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WO2025046677A1 - Dispositif de commande numérique et système de commande numérique - Google Patents

Dispositif de commande numérique et système de commande numérique Download PDF

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Publication number
WO2025046677A1
WO2025046677A1 PCT/JP2023/030876 JP2023030876W WO2025046677A1 WO 2025046677 A1 WO2025046677 A1 WO 2025046677A1 JP 2023030876 W JP2023030876 W JP 2023030876W WO 2025046677 A1 WO2025046677 A1 WO 2025046677A1
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WO
WIPO (PCT)
Prior art keywords
robot
teaching operation
operation method
numerical control
control device
Prior art date
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Pending
Application number
PCT/JP2023/030876
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English (en)
Japanese (ja)
Inventor
一剛 今西
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Fanuc Corp
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Fanuc Corp
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Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to PCT/JP2023/030876 priority Critical patent/WO2025046677A1/fr
Priority to TW113128759A priority patent/TW202514290A/zh
Publication of WO2025046677A1 publication Critical patent/WO2025046677A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine

Definitions

  • This disclosure relates to a numerical control device and a numerical control system.
  • a technology known as direct teach uses a force sensor built into the collaborative robot to detect the force applied to the collaborative robot by a user and move the axis of the collaborative robot in the direction of the applied force.
  • One aspect of the present disclosure is a numerical control device that controls a robot via a robot control device using a numerical control program, and includes a teaching operation method selection unit that accepts a user's selection from among a plurality of teaching operation methods for teaching the robot, and the plurality of teaching operation methods includes at least a direct teaching operation method that moves the axis of the robot in response to an external force applied to the robot.
  • One aspect of the present disclosure is a numerical control system that controls a robot via a robot control device using a numerical control program of a numerical control device, the numerical control device having a teaching operation method selection unit that accepts a user's selection from among a plurality of teaching operation methods for teaching the robot, the plurality of teaching operation methods including at least a direct teaching operation method that moves the axis of the robot in response to an external force applied to the robot.
  • FIG. 1 is a functional block diagram of a numerical control system according to an embodiment of the present invention.
  • 1 is a functional block diagram of a numerical control device and a robot control device according to an embodiment of the present invention.
  • 1 shows a display screen displayed on the display/selection section of a numerical control device.
  • FIG. 13 is a diagram showing an example of a software key for selecting a teaching operation method for the collaborative robot.
  • FIG. 13 is a diagram showing an example of a software key for selecting a teaching operation method for the collaborative robot.
  • FIG. 2 is a sequence diagram showing the flow of signals and information between a numerical control device and a robot control device according to the present embodiment.
  • Figure 1 is a functional block diagram of a numerical control system 1 according to this embodiment.
  • the numerical control system 1 comprises a machine tool 2 that processes a workpiece (not shown), a numerical control device (CNC) 4 that controls the operation of the machine tool 2, a collaborative robot 3 provided near the machine tool 2, and a robot control device 5 that controls the operation of the collaborative robot 3.
  • the numerical control system 1 controls the operation of the machine tool 2 and the collaborative robot 3 in a coordinated manner by using the numerical control device 4 and the robot control device 5 that are connected to each other so that they can communicate with each other.
  • the machine tool 2 processes a workpiece (not shown) in response to a machine tool control signal sent from the numerical control device 4.
  • the machine tool 2 is, for example, a lathe, a drill press, a milling machine, a grinding machine, a laser processing machine, an injection molding machine, etc., but is not limited to these.
  • the machine tool 2 is configured to be able to perform operations such as manual handle feed (handle feed) and axial feed by jogging (jog feed), as described below.
  • the collaborative robot 3 operates under the control of the robot control device 5, and performs a predetermined task on a workpiece being machined by, for example, the machine tool 2.
  • the collaborative robot 3 is, for example, a multi-joint robot, and a tool 3b for gripping, machining, and inspecting the workpiece is attached to the arm tip 3a.
  • the collaborative robot 3 will be described as a six-axis multi-joint robot, but this is not limited to this.
  • the collaborative robot 3 will be described as a six-axis multi-joint robot, but the number of axes is not limited to this.
  • the collaborative robot 3 has functions such as a contact stop function, an escape mode function, and an inversion operation function, and can work safely in collaboration with humans.
  • the contact stop function is a function that immediately stops the collaborative robot 3 when it comes into contact with a human with a light force (for example, 10 to 20 N (i.e., 1 to 2 kgf)).
  • the escape mode function is a function that allows the arm of the collaborative robot 3 to escape on each axis by the human pushing the arm.
  • the inversion operation function is a function that reduces pinching by instantly inverting the arm when the collaborative robot 3 comes into contact with a hard object.
  • the collaborative robot 3 has an external force detection unit 31 (see FIG. 2) composed of an external force detection sensor or the like to detect external forces such as contact with a human.
  • the external force detection sensor is, for example, a torque sensor, a force sensor, or the like. That is, the collaborative robot 3 detects contact with a human by the external force detection sensor, and the robot control device 5 stops the operation of the collaborative robot 3 according to the external force detected by the external force detection sensor. This allows the collaborative robot 3 to work safely in collaboration with humans.
  • the collaborative robot 3 also has a direct teach function that detects the force applied by the operator using a built-in external force detection sensor and changes the position and posture of the collaborative robot 3 according to the magnitude and direction of the detected force.
  • the numerical control device 4 and the robot control device 5 are computers that are each composed of hardware such as a calculation processing means such as a CPU (Central Processing Unit), auxiliary storage means such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various computer programs, a main storage means such as a RAM (Random Access Memory) for storing data temporarily required for the calculation processing means to execute the computer programs, an operation means such as a keyboard that allows the operator to perform various operations, and a display means such as a display that displays various information to the operator.
  • the numerical control device 4 and the robot control device 5 are capable of sending and receiving various signals to each other, for example, via Ethernet (registered trademark).
  • FIG. 2 is a functional block diagram of the numerical control device 4 and the robot control device 5 according to this embodiment. First, the detailed configuration of the numerical control device 4 will be described. As shown in FIG. 2, the numerical control device 4 realizes various functions such as a function to control the operation of the machine tool 2 and a function to generate a motion path of the control axis of the collaborative robot 3, by using the above hardware configuration.
  • the numerical control device 4 uses a numerical control program to control the collaborative robot 3 via the robot control device 5. That is, the numerical control device 4 generates various commands for controlling the operation of the collaborative robot 3 and the tool 3b according to the numerical control program for the robot, and transmits them to the robot control device 5. More specifically, the numerical control device 4 includes a program input unit 41, an analysis unit 42, an operation control unit 43, a memory unit 44, a robot command signal generation unit 45, a data transmission/reception unit 46, a display/operation unit 47, and a teaching operation method selection unit 48.
  • the program input unit 41 reads out a numerical control program for a robot, which is composed of multiple robot command blocks, from the memory unit 44 and inputs it sequentially to the analysis unit 42.
  • the analysis unit 42 analyzes the command type based on the numerical control program input from the program input unit 41 for each command block, and outputs the analysis result to the operation control unit 43 and the robot command signal generation unit 45. More specifically, when the command type of the command block is a machine tool numerical control command for the machine tool 2, the analysis unit 42 transmits this machine tool numerical control command to the operation control unit 43. When the command type of the command block is a robot numerical control command for the collaborative robot 3, the analysis unit 42 outputs this robot numerical control command (hereinafter also referred to as a robot control command) to the robot command signal generation unit 45.
  • a robot control command hereinafter also referred to as a robot control command
  • the operation control unit 43 generates a machine tool control signal for controlling the operation of the machine tool 2 according to the analysis results sent from the analysis unit 42, and inputs the signal to the actuators that drive the various axes of the machine tool 2.
  • the machine tool 2 operates according to the machine tool control signal input from the operation control unit 43, and machines a workpiece (not shown).
  • the memory unit 44 stores, for example, a plurality of numerical control programs created based on operations by an operator. More specifically, the memory unit 44 stores numerical control programs that are composed of a plurality of command blocks for the machine tool 2 for controlling the operation of the machine tool 2, a plurality of command blocks for the collaborative robot 3 for controlling the operation of the collaborative robot 3, and the like.
  • the numerical control programs stored in the memory unit 44 are written in a known programming language for controlling the operation of the machine tool 2, such as G-code or M-code.
  • the memory unit 44 also stores, for example, machine coordinate values indicating the positions of various axes of the machine tool 2 operating under the above-mentioned numerical control program (i.e., the positions of the tool rest, table, etc. of the machine tool 2). These machine coordinate values are defined under a machine tool coordinate system that has as its origin a reference point determined at an arbitrary position on the machine tool 2 or in the vicinity of the machine tool 2.
  • the memory unit 44 is updated sequentially by a process not shown in the figures so that the latest values of the machine coordinate values that change sequentially under the numerical control program are stored.
  • the memory unit 44 also stores, for example, robot coordinate values indicating the position and orientation of the control point (e.g., the arm tip 3a of the collaborative robot 3) of the collaborative robot 3 operating under the control of the robot control device 5, in other words, the position of each control axis of the collaborative robot 3.
  • these robot coordinate values are defined under a robot coordinate system that is different from the machine tool coordinate system.
  • the memory unit 44 is updated sequentially with the robot coordinate values acquired from the robot control device 5 by a process not shown in the figure so that the latest values of the robot coordinate values that change sequentially under the numerical control program are stored.
  • the memory unit 44 also stores teaching positions, such as the start point and end point of the collaborative robot 3, input by the operator. Specifically, the memory unit 44 stores teaching positions of the collaborative robot 3 input from a teach pendant or the like, teaching positions input from a keyboard or the like, etc.
  • the teaching positions of the collaborative robot 3 include robot coordinate values indicating the positions of each control axis of the collaborative robot 3, and these robot coordinate values are defined under a robot coordinate system that is different from the machine tool coordinate system.
  • the robot command signal generation unit 45 generates a robot command signal for each robot command block based on the analysis results for each robot command block input from the analysis unit 42, and writes the generated robot command signal to the data transmission/reception unit 46.
  • the robot command signal generation unit 45 generates a robot command signal for each robot command block based on the robot numerical control command as the analysis result input from the analysis unit 42, and writes the generated robot command signal to the data transmission/reception unit 46.
  • the data transmission/reception unit 46 transmits and receives various data such as commands and robot coordinate values to and from the data transmission/reception unit 60 of the robot control device 5. Specifically, the data transmission/reception unit 46 transmits the robot command signal generated by the robot command signal generation unit 45 to the data transmission/reception unit 60 of the robot control device 5.
  • the display and operation unit 47 displays the state of the numerical control device 4 and operates the numerical control device 4.
  • the display and operation unit 47 is composed of soft keys, a display, and a touch panel display.
  • the teaching operation method selection unit 48 accepts a user's selection from among a plurality of teaching operation methods for teaching the collaborative robot 3.
  • the plurality of teaching operation methods includes at least a direct teaching operation method (i.e., direct teach) in which the axis of the collaborative robot 3 is moved in response to an external force applied to the collaborative robot 3.
  • the multiple teaching operation methods include at least one of a direct teaching operation method, axial feed by the handle of the machine tool 2, and axial feed by the jog of the machine tool 2.
  • the data transmission/reception unit 46 notifies the robot control device 5 of the direct teaching method.
  • the robot command signal generation unit 45 when the robot command signal generation unit 45 is notified of one teaching operation method by the teaching operation method selection unit 48, it generates a robot command signal including that one teaching operation method and writes the generated robot command signal to the data transmission/reception unit 46.
  • the data transmission/reception unit 46 notifies (transmits) the robot command signal to the data transmission/reception unit 60 of the robot control device 5.
  • the teaching operation method selection unit 48 also sets the amount of movement of the axes of the collaborative robot 3 in response to an external force applied to the collaborative robot 3 in a direct teaching operation method (i.e., direct teach).
  • a direct teaching operation method i.e., direct teach.
  • setting the amount of movement of the axes of the collaborative robot 3 in response to an external force applied to the collaborative robot 3 can be considered as setting the sensitivity in direct teach.
  • the teaching operation method selection unit 48 specifies an axis of the collaborative robot 3 that operates in response to an external force applied to the collaborative robot 3 in the direct teaching operation method.
  • specifying an axis of the collaborative robot 3 that operates in response to an external force applied to the collaborative robot 3 can be considered as setting a mode in direct teach.
  • the teaching operation method selection unit 48 switches the load setting including the weight information of the load (e.g., a tool, workpiece, etc.) attached to the collaborative robot 3. For example, when the collaborative robot 3 grasps a workpiece, the teaching operation method selection unit 48 switches the load setting before and after grasping the workpiece.
  • the load e.g., a tool, workpiece, etc.
  • the robot control device 5 is realized by the above hardware configuration with various functions such as a memory unit 51, an analysis unit 52, a robot command generation unit 53, a program management unit 54, a trajectory control unit 55, a kinematics control unit 56, a servo control unit 57, a load setting selection unit 58, a dynamics control unit 59, a data transmission/reception unit 60, a selection execution unit 61, a contact control unit 62, and a manual axis feed control unit 63.
  • the robot control device 5 controls the operation of the collaborative robot 3 based on commands sent from the numerical control device 4.
  • the memory unit 51 stores the robot program and various information for controlling the collaborative robot 3.
  • the memory unit 51 also stores the load setting of the collaborative robot 3. Note that in this embodiment, the memory unit 51 is provided in the robot control device 5, but the memory unit 51 may be provided in the numerical control device 4, or in an external electronic device or external server outside the numerical control device 4 and the robot control device 5.
  • the data transmission/reception unit 60 receives the robot command signal transmitted from the data transmission/reception unit 46 of the numerical control device 4. The data transmission/reception unit 60 also outputs the received robot command signal to the analysis unit 52 in sequence.
  • the analysis unit 52 analyzes the robot command signal input from the data transmission/reception unit 60.
  • the analysis unit 52 also outputs the analysis result to the robot command generation unit 53.
  • the robot command generation unit 53 generates a robot command corresponding to the robot command signal based on the analysis result of the robot command signal input from the analysis unit 52.
  • the robot command generation unit 53 outputs the generated robot command to the program management unit 54.
  • the program management unit 54 When the program management unit 54 receives a robot command from the robot command generation unit 53, it executes the robot command sequentially to generate an operation plan for the collaborative robot 3 according to the robot command signal, and outputs the operation plan to the trajectory control unit 55.
  • the program management unit 54 adds the input block robot command to the robot program stored in the memory unit 51.
  • a robot program corresponding to the robot command signal sent from the numerical control device 4 is generated and stored in the memory unit 51.
  • the stored robot program is started and played when the program management unit 54 receives a robot program start command as a robot command.
  • the kinematics control unit 56 calculates the target angles of each joint of the collaborative robot 3 from the input time series data and inputs them to the servo control unit 57.
  • the servo control unit 57 generates a robot control signal for the collaborative robot 3 by feedback controlling each servo motor of the collaborative robot 3 so that the target angle input from the kinematics control unit 56 is realized, and inputs the signal to the servo motor of the collaborative robot 3.
  • the servo control unit 57 also generates a robot control signal that reflects the torque calculated by the dynamics control unit 59, which will be described later. This enables the robot control device 5 to control the collaborative robot 3 based on the load setting information.
  • the load setting selection unit 58 sets load information in the collaborative robot 3 using the load setting information stored in the storage unit 51. Specifically, the load setting selection unit 58 reads out the load setting information stored in the storage unit 51 in response to the robot command signal analyzed by the analysis unit 52, and notifies the dynamics control unit 59 of the load setting information.
  • the dynamics control unit 59 calculates the torque to be input to the collaborative robot 3 by inverse dynamics calculation based on the load setting information notified by the load setting selection unit 58.
  • the dynamics control unit 59 outputs the torque obtained by calculation to the servo control unit 57.
  • the inverse dynamics calculation of the collaborative robot 3 is a method of calculating the input torque to each motor to realize a desired movement (time series data of the position, speed, and acceleration of each joint) calculated in the motion trajectory plan of the collaborative robot 3, taking into account the hand load, gravity, and the weight of the collaborative robot 3.
  • Numerical calculation methods such as the calculated torque method and the Newton-Euler method have been disclosed as methods related to this type of inverse dynamics calculation (for example, JP 8-118275 A and JP 2015-58520 A).
  • the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 in accordance with the teaching operation method notified by the data transmission/reception unit 46.
  • the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 from axial feed using the handle of the machine tool 2 to the direct teaching operation method in accordance with the direct teaching operation method notified by the data transmission/reception unit 46.
  • the contact control unit 62 measures (acquires) the external force detected by the external force detection unit 31 of the collaborative robot 3 during the load estimation operation.
  • the contact control unit 62 notifies the servo control unit 57, etc. of the measured external force.
  • the manual axis feed control unit 63 controls the movement of the axis of the collaborative robot 3 using one teaching operation method selected from a plurality of teaching operation methods. Specifically, the manual axis feed control unit 63 moves the axis of the collaborative robot 3 using at least one of the direct teaching operation method, axis feed by the handle of the machine tool 2 (manual handle feed), and axis feed by the jog of the machine tool 2 (jog feed).
  • the display/operation unit 47 of the numerical control device 4 selects one teaching operation method from among a plurality of teaching operation methods in response to an input operation from the user, and the display/operation unit 47 notifies the teaching operation method selection unit 48 of the selected teaching operation method.
  • the teaching operation method selection unit 48 notifies the notified teaching operation method to the data transmission/reception unit 60 of the robot control device 5 via the data transmission/reception unit 46.
  • the analysis unit 52 of the robot control device 5 notifies the selection execution unit 61 of the teaching operation method.
  • the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 according to the teaching operation method notified by the data transmission/reception unit 46. Furthermore, if a direct teaching operation method (a method of moving the axis of the collaborative robot 3 according to an external force applied to the collaborative robot 3) is selected, the selection execution unit 61 calculates the movement direction and amount of movement of the collaborative robot 3 when an external force is detected by the external force detection unit 31.
  • the calculated direction and amount of movement are then notified to the robot command generation unit 53, and the kinematics control unit 56 then calculates the target position of each joint axis of the collaborative robot 3 based on the direction and amount of movement of the collaborative robot 3.
  • each joint axis of the collaborative robot 3 follows the target position of each joint axis according to the control of the servo control unit 57.
  • Fig. 3 shows a display screen 471 displayed on the display/operation unit 47 of the numerical control device 4.
  • the display screen 471 displays information for performing various operations of the numerical control device 4, and the lower left portion of the display screen 471 displays software keys 472 for selecting a teaching operation method for the collaborative robot 3.
  • FIGS. 4 and 5 are diagrams showing examples of software keys 472 for selecting a teaching operation method for the collaborative robot 3.
  • the software keys 472 include keys that allow selection of "manual handle feed,” “jog (JOG) feed,” and “direct teach” as multiple teaching operation methods. The user can select one of “manual handle feed,” “jog (JOG) feed,” and “direct teach.”
  • FIG. 5 shows an example in which "direct teach” is selected as the teaching operation method in FIG. 4.
  • software keys 472 include keys that allow the selection of "free,” “translation,” and “rotation” as modes in direct teach. The user can select one of "free,” “translation,” and “rotation.”
  • the software keys 472 may include a key for setting the sensitivity in direct teach.
  • the direct teach mode "free” is a mode in which each joint axis of the collaborative robot 3 can be freely operated.
  • the mode "parallel movement” is a mode in which the collaborative robot 3 can be operated in the X, Y, and Z axis directions while maintaining the position and orientation of the tip of the hand of the collaborative robot 3.
  • the mode “rotation” is a mode in which the orientation of the collaborative robot 3 can be manipulated while keeping the position of the tip of the hand of the collaborative robot 3 fixed.
  • the software key 472 may further have a mode "direction specification".
  • the mode "direction specification” is a mode in which the collaborative robot 3 can be operated in a specified direction (X, Y, Z, A, B, C axes) of a specified coordinate system.
  • the teaching operation method selection unit 48 can set the weight of the operation.
  • a "light” operation weight indicates that the collaborative robot 3 moves a long distance in response to the operating force, and is used when it is desired to move the collaborative robot 3 roughly in a large space.
  • a “heavy” operation weight indicates that the collaborative robot 3 moves a short distance in response to the operating force, and is used when it is desired to move the collaborative robot 3 precisely in a small space.
  • FIG. 6 is a diagram showing a specific example of a process for selecting a teaching operation method for the collaborative robot 3 according to this embodiment.
  • the operation mode is changed from the automatic operation mode or the edit mode to the handle mode.
  • the collaborative robot 3 is positioned in the chuck in the machine tool 2, and the workpiece is attached to the chuck.
  • the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 to "direct teach” in response to the teaching operation method notified by the data transmission/reception unit 46. Furthermore, the selection execution unit 61 sets the mode to "free” and the sensitivity to "light” in response to the input operation by the user to the display/operation unit 47.
  • the robot control device 5 starts the direct teach operation under the conditions of the teaching operation method "direct teach", the mode "free” and the sensitivity "light".
  • the collaborative robot 3 grasps the workpiece according to the control of the numerical control device 4, and the numerical control device 4 generates a signal for switching the load setting number (load setting No.) and notifies the robot control device 5.
  • the robot control device 5 switches the load setting number (load setting No.) according to the signal notified from the numerical control device 4.
  • load setting No. 1 is the load setting when the collaborative robot 3 is not gripping anything
  • load setting No. 2 is the load setting when the collaborative robot 3 is gripping an object of weight W1
  • load setting No. 3 is the load setting when the collaborative robot 3 is gripping an object of weight W2.
  • the load setting is set to multiple stages according to the weight information of the load.
  • the numerical control device 4 opens the chuck of the machine tool 2, and the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 to "manual handle” in accordance with the teaching operation method notified by the data transmission/reception unit 46. Furthermore, in the manual handle operation method, the selection execution unit 61 selects the "X axis" of the collaborative robot 3 in accordance with the user's input operation to the display/operation unit 47, and sets the magnification of the movement amount of the collaborative robot 3 to "0.1 times".
  • the robot control device 5 starts operation using the manual handle under the conditions of the teaching operation method "manual handle operation method".
  • the numerical control device 4 uses the manual handle operation method to align the chuck of the machine tool 2 to the workpiece in response to input operations from the user, and closes the chuck after alignment.
  • the selection execution unit 61 switches the teaching operation method of the collaborative robot 3 to "direct teach” in response to the teaching operation method notified by the data transmission/reception unit 46. Furthermore, the selection execution unit 61 sets the mode to "direction specification (X axis)" and the sensitivity to "heavy” in response to the user's input operation to the display/operation unit 47.
  • the robot control device 5 starts the direct teach operation under the conditions of the teaching operation method “direct teach", the mode "direction specification (X axis)” and the sensitivity "heavy".
  • the collaborative robot 3 releases the workpiece according to the control of the numerical control device 4, and the numerical control device 4 generates a signal to switch the load setting number (load setting No.) and notifies the robot control device 5.
  • the robot control device 5 switches the load setting number (load setting No.) according to the signal notified from the numerical control device 4.
  • the user uses direct teach to teach the collaborative robot 3 outside the machine tool 2.
  • the numerical control system 1 can select multiple teaching operation methods for the collaborative robot 3 and teach the collaborative robot 3.
  • the numerical control device 2 is provided with a teaching operation method selection unit 48 that accepts a user's selection from among a plurality of teaching operation methods for teaching the collaborative robot 3, and the plurality of teaching operation methods includes at least a direct teaching operation method (direct teach) that moves the axis of the collaborative robot 3 in response to an external force applied to the collaborative robot 3.
  • a teaching operation method selection unit 48 that accepts a user's selection from among a plurality of teaching operation methods for teaching the collaborative robot 3, and the plurality of teaching operation methods includes at least a direct teaching operation method (direct teach) that moves the axis of the collaborative robot 3 in response to an external force applied to the collaborative robot 3.
  • the numerical control system 1 can select the operation method of the collaborative robot 3 from the numerical control device 4. Therefore, the numerical control system 1 allows a user of the machine tool 2 who is unfamiliar with operating the collaborative robot 3 to operate the collaborative robot 3 without using a teaching operation panel.
  • the numerical control system 1 enables teaching operation methods such as manual handle feed and direct teach by simply configuring the machine tool 2, so the user of the machine tool 2 can easily create an operation program for the collaborative robot 3.
  • the numerical control device 4 further includes a data transmission/reception unit 46 that notifies the robot control device 5 of a direct teaching operation method when the direct teaching operation method for moving the axis of the collaborative robot 3 in response to an external force applied to the collaborative robot 3 is selected from among a plurality of teaching operation methods in the teaching operation method selection unit 48.
  • the robot control device 5 further includes a selection execution unit 61 that switches the teaching operation method of the collaborative robot 3 to the direct teaching operation method in response to the direct teaching operation method notified by the data transmission/reception unit 46, and a manual axis feed control unit 63 that moves the axis of the collaborative robot 3 using the direct teaching operation method.
  • the numerical control system 1 can teach the collaborative robot 3 using a direct teaching operation method.
  • the teaching operation method selection unit 48 sets the amount of movement of the axes of the collaborative robot 3 in response to an external force applied to the collaborative robot 3 in the direct teaching operation method.
  • the numerical control system 1 can suitably set the sensitivity in the direct teaching operation method.
  • the teaching operation method selection unit 48 also specifies the axis of the collaborative robot 3 that operates in response to an external force applied to the collaborative robot 3 in the direct teaching operation method.
  • the numerical control system 1 can suitably set the mode in the direct teaching operation method.
  • the teaching operation method selection unit 48 also switches the load setting, including the weight information of the load attached to the collaborative robot 3, in the direct teaching operation method.
  • the numerical control system 1 can suitably set the load (e.g., the tool or work of the collaborative robot 3) in the direct teaching operation method.
  • the multiple teaching operation methods include at least one of a direct teaching operation method, axial feed using a handle of the machine tool 2, and axial feed using a jog of the machine tool 2.
  • the numerical control system 1 can teach the collaborative robot 3 using direct teach, axial feed using a manual handle, and axial feed using a jog.
  • the collaborative robot 3 detects contact with a person and stops its operation. With this configuration, the numerical control system 1 can use the collaborative robot 3 to work safely in collaboration with a person.
  • the above-mentioned numerical control system 1 can be realized by hardware, software, or a combination of these. Furthermore, the control method performed by the above-mentioned numerical control system 1 can also be realized by hardware, software, or a combination of these.
  • being realized by software means being realized by a computer reading and executing a program.
  • Non-transitory computer readable media include various types of tangible storage media.
  • Examples of non-transitory computer readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R/Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (random access memory)).
  • the plurality of teaching operation methods includes at least a direct teaching operation method for moving an axis of the robot in response to an external force applied to the robot.
  • the numerical control device includes: a transmitting/receiving unit (46) that notifies the robot control device of a direct teaching operation method when a direct teaching operation method for moving an axis of the robot in response to an external force applied to the robot is selected from the plurality of teaching operation methods by the teaching operation method selection unit,
  • the robot control device includes: a selection execution unit (61) for switching a teaching operation method of the robot to the direct teaching operation method in response to the direct teaching operation method notified by the transmitting/receiving unit; a robot side control unit (63) for moving an axis of the robot using the direct teaching operation method; Further comprising: 2.
  • the numerical control device wherein the teaching operation method selection unit sets a movement amount of an axis of the robot in response to an external force applied to the robot in the direct teaching operation method.
  • (Appendix 4) 3.
  • the numerical control device according to claim 1, wherein the teaching operation method selection unit specifies an axis of the robot that operates in response to an external force applied to the robot in the direct teaching operation method.
  • (Appendix 5) The numerical control device according to claim 1 or 2, wherein the teaching operation method selection unit switches a load setting including weight information of a load attached to the robot in the direct teaching operation method. (Appendix 6) 3.
  • the numerical control device wherein the plurality of teaching operation methods include at least one of the direct teaching operation method, axial feed by a handle of the machine tool, and axial feed by a jog of the machine tool.
  • the robot is a collaborative robot that detects contact with a human and stops its operation.
  • the numerical control device includes a teaching operation method selection unit (48) that accepts a user's selection from a plurality of teaching operation methods for teaching the robot,
  • the plurality of teaching operation methods includes at least a direct teaching operation method for moving an axis of the robot in response to an external force applied to the robot.
  • the numerical control device includes: a transmitting/receiving unit (46) that notifies the robot control device of a direct teaching operation method when a direct teaching operation method for moving an axis of the robot in response to an external force applied to the robot is selected from the plurality of teaching operation methods by the teaching operation method selection unit,
  • the robot control device includes: a selection execution unit (61) for switching a teaching operation method of the robot to the direct teaching operation method in response to the direct teaching operation method notified by the transmitting/receiving unit; a robot side control unit (63) for moving an axis of the robot using the direct teaching operation method; 9.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

L'invention concerne un dispositif de commande numérique et un système de commande numérique avec lesquels un utilisateur d'une machine-outil peut facilement régler l'information concernant une charge. Ce dispositif de commande numérique utilise un programme de commande numérique pour la command d'un robot au moyen d'un dispositif de commande de robot, et comprend une unité de sélection de procédé d'opération d'apprentissage pour la réception d'une sélection par un utilisateur parmi une pluralité de procédés d'opération d'apprentissage pour la réalisation d'une opération d'apprentissage au robot. La pluralité de procédés de fonctionnement d'apprentissage comprend au moins un procédé de fonctionnement d'apprentissage direct pour le déplacement d'un axe du robot en fonction d'une force externe appliquée au robot.
PCT/JP2023/030876 2023-08-28 2023-08-28 Dispositif de commande numérique et système de commande numérique Pending WO2025046677A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2023/030876 WO2025046677A1 (fr) 2023-08-28 2023-08-28 Dispositif de commande numérique et système de commande numérique
TW113128759A TW202514290A (zh) 2023-08-28 2024-08-01 數值控制裝置及數值控制系統

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PCT/JP2023/030876 WO2025046677A1 (fr) 2023-08-28 2023-08-28 Dispositif de commande numérique et système de commande numérique

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017094440A (ja) * 2015-11-24 2017-06-01 川崎重工業株式会社 ロボットのダイレクト教示方法
US20200230817A1 (en) * 2017-02-03 2020-07-23 Doosan Robotics Inc Skill-based robot programming apparatus and method
JP2021058976A (ja) * 2019-10-08 2021-04-15 ファナック株式会社 操作部を有するロボットを備えるロボットシステム、及びロボットを制御する方法
WO2022186255A1 (fr) * 2021-03-05 2022-09-09 ファナック株式会社 Dispositif de génération d'instruction et programme informatique
JP7288158B1 (ja) * 2022-11-07 2023-06-06 ファナック株式会社 数値制御装置
WO2023145083A1 (fr) * 2022-01-31 2023-08-03 ファナック株式会社 Dispositif de commutation d'outil possédant une fonction de sélection de mode de fonctionnement, dispositif d'apprentissage, dispositif de commande, système de robot, et procédé

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017094440A (ja) * 2015-11-24 2017-06-01 川崎重工業株式会社 ロボットのダイレクト教示方法
US20200230817A1 (en) * 2017-02-03 2020-07-23 Doosan Robotics Inc Skill-based robot programming apparatus and method
JP2021058976A (ja) * 2019-10-08 2021-04-15 ファナック株式会社 操作部を有するロボットを備えるロボットシステム、及びロボットを制御する方法
WO2022186255A1 (fr) * 2021-03-05 2022-09-09 ファナック株式会社 Dispositif de génération d'instruction et programme informatique
WO2023145083A1 (fr) * 2022-01-31 2023-08-03 ファナック株式会社 Dispositif de commutation d'outil possédant une fonction de sélection de mode de fonctionnement, dispositif d'apprentissage, dispositif de commande, système de robot, et procédé
JP7288158B1 (ja) * 2022-11-07 2023-06-06 ファナック株式会社 数値制御装置

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