Numerical Control for Robot Trajectory Switching in Machining
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Solution Overview
Problem
Conventional numerical control systems cannot specify the movement trajectory of a robot, leading to inaccuracies in machining tasks such as deburring and cutting, where both the end point position and path are necessary for precise workpiece processing.
Innovation Solution
A numerical control device that generates either a movement command including a target trajectory or one that does not, allowing the system to select the appropriate command generator based on the task, ensuring accurate movement of the robot's control point for machining or efficient conveying of workpieces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the conventional numerical control system uses robot control device to generate movement commands without target trajectory, then the robot can perform simple tasks like workpiece replacement efficiently, but the machining accuracy for tasks requiring specific movement paths (deburring, cutting) deteriorates
Solution Approach 1:
The system dynamically switches between two movement command generation modes: one that includes target movement trajectory for high-precision machining tasks, and another that excludes it for efficient simple tasks. This dynamic adaptation allows the system to optimize performance based on task requirements.
Solution Approach 2:
The invention changes the parameter of movement command content by including or excluding target movement trajectory information based on the task type. This parameter change enables the system to achieve both high precision for machining tasks and high efficiency for simple tasks.
2Manufacturing precision
If the numerical control device specifies target movement trajectory for the robot, then the machining accuracy for deburring and cutting improves, but the complexity of the movement command generation system increases
Solution Approach 1:
The movement command generation function is segmented into two distinct generators: one that calculates target movement trajectory and another that does not. This segmentation allows the system to use the appropriate generator for each task type, managing complexity through functional division.
Solution Approach 2:
The numerical control device acts as an intermediary that selects and coordinates between different movement command generation approaches. This intermediary role manages the complexity by providing a unified interface while handling the diversity of command generation methods internally.
3Speed
If the robot control device performs kinematic conversion without specified trajectory, then the system maintains simplicity and fast response, but the ability to control movement path for precise machining deteriorates
Solution Approach 1:
The control system dynamically adjusts its operation mode based on task requirements, switching between trajectory-specified control for precision tasks and trajectory-free kinematic conversion for speed-critical tasks. This dynamic behavior resolves the contradiction between speed and precision.
Data Source
AI summary
A numerical control device 5 controls the motion of a machine tool 2 and generates a movement command for a robot control device 6 controlling the motion of a robot 3 to move a control point of the robot 3. The numerical control device 5 is provided with: a first movement command generating unit 56 for calculating, on the basis of a numerical control program, a first target motion locus which is a motion locus target for the control point, and generating a first movement command including the first target motion locus; a second movement command generating unit 57 for generating, on the basis of the numerical control program, a second movement command not including the first target motion locus; a movement command generating entity selecting unit 55 for selecting one of the first and the second movement command generating units 56, 57 as a movement command generating entity; and a data transmit/receive unit 59 for transmitting a movement command generated by the movement command generating entity to the robot control device 6.