Numerical Control of Robot and Transfer Axes Without Coordinate Conversion
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Solution Overview
Problem
The existing numerical control systems face increased processing load and machining performance decline when trying to generate commands for both robots and transfer devices with additional axes, requiring coordinate conversion processing that complicates operation.
Innovation Solution
A numerical control apparatus and system that includes a coordinate value manager and command generation unit, which acquires and generates robot and additional axis commands based on reference coordinate values from the robot control device, eliminating the need for coordinate conversion between different coordinate systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If coordinate conversion processing is performed in the numerical control apparatus to generate commands for both robot and transfer device, then the control functionality is improved, but the processing load increases and machining performance deteriorates
Solution Approach 1:
The patent extracts the coordinate conversion processing from the numerical control apparatus and relocates it to the robot control device. This allows the numerical control apparatus to generate commands using simple reference coordinate values without performing complex coordinate conversions, thereby reducing its processing load and maintaining high machining performance while still achieving coordinated control of both robot and transfer device.
Solution Approach 2:
The patent introduces reference coordinate values as an intermediary mechanism. Instead of directly converting between robot coordinate values and transfer device coordinate values in the numerical control apparatus, the system uses reference coordinate values obtained from the robot control device as a mediator to generate control commands, simplifying the control process and reducing computational burden.
2Adaptability or versatility
If coordinate conversion processing is performed in the numerical control apparatus, then the control functionality is improved, but the processing complexity increases
Solution Approach 1:
The patent removes the coordinate conversion processing function from the numerical control apparatus and places it in the robot control device. This extraction simplifies the numerical control apparatus to only require obtaining reference coordinate values and generating commands based on those values, significantly reducing processing complexity while maintaining full control functionality.
Solution Approach 2:
Instead of having the numerical control apparatus perform coordinate conversion from robot coordinates to transfer device coordinates, the system inverts the approach by having the robot control device provide reference coordinate values that already account for the transfer device position. This inversion eliminates the need for complex coordinate conversion processing in the numerical control apparatus.
Data Source
AI summary
This numerical control apparatus 5 controls the operation of a machine tool 2 on the basis of a numerical control program, generates, for a robot control device 6 that controls the operation of a robot 3 and a transfer device 4 which moves the robot 3, a robot command for moving a control axis of the robot 3 and a travel axis command for moving a travel axis of the transfer device 4, and inputs the generated commands to the robot control device 6. The numerical control apparatus 5 comprises: a coordinate value management unit 55 that acquires, respectively as additional axis reference coordinate values and robot reference coordinate values, coordinate values of the travel axis of the transfer device 4 and the control axis of the robot 3 acquired by the robot control device 6; and a command generation unit 56 that generates the robot command and the travel axis command on the basis of the numerical control program, the robot reference coordinate values, and travel axis reference coordinate values.