Numerical Control Device Dynamic Payload Switching
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Solution Overview
Problem
Current numerical control systems cannot dynamically change payload settings for robots from a numerical control device, limiting the ability to minimize operation cycle time when workpieces are changed.
Innovation Solution
A numerical control device with an analysis unit, payload setting selection unit, and transmission unit that analyzes robot instructions, selects appropriate payload settings, and updates the robot control device's payload settings for inverse dynamics calculations, allowing dynamic switching of payload settings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If payload settings are statically set beforehand in a robot program, then the robot program can be executed with fixed parameters, but it becomes impossible to rewrite the robot program or change payload settings from the numerical control device when workpieces are changed
Solution Approach 1:
The patent separates payload settings from the robot program structure by storing multiple payload settings (weights, center of gravity positions, inertia values) as independent data that can be selected and switched during operation. This allows the robot program to remain structurally simple while the payload parameters are segmented into switchable options.
Solution Approach 2:
The patent enables dynamic changing of payload parameters (weight, center of gravity, inertia) without modifying the robot program code. The numerical control device transmits payload setting selection instructions to the robot control device, which then updates the parameters used in inverse dynamics calculations, allowing adaptation to different workpieces while maintaining program stability.
2Productivity
If payload settings are fixed in the robot program, then the program structure remains simple and stable, but the operation cycle time cannot be minimized when workpieces are changed
Solution Approach 1:
The patent pre-stores multiple payload settings corresponding to different workpieces in the robot control device. When a workpiece is changed, the system quickly switches to the pre-prepared payload settings without requiring recalculation or program modification, thereby minimizing operation cycle time while maintaining adaptability.
3Reliability
If different programming languages are used for numerical control programs and robot programs, then each program can be optimized for its specific function, but operators must familiarize themselves with both languages increasing operational complexity
Solution Approach 1:
The patent enables the numerical control device to not only control the machine tool but also to control robot payload settings. By allowing the numerical control program to specify payload setting selections and transmit these instructions to the robot control device, the system achieves multi-functionality where one programming language controls both machining and robot operations.
Data Source
AI summary
Provided is a numerical control device in which a payload setting of a robot can be switched from the numerical control device. This numerical control device 2 comprises: an analysis unit 23 that analyzes a robot numerical control instruction in a numerical control program; a robot instruction signal generation unit 25 that generates a robot instruction signal to be transmitted to a robot control device 3 in accordance with the robot numerical control instruction analyzed by the analysis unit 23; a payload setting selection unit 24 that selects a payload setting to be set for a robot 30 from among a plurality of payload information in accordance with the robot numerical control instruction analyzed by the analysis unit 23; and a data transmission/reception unit 26 that transmits the payload setting selected by the payload setting selection unit 24 to a payload setting update control unit 38 of the robot control device 3 via the robot instruction signal generation unit 25 and thereby reflects the payload setting in an inverse dynamics calculation for torque to be input into the robot 30.