Numerical Control System Coordinate Conversion Architecture
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Solution Overview
Problem
Existing numerical control systems require operators to understand the correspondence between machine tool and robot coordinate systems, leading to complex tasks and increased computational load, which can deteriorate machining performance.
Innovation Solution
A numerical control system that generates machine tool and robot command signals based on separate coordinate systems, allowing the robot control device to acquire and transmit coordinate values directly, eliminating the need for coordinate conversion between systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If coordinate system conversion means is provided to convert coordinate values between machine tool coordinate system and robot coordinate system, then the robot control device can appropriately perform kinematic transformation and control rotation angles of joints accurately, but the computational load increases and machining performance deteriorates
Solution Approach 1:
The patent extracts the coordinate system conversion function from the robot control device and relocates it to the numerical control device. The robot control device now receives robot command signals already converted to robot coordinate system values, eliminating the need for it to perform coordinate conversion calculations. This reduces the computational load on the robot control device while maintaining accurate kinematic transformation through the numerical control device's conversion capabilities.
Solution Approach 2:
The numerical control device acts as an intermediary between the machining program and the robot control device. It receives the machining program in machine tool coordinate system, performs the coordinate system conversion to robot coordinate system, and then transmits the converted robot command signals to the robot control device. This intermediary role resolves the contradiction by centralizing the conversion function in the numerical control device, reducing computational burden on the robot control device while ensuring accurate coordinate transformation.
2Measurement precision
If coordinate system conversion means is provided to convert coordinate values between machine tool coordinate system and robot coordinate system, then the robot control device can appropriately perform kinematic transformation, but the device complexity increases
Solution Approach 1:
The patent extracts the coordinate system conversion function from the robot control device and relocates it to the numerical control device. This removes the conversion means from the robot control device, simplifying its structure and reducing device complexity while maintaining accurate coordinate transformation through the numerical control device.
3Adaptability or versatility
If operators create numerical control programs based on machine tool coordinate system, then the numerical control device can control both machine tool and robot, but operators must grasp the correspondence relationship between machine tool coordinate system and robot coordinate system which involves complicated tasks
Solution Approach 1:
The patent extracts the coordinate system conversion function from the operator's task and relocates it to the numerical control device. Operators now only need to create programs in the machine tool coordinate system without needing to understand or manually convert to robot coordinate system. The numerical control device automatically handles the conversion, significantly simplifying the operator's task while maintaining the ability to control both machine tool and robot.
Solution Approach 2:
The numerical control device performs the coordinate system conversion automatically without requiring operator intervention or understanding of the conversion process. The system serves itself by automatically transforming coordinates between machine tool and robot coordinate systems, making the operation easier for operators while maintaining full control capabilities.
Data Source
AI summary
This numerical control system 1 comprises: a numerical control device 5 that generates a machine-tool command signal, which is a command to a machine tool 2, in accordance with a machine-tool numerical control program, and generates a robot command signal, which is a command to a robot 3, in accordance with a robot numerical control program described on the basis of a robot coordinate system; and a robot control device 6 that controls an operation of the robot 3 on the basis of the robot command signal. The robot control device 6 acquires a coordinate value of the robot 3 in the robot coordinate system, and transmits the coordinate value as a reference coordinate value to the numerical control device 5. The numerical control device 5 generates the robot command signal on the basis of the reference coordinate value transmitted from the robot control device 6 and the robot numerical control program.