifying the support device, DT4...fourth data specifying the external dimensions of the product, DT5...fifth data specifying the external dimensions of the components of the machine tool, DT6...sixth data identifying the support device, E...workpiece, J...transport operation command, M1...first calculation mode, M2...second calculation mode, M3...third calculation mode, M4...fourth calculation mode, MA...machining program generation mode, OP...opening, P...product, PG...calculation program, PG2...second calculation program, PM...machining program, PM1...EIA program,Q...control parameters, SD...shape data, SD1...outer diameter of workpiece, SD2...inner diameter of workpiece, SD3...height of workpiece, SH1...3D shape data of workpiece, SH2...3D shape data of product, T...tool, T1...cutting tool, T2...tool, V1...work volume data, V2...product volume data, W1...work weight data, W2...product weight data, m1...data specifying material constituting the workpiece, m2...data specifying material constituting the product, r1...association data associating multiple materials with the densities of multiple materials,

Claims

1. A processing system comprising: a robot which loads a workpiece into a machine tool; a robot control device which, when the weight of the workpiece is defined as a first weight, sets workpiece weight data indicating the first weight as one of the control parameters of the robot, and controls the loading operation of the robot based on the control parameter and loading route data which specifies the loading route of the workpiece; a numerical control device which sends the workpiece weight data or first basic data for calculating the first weight to the robot control device, and generates operation commands by executing a processing program; and the machine tool which processes the workpiece into a product based on the operation commands.

2. The machining system according to claim 1, wherein the numerical control device sends the workpiece weight data to the robot control device, and the robot control device sets the workpiece weight data obtained from the numerical control device as one of the control parameters.

3. The machining system according to claim 1 or 2, wherein the robot is capable of transporting the product from the machine tool, and when a weight of the product is defined as a second weight, the numerical control device sends product weight data indicating the second weight or second basic data for calculating the second weight to the robot control device, and the robot control device sets the product weight data indicating the second weight as one of the control parameters of the robot, and controls the robot's transport operation based on the control parameter including the product weight data and transport route data specifying a transport route for the product.

4. A processing system as described in any one of claims 1 to 3, wherein when the volume of the workpiece is defined as a first volume and the density of the material constituting the workpiece is defined as a first density, at least one of the robot control device and the numerical control device is capable of executing a first calculation mode in which the first weight is calculated based on workpiece volume data indicating the first volume and workpiece density data indicating the first density.

5. The machining system according to claim 4, wherein the numerical control device is capable of executing a second calculation mode in which the first volume is calculated based on shape data of the workpiece used in generating the machining program.

6. The machining system according to claim 4, wherein the numerical control device is capable of executing a second calculation mode in which the first volume is calculated based on shape data of the workpiece generated by executing a machining simulation.

7. The machining system according to claim 5 or 6, wherein the numerical control device is capable of executing a machining program generation mode in which the machining program is generated based on the shape data of the workpiece, data specifying the type of machining tool, data specifying the machining range, and data specifying the machining speed.

8. The processing system described in claim 3, wherein when the volume of the product is defined as a second volume and the density of the material constituting the product is defined as a second density, at least one of the robot control device and the numerical control device is capable of executing a third calculation mode in which the second weight is calculated based on product volume data indicating the second volume and product density data indicating the second density.

9. The machining system according to claim 8, wherein the numerical control device is capable of executing a machining simulation for virtually machining the workpiece, and the numerical control device is capable of executing a fourth calculation mode for calculating the second volume based on the machining simulation.

10. The machining system described in claim 3, wherein the robot is capable of carrying the workpiece into the machine tool and carrying the product out of the machine tool in parallel, the robot control device sets each of the workpiece weight data indicating the first weight and the product weight data indicating the second weight as one of the control parameters, and when the robot is supporting both the workpiece and the product, the robot control device controls the operation of the robot based on the control parameters reflecting both the workpiece weight data and the product weight data and on the carrying-in route data or the carrying-out route data.

11. A machine tool system comprising: a machine tool that receives a workpiece from a robot controlled by a robot control device and processes the workpiece into a product based on operation commands received from a numerical control device; and a numerical control device that, when the weight of the workpiece is defined as a first weight, sends the workpiece weight data or first basic data for calculating the first weight to the robot control device so that the workpiece weight data indicating the first weight is set as one of the control parameters of the robot, and generates the operation commands by executing a machining program.

12. A machine tool system as described in claim 11, wherein, when the volume of the workpiece is defined as a first volume and the density of the material constituting the workpiece is defined as a first density, the numerical control device is capable of executing a second calculation mode in which the first volume is calculated based on shape data of the workpiece used to generate the machining program or shape data of the workpiece generated by executing a machining simulation, and a first calculation mode in which the first weight is calculated based on workpiece volume data indicating the first volume and workpiece density data indicating the first density, and the numerical control device sends the workpiece weight data to the robot control device.

13. The machine tool system according to claim 11, wherein the numerical control device is capable of communicating with at least one of a simulation device and a CAD / CAM system, and when the volume of the workpiece is defined as a first volume, the numerical control device receives the machining program and at least one of workpiece volume data indicating the first volume and the workpiece weight data from at least one of the simulation device and the CAD / CAM system.

14. A workpiece processing method comprising the steps of: at least one of a robot control device, a numerical control device, a simulation device, and a CAD / CAM system calculating a volume of the workpiece based on shape data of the workpiece; at least one of the robot control device, the numerical control device, the simulation device, and the CAD / CAM system calculating a weight of the workpiece based on the calculated volume of the workpiece and workpiece density data indicating the density of the material constituting the workpiece; the robot control device setting the calculated weight of the workpiece as one of the control parameters of the robot; the robot control device generating a loading operation command based on the control parameter and loading route data; the robot which receives the loading operation command loading the workpiece into a machine tool; the numerical control device generating an operation command by executing a machining program associated with the workpiece; and the machine tool which receives the operation command processing the workpiece into a product.

15. The workpiece machining method according to claim 14, further comprising the steps of: at least one of the numerical control device, the simulation device and the CAD / CAM system calculating a volume of the product based on shape data of the product or a processing simulation; at least one of the robot control device, the numerical control device, the simulation device and the CAD / CAM system calculating a weight of the product based on the calculated volume of the product and product density data indicating the density of the material constituting the product; the robot control device setting the calculated weight of the product as one of the control parameters of the robot; the robot control device generating an unloading operation command based on the control parameters and unloading path data; and the robot receiving the unloading operation command unloading the product from the machine tool.

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