NC Robot Motion Path Generation for Dynamic Interference Avoidance
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Solution Overview
Problem
Existing numerical control systems require operators to be familiar with both machine tool and robot programs to link their motions, and existing simulation devices do not account for the dynamic changes in machine tool axes during operation, leading to potential interference between robots and machine tools.
Innovation Solution
A motion-path generation device that updates a robot system model based on machine tool coordinate values from a numerical control program, generating a target motion path that avoids interference between the robot and the machine tool, and communicates this path to a robot control device for execution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robot simulation device is used to generate motion paths, then the robot can avoid interference with peripheral objects, but teaching positions must be set beforehand requiring a certain period of time
Solution Approach 1:
The system performs preliminary actions by pre-defining the robot system model including three-dimensional models of the robot, machine tool, and peripheral objects in a virtual space. The model update unit prepares the robot system model in advance by acquiring start coordinate values and machine coordinate values from the numerical control program, updating the model before simulation begins. This preliminary preparation enables faster motion path generation during actual operation.
2Ease of operation
If positions of machine tool axes are fixed beforehand for simulation, then simulation can be performed, but interference between robot and machine tool axes may occur during operation
Solution Approach 1:
The system implements dynamics by making the robot system model updateable during operation. The model update unit dynamically updates the robot system model by acquiring current machine coordinate values from the numerical control program during machine tool operation and updating the three-dimensional model accordingly. This dynamic updating ensures the simulation reflects the actual changing positions of machine tool axes, preventing interference between the robot and machine tool during real operation.
3Extent of automation
If operators use existing numerical control systems to link machine tool and robot motions, then both motions can be controlled, but operators must master both numerical control programs and robot programs
Solution Approach 1:
The system merges the robot program generation function into the numerical control device. The motion-path generation device, which is part of the numerical control device, generates the robot program automatically based on the numerical control program and the updated robot system model. This merging eliminates the need for operators to separately master robot programs, as the robot program is generated automatically from the machine tool's numerical control program through the integrated motion-path generation process.
Data Source
AI summary
On the basis of a numerical control program for controlling the motion of a machine tool 2, a motion-path generation device 55 generates a motion path concerning control axes of a robot 3 provided in proximity to the machine tool 2. The motion-path generation device 55 comprises: a model update unit 57 that acquires start coordinate values on the control axes and current tool coordinate values of the machine tool 2 and updates a robot system model on the basis of these coordinate values, the robot system model being configured by disposing three-dimensional models of the robot 3, the machine tool 2, and objects in the vicinity of the machine tool 2 in a virtual space; an interference-avoiding-path generation unit 56 that generates a target motion path starting from the start coordinate values and arriving at end coordinate values on the control axes, the end coordinate values being specified on the basis of the numerical control program, while avoiding interference in the robot system model; and a data transmission/reception unit 59 that transmits an instruction including the target motion path to a robot control device 6.