Numerical control device and system

Abstract

A numerical control device disclosed herein comprises: an identification information storage unit for storing at least one piece of identification information to be designated for a plurality of segments constituting a processing path; and an identification information output unit for outputting the identification information to an external device prior to the starting time or starting position of processing in at least one segment among the plurality of segments, or after the starting time or starting position of the processing in the at least one segment.

Description

Numerical control devices and systems

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

[0002] A system for machining a workpiece using a machine, such as an industrial robot, includes a numerical control device, such as a robot control device, that controls the machine, an external device, such as a machining application control device, and a machining tool that is connected to the external device and is provided on the machine.

[0003] The numerical control device controls the machine and transmits machining conditions and the like to an external device, thereby causing the machining tool to machine the workpiece.

[0004] A machining path for machining is composed of multiple segments. An external device stores multiple programs for a machining tool. To manage each segment in real time, the numerical control device transmits machining conditions when machining is performed for each segment, and also transmits identification information corresponding to one of the multiple programs for the machining tool to the external device. This allows the external device to select one program from the multiple programs for each of the multiple segments. Prior art technologies for tagging each segment with identification information are known (Patent No. 7301486, JP 2023-98544 A).

[0005] Patent No. 7301486 Specification JP 2023-98544 A

[0006] However, after the external device receives the identification information, a preparation time may be required depending on the machining tool and the program before the machining tool can be used. It is also preferable to take into consideration the communication time required for the numerical control device to transmit the identification information, etc. to the external device.

[0007] Therefore, there is a demand for a numerical control device and system that can adjust the timing of transmitting identification information in consideration of the preparation time and communication time of the machining tool.

[0008] According to a first aspect of the present disclosure, there is provided a numerical control device comprising: an identification information storage unit that stores at least one identification information to be designated for a plurality of segments that constitute a machining path; and an identification information output unit that outputs the identification information to an external device prior to the start time or start position of machining in at least one of the plurality of segments, or after the start time or start position of machining in the at least one segment.

[0009] The objects, features, and advantages of the present disclosure will become more apparent from the following description of the embodiments taken in conjunction with the accompanying drawings.

[0010] 12 is a configuration diagram of a system including a numerical control device according to the present disclosure. FIG. 13 is a block diagram of a numerical control device etc. according to a first embodiment. FIG. 14 is a block diagram of a numerical control device etc. according to a modified example. FIG. 15 is a block diagram of a numerical control device etc. according to a second embodiment. FIG. 16 is a block diagram of a numerical control device etc. according to a third embodiment. FIG. 17 is a schematic diagram of a teaching pendant connected to a numerical control device. FIG. 18 is a block diagram of a numerical control device etc. according to a fourth embodiment. FIG. 19 is a block diagram of a numerical control device etc. according to a fifth embodiment. FIG. 19 is a time chart relating to the operation of a numerical control device. FIG. 19 is a block diagram of a numerical control device etc. according to a sixth embodiment. FIG. 20 is a diagram showing a part of a machining path operated by the numerical control device. FIG. 21 is a block diagram of a numerical control device etc. according to a seventh embodiment. FIG. 22 is a block diagram of a numerical control device etc. according to an eighth embodiment. FIG. 23 is a block diagram of a numerical control device etc. according to a ninth embodiment. FIG. 21 is another time chart relating to the operation of the numerical control device shown in FIG. 11. FIG. 22 is a configuration diagram of another system including a numerical control device according to the present disclosure.

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Corresponding components are designated by common reference numerals throughout the drawings. FIG. 1 is a configuration diagram of a system equipped with a numerical control device according to the present disclosure. The system 1 includes a machine 2, a machining tool 29 attached to the tip of the machine 2, a numerical control device 4 that controls the machine 2, and an external device 5, such as a machining application control device, that controls the machining tool 29. The system 1 may also include a teaching pendant 7, which will be described later.

[0012] Machine 2 carries a processing tool 29, which performs work on a workpiece W placed at a fixed point. Processing performed by machine 2 includes spot welding, dispensing, arc welding, laser processing, and the like. Machine 2 is, for example, a robot, and includes multiple links 20-24 connected to each other so as to be able to move relative to one another, and multiple motors (not shown) that drive links 21-24, respectively. For example, link 20 is a base placed on a mounting surface, and link 21 is a rotating body supported rotatably relative to the base about a first axis extending in a direction perpendicular to the mounting surface. Furthermore, for example, link 22 is a first arm supported rotatably relative to the rotating body about a second axis extending in a direction perpendicular to the first axis, link 23 is a second arm supported rotatably relative to the first arm about a third axis parallel to the second axis, and link 24 is a three-axis wrist unit rotatably supported relative to the second arm.

[0013] The external device 5 is a machining application control device that includes a plurality of programs C1, C2, ... for controlling the machining tool 29. When a plurality of machines 2 exist, a host computer such as a PLC that centrally controls operations using the plurality of programs C1, C2, ... may be used as the external device 5.

[0014] The system 1 may further include a teaching pendant 7 communicatively connected to a connection unit 92 provided in the numerical control device 4. The connection unit 92 serves as an interface for the teaching pendant 7. A user operates the numerical control device 4 via the teaching pendant 7. The teaching pendant 7 includes a display unit 70 that displays a machining program C for the numerical control device 4, an image of a sensor S (described later), and the like. The display unit 70 is, for example, a liquid crystal display or an organic display. The teaching pendant 7 further includes an input unit 71, such as a keyboard and buttons, that the user operates to input various pieces of information. The input unit 71 as a touch panel may be superimposed on the display unit 70.

[0015] The numerical control device 4, numerical control devices 4a to 4j described later, external device 5, and teaching pendant 7 each include a computer device including a processor such as a CPU (central processing unit) that executes various programs, and memories such as RAM (random access memory) and ROM (read only memory). The term "part" used in this document refers to a program module executed by a processor, but may also be configured as one or more semiconductor integrated circuits or other hardware that does not execute programs. Unless otherwise specified, the numerical control device 4 and numerical control devices 4a to 4j described later may have a similar configuration.

[0016] FIG. 2A is a block diagram of a numerical control device and the like in the first embodiment. In FIG. 2A, a numerical control device 4a similar to that described above is connected to a teaching pendant 7 and an external device 5. Although not shown in FIG. 2A etc., the numerical control device 4a and numerical control devices 4b to 4j described below include a storage unit 91 (see FIG. 1) that stores a machining program C. Furthermore, the external device 5 stores multiple programs C1, C2, etc. for a machining tool 29. The machining tool 29 operates according to a program selected from the multiple programs C1, C2, etc. The multiple programs C1, C2, etc. stored in the external device 5 are the same in the other embodiments.

[0017] 2A and FIG. 2B, which will be described later, also show a machining tool 29 connected to the external device 5 and its surroundings. The machining tool 29 performs machining along a machining path R. The machining path R is made up of a plurality of segments (sections) SEG0 to SEG3 that are continuous with one another. The machining path R and the plurality of segments SEG0 to SEG3 are defined by a machining program C stored in the numerical control device 4, etc.

[0018] In the illustrated embodiment, the machining route R is made up of four segments SEG0 to SEG3, but the machining route R may be made up of segments with a natural number greater than four, or may be made up of segments with a natural number less than four (1 to 3). Furthermore, at least one segment among the multiple segments SEG0 to SEG3 may be discontinuous with the next segment.

[0019] The numerical control device 4a includes an identification information storage unit 31 that stores at least one piece of identification information to be specified for a plurality of segments constituting a machining path, and an identification information output unit 32 that outputs the identification information to the external device 5 either prior to the start time or start position of machining for at least one of the plurality of segments, or after the start time or start position of machining for the at least one segment. Similar identification information storage units 31 and identification information output units 32 are included in the other numerical control devices 4, 4a to 4j. The identification information storage unit 31 may be a RAM or a ROM. The identification information storage unit 31 may store at least one piece of identification information for each of the plurality of segments, or may store at least one piece of identification information for only some of the plurality of segments.

[0020] The user inputs the identification information ID using the input unit 71 of the teaching pendant 7. The identification information ID corresponds to one of the plurality of programs C1, C2, ... stored in the external device 5. The identification information ID may further correspond to the type of machining tool 29 to be used for machining. The identification information ID is input for each of the plurality of segments SEG0 to SEG3 of the machining path R. The input identification information ID is stored in the identification information storage unit 31 of the numerical control device 4a. In other words, the numerical control device 4a adds the identification information to the machining program C in the storage unit 91 based on the information acquired through the connection unit 92.

[0021] Then, when the machining program C is executed, the identification information output unit 32 outputs the identification information ID stored in the identification information storage unit 31 for each of the segments SEG1 to SEG3 of the machining route R. In this embodiment, the identification information output unit 32 outputs the identification information ID to the external device 5 prior to the start time of each of the multiple segments SEG1 to SEG3. Note that in segment SEG0, the machine 2 is used only to move the machining tool 29 to a desired position, so the identification information ID is not output.

[0022] 2A, the identification information ID11111 associated with the segment SEG1 is output prior to the start of machining of the segment 1. As a result, the program C1 corresponding to the identification information ID11111 is selected and executed by the external device 5 before machining of the segment SEG1 is started.

[0023] Similarly, identification information ID22222 associated with segment SEG2 is output prior to the start of machining of segment SEG2, so that before machining of segment SEG2 begins, program C2 corresponding to identification information ID22222 is selected and executed by the external device 5. Furthermore, identification information ID33333 associated with segment SEG3 is output prior to the start of machining of segment SEG3, so that before machining of segment SEG3 begins, program C3 corresponding to identification information ID33333 is selected and executed by the external device 5.

[0024] The preceding time during which the identification information ID is output in advance may be determined in advance depending on the processing tool 29. The preceding time is preferably equal to or greater than the total time of the communication time required for the identification information ID corresponding to each of the segments SEG1 to SEG3 to be transmitted to the external device 5 and the preparation time required for the processing tool 29 to become usable by executing the programs C1, C2, ... corresponding to the transmitted identification information ID.

[0025] In such a case, the identification information ID is transmitted to each of the multiple segments SEG1 to SEG3 prior to the start time of machining for that segment, so the external device 5 can execute the corresponding programs C1, C2, ... to enable the machining tool 29. This allows the external device 5 to accurately grasp and manage the machining for each of the multiple segments SEG1 to SEG3 in real time.

[0026] In the present disclosure, the identification information ID is transmitted prior to the start time of machining for each of the plurality of segments SEG1 to SEG3, so that it is possible to select from the plurality of programs C1, C2, ... and / or machining methods included in the external device 5, and sufficient time can be ensured for the selection, etc. Therefore, it can be seen that, for the desired segments SEG1 to SEG3 on the machining route R, the desired machining according to each segment can be appropriately performed from the machining start position of each segment.

[0027] 2B is a block diagram of a numerical control device and the like in a modified example. As shown in FIG. 2B, the numerical control device 4b preferably includes an identification information changing unit 33 and a sensor S in addition to the identification information storage unit 31 and identification information output unit 32 similar to those described above. The sensor S is a sensor, such as a camera, connected to the numerical control device 4b and capable of recognizing the machining state of the machining tool 29. Furthermore, the external device 5 stores a plurality of programs C1, C2, ... for the machining tool 29.

[0028] The identification information output unit 32 in this modification outputs the identification information ID to the external device 5 after the start time of processing for each of the multiple segments SEG1 to SEG3. In other words, the identification information output unit 32 outputs the identification information ID to the external device 5 later than the start time of processing for each segment. Note that even in the configuration shown in Fig. 2A described above, the identification information output unit 32 can output the identification information ID to the external device 5 after the start time of each of the multiple segments SEG0 to SEG3.

[0029] The trailing time during which the identification information ID is trailingly output may be determined in advance depending on the machining tool 29. Alternatively, the trailing time may be equal to or greater than the total time of the time related to determining an abnormality using a sensor S described later, the communication time required to transmit information related to the abnormality from the external device 5 to the numerical control device 4b, the time required to determine new identification information ID, and the communication time required to transmit the new ID from the numerical control device 4b to the external device 5.

[0030] During machining by the machining tool 29, the machining state detected by the sensor S is transmitted to the identification information change unit 33 of the numerical control device 4b in real time, or only when the machining state is determined to be abnormal. The identification information change unit 33 then determines new identification information ID depending on the nature of the abnormality and transmits the new identification information ID to the external device 5. Therefore, the external device 5 selects and executes programs C1, C2, ... based on the new identification information ID. Therefore, it is possible to record whether machining was performed normally or not based on the new identification information ID. The identification information change unit 33 may have a relationship between the nature of the machining state abnormality and the change of the identification information ID, which is predetermined through experiments or the like. Alternatively, the user may cause the identification information change unit 33 to change the identification information ID via the teaching pendant 7.

[0031] 2A and 2B, the timing of transmitting the identification information ID can be adjusted taking into account the preparation time for the machining tool 29 and the communication time between the numerical control device 4 and the external device 5. As a result, the external device 5 can ensure sufficient time to prepare the machining tool 29 before machining in the corresponding segment begins. This allows accurate machining in each of the multiple segments SEG1 to SEG3 to be grasped and managed in real time. Furthermore, if the machining state is determined to be abnormal by the sensor S provided in the system 1, new identification information ID can be transmitted to the external device 5 depending on the nature of the abnormality, allowing appropriate machining in the corresponding segment.

[0032] 3 is a block diagram of a numerical control device and the like in the second embodiment. The numerical control device 4c further includes a machining condition storage unit 41 that stores machining conditions corresponding to each of a plurality of segments SEG0 to SEG3 used in a machining application of the external device 5, and a machining condition output unit 42 that outputs the machining conditions stored in the machining condition storage unit 41 to the external device 5. The machining condition storage unit 41 can be a RAM or a ROM. For example, if the machining tool 29 is a dispenser, the machining condition is the dispenser amount.

[0033] In such a case, both the stored processing conditions and the identification information ID can be transmitted to the external device 5 before or after the start of processing of each of the multiple segments SEG1 to SEG3. In this case, it will be apparent that more complex processing can be performed because processing conditions corresponding to each of the segments SEG1 to SEG3 can be transmitted.

[0034] Furthermore, Figure 4 is a block diagram of a numerical control device and the like according to the third embodiment. The identification information storage unit 31 in the numerical control device 4d can store multiple identification information IDs corresponding to multiple segments SEG1 to SEG3. In Figure 4, multiple identification information ID1-1, ID1-2, ... are stored as a first set SET1 for segment SEG1, and multiple identification information ID2-1, ID2-2, ... are stored as a second set SET2 for segment SEG2. The same applies to the other segments SEG3, etc. The set numbers 1, 2, ... correspond to the segment SEG numbers 1, 2, ..., respectively.

[0035] In such a case, the identification information output unit 32 can output multiple identification information IDs for each of multiple segments SEG1 to SEG3 based on predetermined conditions or user instructions when transmitting the identification information ID to the external device 5. When multiple identification information IDs are output for one segment, a priority order may be determined in advance for the identification information IDs to be used in the external device 5.

[0036] Alternatively, the number of identification information IDs to be output may be changed for each of the multiple segments SEG1 to SEG3. For example, only one identification information ID, such as identification information ID1-1, may be output for segment SEG1, and multiple identification information IDs, such as identification information ID2-1 and ID2-2, may be output for another segment SEG2.

[0037] In this way, in the third embodiment, the number of pieces of identification information ID required for each segment SEG can be flexibly changed, making it possible to appropriately handle a wide variety of processing.

[0038] 5 is a schematic diagram of a teaching pendant connected to a numerical control device. A user can operate the teaching pendant 7 to display a part of a machining program C for the machine 2 on a display unit 70 of the teaching pendant 7.

[0039] An example of a part of the machining program C is as follows: 1: LP[1] 500mm / sec 2: LP[2] 300mm / sec 3: LP[3] 300mm / sec ProcessStart[ID1=333,ID2=12333] 4: LP[4] 500mm / sec 5: LP[5] 500mm / sec ProcessStart[ID1=555,ID2=12555]

[0040] Here, in the string "LP[1] 500mm / sec" on the first line, the letter L indicates linear movement, and P[1] indicates the first of multiple taught positions. In other words, the string LP[1] 500mm / sec means linear movement at a speed of 500mm / sec to the previously taught taught position P[1]. Other lines containing similar information are generally similar. Lines containing the letter L can correspond to each segment SEG0 to SEG3. In addition, the line ProcessStart[ID1=333, ID2=12333] is a line related to machining, and means that after phase-shifting to the third taught position P[3], machining will begin in segment SEG3 using identification information ID1 and ID2.

[0041] The machining program C is displayed on the display unit 70 as editable data, for example, text data. Therefore, when storing the identification information ID in the identification information storage unit 31, the user can input the identification information ID through the input unit 71 while referring to the machining program C displayed on the display unit 70. Therefore, the user can input the optimum identification information ID for each of the multiple segments SEG1 to SEG3. In the above-mentioned machining-related lines, after "ID1=" and "ID2=", "333" and "12333" are input as the identification information ID1 and ID2, respectively. These pieces of identification information ID1 and ID2 are output by the identification information output unit 32 based on the above-mentioned preceding time or succeeding time when the corresponding lines in the machining program C are executed.

[0042] Furthermore, the user can also change the character strings "ID1=" and "ID2=" in the above-mentioned machining-related lines through the input unit 71. Specifically, the user can also delete a part of the character string, for example, only "ID1=", from the machining-related lines through the input unit 71. In this case, when the corresponding line in the machining program C is executed, the identification information ID1 is not output, and only the identification information ID2 is output.

[0043] Alternatively, the user can add other character strings, such as "ID3=" or "ID4=", to the lines related to machining through the input unit 71. In this case, the user further inputs the identification information ID3 and ID4 after the other character strings, such as "ID3=" or "ID4=". Then, when the corresponding lines in the machining program C are executed, the identification information ID1 to ID4 are output. In other words, the numerical control device 4 changes at least one of the machining program C and the identification information of the machining program C based on the information acquired through the connection unit 92 connected to the teaching pendant 7.

[0044] In this way, the machining program C is displayed as editable data, allowing the user to flexibly change the machining program C on-site. Furthermore, a portion of the machining program C corresponding to the plurality of segments SEG1 to SEG3 can be displayed on the display unit 70, making it possible to visualize the identification information ID relating to the machining in each of the plurality of segments SEG1 to SEG3.

[0045] Fig. 6 is a block diagram of a numerical control device and the like according to the fourth embodiment. Similar to the above, an identification information storage unit 31 of the numerical control device 4e shown in Fig. 6 stores a plurality of identification information IDs for each of the segments SEG1 and SEG2 as sets SET1 and SET2. In the fourth embodiment, an identification information output unit 32 extracts the identification information IDs stored in the identification information storage unit 31 while referring to the machining program C, and outputs the extracted identification information IDs to the external device 5.

[0046] The second line of the machining program C shown in Fig. 6 states "LP[2] 500mm / sec ProcessStart[Set=2]". The character string [Set=2] means that a second set SET2 consisting of identification information ID2-1, 2-2, ... is specified.

[0047] When the machining program C is executed, the identification information output unit 32 refers to the machining program C. Then, if the machining program C contains a line relating to a set SET, for example, the second line shown in Fig. 6, the set SET described in that line, for example, the second set SET2, is extracted from the identification information storage unit 31. Then, the identification information output unit 32 outputs the identification numbers ID2-1 and ID2-2 of the second set SET2 to the external device 5 based on the preceding time or following time described above.

[0048] 6, the user may enter the number of the set SET in the machining program C. Alternatively, the identification information output unit 32 may automatically determine the number of the set SET based on the line number of the machining program C or the teaching position of the machine 1, and extract the set SET corresponding to that number from the identification information storage unit 31. Furthermore, if the numbers of the segments SEG1 to SEG3 can be specified using the machining conditions, the user may specify the machining condition number in [Set=] in the machining program C, and the identification information output unit 32 may thereby extract the set SET of the identification information ID from the identification information storage unit 31.

[0049] Fig. 7A is a block diagram of a numerical control device according to a fifth embodiment, and Fig. 7B is a time chart showing the operation of the numerical control device for machining in one segment. The numerical control device 4f shown in Fig. 7A further includes a time memory unit 51 that stores a leading time preceding the start time of machining in at least one of the multiple segments or a trailing time following the start time, and a time calculation unit 52 that calculates the time to output identification information ID based on the start time and the leading time or trailing time stored in the time memory unit 51. The time memory unit 51 can be a RAM or a ROM.

[0050] The leading time Tp stored in the time storage unit 51 is determined in advance using experiments, simulations, etc., based on the type, performance, etc. of the machining tool 29. The same applies to the trailing time Tq.

[0051] As shown in FIG. 7B , the time when machining starts for a certain segment among the multiple segments SEG1 to SEG3 is designated as Ta. When the identification information ID is output prior to the machining start time Ta, the time calculation unit 52 subtracts the preceding time Tp from the machining start time Ta (= Ta - Tp) to calculate the identification information output time Tb at which the identification information ID is output. Similarly, when the identification information ID is output after the machining start time Ta, the time calculation unit 52 adds the following time Tq to the machining start time Ta (= Ta + Tq) to calculate the identification information output time Tc at which the identification information ID is output. It will be apparent that the fifth embodiment allows the identification information output times Tb and Tc to be calculated easily and accurately.

[0052] In addition, in an embodiment not shown, the time calculation unit 52 may calculate the identification information output time Tb (= Td - Tp) and the identification information output time Tc (= Td + Tq) based on the processing condition output time Td at which the processing condition output unit 42 outputs processing conditions or other signals, instead of the processing start time Ta.

[0053] Fig. 8A is a block diagram of a numerical control device according to a sixth embodiment, and Fig. 8B is a diagram showing a part of a machining path related to the operation of the numerical control device. The numerical control device 4g shown in Fig. 8A further includes a distance memory unit 53 that stores a leading distance preceding a start position of a machining path R where machining is started in one of the segments SEG1 to SEG3 or a trailing distance following the start position, and a position calculation unit 54 that calculates a position at which identification information ID is to be output based on the start position and the leading distance or trailing distance stored in the distance memory unit 53.

[0054] The leading distance Lp stored in the distance memory unit 53 is determined in advance using experiments, simulations, etc., based on the type and performance of the machining tool 29. The same applies to the trailing distance Lq. The leading distance Lp and the trailing distance Lq may be distances along the machining path R in three-dimensional space, or may be linear distances between two points in three-dimensional space.

[0055] As shown in FIG. 8B , the machining start position of a certain segment among the multiple segments SEG1 to SEG3 on the machining path R is defined as Pa. When the identification information ID is output prior to the machining start position Pa, the position calculation unit 54 subtracts the leading distance Lp from the machining start position Pa (= Pa - Lp) to calculate the identification information output position Pb at which the identification information ID corresponding to the aforementioned segment is output. Similarly, when the identification information ID is output following the machining start position Pa, the position calculation unit 54 adds the trailing distance Lq to the machining start position Pa (= Pa + Lq) to calculate the identification information output position Pc at which the identification information ID corresponding to the aforementioned segment is output. It will be apparent that the sixth embodiment allows the identification information output positions Pb and Pc to be calculated easily and accurately.

[0056] In addition, in an embodiment not shown, the position calculation unit 54 may calculate the identification information output position Pb (= Pd - Lp) and the identification information output position Pc (= Pd + Lq) based on the processing condition output position Pd at which the processing condition output unit 42 outputs processing conditions or other signals, instead of the processing start position Pa.

[0057] 9 is a block diagram of a numerical control device etc. in the seventh embodiment. As described above, the identification information ID is output to the external device 5 either before or after the start of machining in each segment.

[0058] The external device 5 shown in Fig. 9 includes a determination unit 59 that determines whether to start any of the programs C1, C2, ... of the external device 5 based on the identification information ID output from the identification information output unit 32. If the determination unit 59 determines that none of the programs C1, C2, ... should be started, it transmits a determination signal to the machining stop unit 58 of the numerical control device 4h. The machining stop unit 58 performs processing to stop the machining program C in the numerical control device 4h based on such a determination signal. Alternatively, the machining stop unit 58 may stop the machine 2 based on the determination signal. In other words, the machining stop unit 58 stops machining when it receives a signal from the external device 5 indicating that machining should not be started.

[0059] Furthermore, the numerical control device 4h may include an output unit 49 that outputs a stop signal or an alarm when the machining stop unit 58 performs processing to stop the machining program C. Alternatively, the machining stop unit 58 may prevent the above-mentioned machining condition output unit 42 from outputting the machining conditions in such a case.

[0060] 10 is a block diagram of a numerical control device etc. in the eighth embodiment. As described above, the identification information ID is output to the external device 5 either before or after the start of machining in each segment.

[0061] 10, the external device 5 includes a process information transmitting unit 57 that transmits process information to the numerical control device 4i. Here, the process information preferably has a form similar to the above-mentioned identification information ID, and a plurality of pieces of process information are stored in the external device 5. Each of the plurality of pieces of process information corresponds to a plurality of pieces of identification information ID stored in the identification information storage unit 31.

[0062] Furthermore, the numerical control device 4i includes an identification information determination unit 56 that determines whether or not the identification information ID to be output is correct based on the process information transmitted from the external device 5, and a machining stop unit 58 that stops the machining program C in the numerical control device 4h when the identification information determination unit 56 determines that the identification information ID is incorrect. Alternatively, the machining stop unit 58 may stop the machine 2 based on the determination signal.

[0063] Furthermore, the numerical control device 4i may include an output unit 49 that outputs a stop signal or an alarm when the machining stop unit 58 performs processing to stop the machining program C. Alternatively, the machining stop unit 58 may prevent the above-mentioned machining condition output unit 42 from outputting the machining conditions in such a case.

[0064] The workpiece W to be machined has a plurality of workpiece portions. Furthermore, the order in which these workpiece portions are machined is also predetermined. For example, if the workpiece W is a door panel for a vehicle, the workpiece portions are the upper, lower, right side, and left side of the door panel. The order in which these workpiece portions are machined is predetermined to be, for example, the upper, right side, lower, and then the left side of the door panel. Furthermore, the plurality of workpiece portions correspond to the plurality of segments SEG1 to SEG4 described above, respectively. For each of these plurality of segments SEG, a plurality of pieces of process information are stored in the external device 5, and a plurality of pieces of identification information ID are stored in the identification information storage unit 31.

[0065] For this reason, for example, before processing the upper part of the door panel corresponding to segment SEG1, the process information transmission unit 57 transmits process information corresponding to segment SEG1. Then, the identification information determination unit 56 compares the process information transmitted from the process information transmission unit 57 with the identification information ID to be transmitted from the identification information output unit 32 to the external device 5, and causes the identification information output unit 32 to output the identification information ID only if the process information and the identification information have a predetermined correspondence relationship.

[0066] On the other hand, if the identification information determination unit 56 determines that the process information transmitted from the process information transmission unit 57 does not have a predetermined correspondence with the identification information ID to be transmitted from the identification information output unit 32 to the external device 5, the information is transmitted to the processing stop unit 58, and the above-mentioned stop processing is performed. This allows processing to be performed with increased accuracy. Also, it is possible to prevent inappropriate identification information ID from being transmitted to the external device 5.

[0067] Fig. 11 is a block diagram of a numerical control device etc. in the ninth embodiment, and Fig. 12 is another time chart relating to the operation of the numerical control device shown in Fig. 11. The numerical control device 4j shown in Fig. 11 includes an identification information storage unit 31, an identification information output unit 32, and a time storage unit 51 similar to those described above.

[0068] 11, the identification information storage unit 31 stores a plurality of sets SET1 and SET2 of identification information IDs, each of which is composed of a plurality of identification information IDs. As described above, the first set SET1 is used when processing segment SEG1 and is composed of identification information ID1-1 to ID1-3. Similarly, the second set SET2 is used when processing segment SEG2 and is composed of identification information ID2-1 to ID2-3.

[0069] 11 and 12, the processing tool 29 requires a plurality of pieces of identification information ID1-1 to ID1-3 or a plurality of pieces of identification information ID2-1 to ID2-3 to start processing one segment. Alternatively, a plurality of, for example, three processing tools 29 are arranged, each of which requires a set of identification information ID1-1 to ID1-3 or a set of identification information ID2-1 to ID2-3 to start processing one segment.

[0070] Note that some of the identification information ID1-1 to ID1-2 in the first set SET1 can be changed in the machining program C, as described with reference to Fig. 5. The other identification information ID1-3 in the first set SET1 cannot be changed because it is pre-stored in the numerical control device 4. Similarly, some of the identification information ID2-1 to ID2-2 in the second set SET2 can be changed, but the other identification information ID2-3 cannot be changed.

[0071] 11 stores a plurality of sets SET1 of preceding times Tp, each of which includes a plurality of preceding times Tp. For example, a first set SET1 of preceding times is composed of preceding times Tp1-1 to Tp1-3 associated with a plurality of pieces of identification information ID1-1 to ID1-3, respectively. Similarly, a second set SET2 of preceding times is composed of other preceding times Tp2-1 to Tp2-3 associated with a plurality of other pieces of identification information ID2-1 to ID2-3, respectively.

[0072] 11, the third line of the machining program C contains the description "ProcessStart[Set=1, ID1-1=5, ID1-2=10]." "ProcessStart" is a command to start machining, and "Set=1" indicates that the identification information ID1-1 to ID1-3 of the first set SET1 and the preceding times Tp1-1 to Tp1-3 of the first set SET1 are selected.

[0073] 11, changeable identification information ID1-1 to ID1-2 and unchangeable identification information ID1-3 are stored in the first set SET1 of the identification information storage unit 31. Since the identification information ID1-3 is a fixed value, only the identification information ID1-1 to ID1-2 are displayed on the third line of the machining program C.

[0074] When the machining program C is executed, the identification information storage unit 31 reads the "Set" number from the machining program C and extracts a set SET of identification information IDs corresponding to that number. In the illustrated machining program C, the third line reads a first set SET1 consisting of identification information ID1-1 to ID1-3 associated with "Set=1," and the fifth line reads a second set SET2 consisting of identification information ID2-1 to ID2-3 associated with "Set=2."

[0075] Similarly, the time storage unit 51 and the identification information storage unit 31 read the "Set" number from the machining program C and extract the set SET of the preceding times Tp corresponding to that number. In the illustrated machining program C, the third line reads the first set SET1 consisting of the preceding times Tp1-1 to Tp1-3 associated with "Set=1," and the fifth line reads the second set SET2 consisting of the preceding times Tp2-1 to Tp2-3 associated with "Set=2."

[0076] Then, when the third line of the machining program C is executed, the identification information output unit 32 outputs the identification information ID1-1 to ID1-3 of the first set SET1. As shown in Fig. 12, each of the identification information ID1-1 to ID1-3 of the first set SET1 is output prior to the start time of machining of the segment SEG1 in accordance with the preceding times Tp1-1 to Tp1-3 of the first set SET1.

[0077] Specifically, the identification information ID1-1 is outputted prior to the start time of machining of the segment SEG1 by the leading time Tp1-1 (100 ms) of the first set SET1. Similarly, the identification information ID1-2 and ID1-3 are outputted prior to the start time of machining of the segment SEG1 by the leading times Tp1-2 (200 ms) and Tp1-3 (300 ms) of the first set SET1, respectively.

[0078] Next, when the fifth line of the machining program C is executed, the identification information output unit 32 outputs the identification information ID2-1 to ID2-3 of the second set SET2. As shown in Fig. 12, each of the identification information ID2-1 to ID2-3 of the second set SET2 is output prior to the start time of machining of the segment SEG2 in accordance with the leading times Tp2-1 to Tp2-3 of the second set SET2.

[0079] Specifically, the identification information ID2-1 is outputted prior to the start time of machining of the segment SEG2 by the leading time Tp2-1 (50 ms) of the second set SET2. Similarly, the identification information ID2-2 and ID2-3 are outputted prior to the start time of machining of the segment SEG2 by the leading times Tp2-2 (100 ms) and Tp2-3 (10 ms) of the second set SET2, respectively.

[0080] As described above, in the ninth embodiment, the identification information ID1-1 to ID1-3, ID2-1 to ID2-3 and the preceding times Tp1-1 to Tp1-3, Tp2-1 to Tp2-3 associated with the number specified in "Set" of the machining program C are extracted from the identification information storage unit 31 and the time storage unit 51. Then, the identification information output unit 32 outputs the identification information ID1-1 to ID1-3, ID2-1 to ID2-3 at different timings based on the preceding times Tp1-1 to Tp1-3, Tp2-1 to Tp2-3 described above.

[0081] That is, in the ninth embodiment, different identification information ID1-1 to ID1-3, ID2-1 to ID2-3 can be output at different leading times Tp1-1 to Tp1-3, Tp2-1 to Tp2-3 relative to the start time of machining of the segment SEG. The ninth embodiment is advantageous when the machining tool 29 requires multiple identification information ID1-1 to ID1-3, ID2-1 to ID2-3, and when the system 1 has multiple machining tools 29. It will be understood that this allows complex control to be performed automatically. Note that even in embodiments that do not mention the trailing time Tq, control is assumed to be performed using a process generally similar to that for the leading time Tp.

[0082] 13 is a configuration diagram of another system equipped with the numerical control device of the present disclosure. In this other system 1', the workpiece W is held so as to be transportable by the machine 2, and the machining tool 29 is disposed at a fixed position. It will be clear to those skilled in the art that in such a case, processing similar to that described above can be performed.

[0083] The identification information output unit 32, the identification information change unit 33, the machining condition output unit 42, the output unit 49, the time calculation unit 52, the position calculation unit 54, the identification information determination unit 56, and the machining stop unit 58, which are included in the processor of the numerical control device 4, for example, the robot control device, are functional modules realized by, for example, a computer program executed on the processor. Also, the computer program for executing the processes of the identification information output unit 32, the identification information change unit 33, the machining condition output unit 42, the output unit 49, the time calculation unit 52, the position calculation unit 54, the identification information determination unit 56, and the machining stop unit 58, which are included in the processor of the numerical control device 4, may be provided in a form recorded on a computer-readable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium.

[0084] Similarly, the process information transmission unit 57 and the determination unit 59 included in the processor of the external device 5 are functional modules realized by, for example, a computer program executed on the processor. Furthermore, the computer program for executing the processes of the process information transmission unit 57 and the determination unit 59 included in the processor of the external device 5 may be provided in a form recorded on a computer-readable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium.

[0085] An effect of at least one of the embodiments described above is that the timing of transmitting the identification information ID can be adjusted taking into account the preparation time of the machining tool 29 and the communication time between the numerical control device 4 and the external device 5.

[0086] Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible to these embodiments without departing from the gist of the invention or the concept and spirit of the present invention derived from the content of the claims and their equivalents. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical formulas are used in the description of the above-described embodiments. Furthermore, appropriate combinations of several of the above-described embodiments are within the scope of the present disclosure.

[0087] The following supplementary notes are further disclosed regarding the above embodiments and variations. (Supplementary Note 1) A numerical control device comprising: an identification information storage unit that stores at least one identification information to be designated for a plurality of segments constituting a machining path; and an identification information output unit that outputs the identification information to an external device prior to the start time or start position of machining for at least one of the plurality of segments, or after the start time or start position of machining for the at least one segment. (Supplementary Note 2) The numerical control device according to Supplementary Note 1, further comprising: a machining condition storage unit that stores machining conditions to be used in the machining according to each of the plurality of segments; and a machining condition output unit that outputs the machining conditions to the external device. (Supplementary Note 3) The numerical control device according to Supplementary Note 1, wherein the identification information storage unit stores a plurality of identification information for each of the plurality of segments. (Supplementary Note 4) The numerical control device according to Supplementary Note 1, wherein the identification information output unit outputs a different number of identification information for each of the plurality of segments. (Supplementary Note 5) The numerical control device according to Supplementary Note 1, comprising: a storage unit that stores machining programs related to the plurality of segments; and a connection unit connectable to a teaching pendant, wherein the identification information is added to the machining program in the storage unit based on information acquired through the connection unit. (Supplementary Note 6) The numerical control device according to Supplementary Note 5, wherein at least one of the machining program and the identification information of the machining program is changed based on information acquired through the connection unit. (Supplementary Note 7) The numerical control device according to Supplementary Note 1, comprising: a storage unit that stores machining programs related to the plurality of segments, wherein the identification information output unit extracts identification information corresponding to each of the plurality of segments from the identification information storage unit while referring to the machining program, and outputs the identification information to the external device. (Supplementary Note 8) The numerical control device according to Supplementary Note 1 or 2, further comprising: a time storage unit that stores a leading time preceding the start time or a trailing time following the start time, and a time calculation unit that calculates a time to output the identification information based on the start time and the leading time or the trailing time stored in the time storage unit.(Supplementary Note 9) The numerical control device according to Supplementary Note 1 or 2, further comprising: a distance memory unit that stores a leading distance preceding a start position where the machining is started on the machining path or a trailing distance following the start position, and a position calculation unit that calculates a position at which the identification information is to be output based on the start position and the leading distance or the trailing distance stored in the distance memory unit. (Supplementary Note 10) The numerical control device according to Supplementary Note 1, further comprising: a machining stop unit that stops the machining when a signal not to start machining is received from the external device. (Supplementary Note 11) The numerical control device according to Supplementary Note 1, further comprising: an identification information determination unit that determines whether the identification information to be output is correct based on process information transmitted from the external device, and a machining stop unit that stops the machining when the identification information determination unit determines that the identification information is incorrect. (Supplementary Note 12) A system comprising: a machine; the numerical control device according to Supplementary Note 1 or 2 that controls the machine; a machining tool; and an external device that is connected to the numerical control device and controls the machining tool.

[0088] 1, 1' System 2 Machine 4, 4a to 4j Numerical control device 5 External device 7 Teaching control panel 21 to 24 Link 29 Machining tool 31 Identification information storage unit 32 Identification information output unit 33 Identification information change unit 41 Machining condition storage unit 42 Machining condition output unit 49 Output unit 51 Time storage unit 52 Time calculation unit 53 Distance storage unit 54 Position calculation unit 56 Identification information determination unit 58 Machining stop unit 59 Determination unit 70 Display unit 71 Input unit 91 Storage unit 92 Connection unit

Claims

1. A numerical control device comprising: an identification information storage unit that stores at least one piece of identification information to be designated for a plurality of segments that constitute a machining path; and an identification information output unit that outputs the identification information to an external device prior to the start time or start position of machining for at least one of the plurality of segments, or after the start time or start position of machining for the at least one segment.

2. A numerical control device according to claim 1, comprising: a machining condition storage unit that stores machining conditions used in said machining according to said plurality of segments; and a machining condition output unit that outputs said machining conditions to said external device.

3. The numerical control device according to claim 1, wherein the identification information storage unit stores a plurality of pieces of identification information for the plurality of segments.

4. The numerical control device according to claim 1, wherein the identification information output unit outputs the identification information by changing the number of pieces of identification information for the plurality of segments.

5. A numerical control device as described in claim 1, comprising: a memory unit that stores machining programs related to the plurality of segments; and a connection unit that can be connected to a teaching pendant, and which adds the identification information to the machining program in the memory unit based on information acquired through the connection unit.

6. The numerical control device according to claim 5, wherein at least one of the machining program and the identification information of the machining program is changed based on information acquired through the connection section.

7. A numerical control device as described in claim 1, further comprising a memory unit that stores machining programs relating to the plurality of segments, and wherein the identification information output unit extracts identification information corresponding to each of the plurality of segments from the identification information memory unit while referring to the machining program, and outputs the extracted identification information to the external device.

8. A numerical control device according to claim 1 or 2, further comprising: a time memory unit that stores a leading time preceding the start time or a trailing time following the start time; and a time calculation unit that calculates the time to output the identification information based on the start time and the leading time or the trailing time stored in the time memory unit.

9. A numerical control device according to claim 1 or 2, further comprising: a distance memory unit that stores a leading distance preceding a start position where the machining is started on the machining path or a trailing distance following the start position; and a position calculation unit that calculates a position at which the identification information is output based on the start position and the leading distance or the trailing distance stored in the distance memory unit.

10. The numerical control device according to claim 1, further comprising a machining stop unit that stops said machining when a signal not to start machining is received from said external device.

11. A numerical control device as described in claim 1, further comprising: an identification information determination unit that determines whether the identification information to be output is correct based on process information transmitted from the external device; and a processing stop unit that stops the processing when the identification information determination unit determines that the identification information is incorrect.

12. A system comprising: a machine; a numerical control device according to claim 1 or 2 that controls said machine; a machining tool; and an external device connected to said numerical control device and that controls said machining tool.

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