Machine tool control device and production system

A machine tool control device and a production system are provided which determine an operation sequence of a robot and set numerical data required in operation, by setting the selection of an operating program of a robot, and/or setting of operations of the operating program, based on an instruction by the user from the machine tool side. A numerical control device which is connected to a robot control device for controlling a robot and controls a machine tool that is used in combination with the robot, includes: a reception unit that accepts setting information for the robot; and a sending unit for sending a parameter setting a selection of an operating program of the robot, and/or setting operations of the operating program, based on the setting information accepted by the reception unit.

This application is based on and claims the benefit of priority from Japanese Patent Application No. 2017-098040, filed on 17 May 2017, the content of which is incorporated herein by reference.

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to a machine tool control device and a production system.

Related Art

In recent years, for shortening of the cycle time in machining using a machine tool, industrial robots have come to be used in the mounting/unmounting operations of workpieces. The machine tools and robots used in machining are each controlled by control devices. Herein, a general control device of a machine tool such as a lathe or machining center is referred to as a machine tool control device. Then, in the case of a special purpose machine tool designed for a specific application, PLC (programmable logic controller) software is executed by the machine tool control device.

The machine tool control device generally includes a display and/or operation panel for manipulating the machine tool. The display and/or operation panel are often securely installed at a position in front of the machine tool, so that the machining status can be confirmed by sight. On the other hand, the control device of a robot is called a robot control device. The robot control device includes a teaching control panel which can be carried by the user and is for manipulating the robot.

In addition, even in a case of the control device of either of the machine tool and robot, the target of display and/or manipulation by way of the display and/or operation panel provided to the control device is generally limited to the machine tool or robot controlled by the control device thereof. In order to construct a system constituted from such a machine tool and robot, in addition to the creation of a machining program for the machine tool, setting must be performed on the robot side. However, the setting operation on the robot side must be performed at the teaching control panel of the robot. For a user of the machine tool who is inexperienced in handling of the teaching operation panel of the robot, it is difficult to perform setting by oneself. In this regard, for example, a robot control device has been disclosed that controls a robot which performs the supply and discharge of a workpiece (for example, refer to Patent Document 1).

SUMMARY OF THE INVENTION

In Patent Document 1, the robot control device causes the robot to operate in accordance with a predetermined pattern, according to the data indicating an operating state of the machine tool, which was acquired at a predetermined timing from the machine tool control device. Consequently, data other than the operating state has not been considered.

The present invention provides a machine tool control device and production system which determine an operating sequence of a robot and set the numerical data required in operation, by setting a selection of the operating program of the robot and/or setting operations of the operating program, in accordance with an instruction by the user from the machine tool side.

A machine tool control device (for example, “numerical control device100,100-2,100-3” described later) according to a first aspect of the present invention is connected to a robot control device (for example, “robot control device400” described later) for controlling a robot (for example, “robot300” described later), and controls a machine tool (for example, “machine tool200” described later) which is used in combination with the robot, the machine tool control device including: a reception unit (for example, “reception unit120” described later) for accepting setting information for the robot; and a sending unit (for example, “signal allocation unit140” described later) for sending a parameter setting a selection of an operating program (for example, “operating programs503,513,523,543a” described later) of the robot and/or setting an operation of the operating program, based on the setting information accepted by the reception unit.

According to a second aspect of the present invention, in the machine tool control device as described in the first aspect, the parameter may select the operating program from a plurality of operating programs which are executable by the robot control device.

According to a third aspect of the present invention, in the machine tool control device (for example, “numerical control device100” described later) as described in the first or second aspect, the parameter may input a numerical value into a variable of the operating program.

According to a fourth aspect of the present invention, in the machine tool control device (for example, “numerical control device100,100-2” described later) as described in any one of the first to third aspects, the parameter may correspond to branch processing of the operating program.

According to a fifth aspect of the present invention, in the machine tool control device (for example, “numerical control device100” described later) as described in any one of the first to fourth aspects, the parameter may correspond to a type of hand, arrangement of an unmachined workpiece and arrangement of a machined workpiece.

According to a sixth aspect of the present invention, in the machine tool control device (for example, “numerical control device100,100-2,100-3” described later) as described in any one of the first to fifth aspects, the sending unit (for example, “signal allocation unit140” described later) may allocate the parameter as an input signal to the robot control device (for example, “robot control device400” described later).

According to a seventh aspect of the present invention, the machine tool control device (for example, “numerical control device100,100-3” described later) as described in any one of the first to sixth aspects may further include: a display (for example, “display/MDI unit70” described later) which displays a screen; a designation screen output unit (for example, “designation screen output unit110” described later) for outputting a designation screen (for example, “designation screen.502,512,522a,522b” described later) for designating the setting information to the display, in which the reception unit (for example, “reception unit120” described later) may accept the setting information according to an instruction input corresponding to display on the designation screen.

According to an eighth aspect of the present invention, the machine tool control device (for example, “numerical control device100-2” described later) as described in any one of the first to sixth aspects may further include: a switch (for example, “switch S1” described later) for designating the setting information, in which the reception unit (for example, “reception unit120” described later) may accept a manipulation result of the switch as the setting information, and the sending unit (for example, “signal allocation unit140” described later) may an input signal relative to the robot control device (for example, “robot control device400” described later) which corresponds to the parameter, based on a manipulation result of the switch.

According to a ninth aspect of the present invention, the machine tool control device (for example, “numerical control device100-3” described later) as described in any one of the first to eighth aspects may further include: a program acquisition unit (for example, “program acquisition unit130” described later) for acquiring the operating program (for example, “operating program543a” described later) which corresponds to the setting information accepted by the reception unit (for example, “reception unit120” described later) and sent to the robot control device (for example, “robot control device400” described later), and then sending the operating program thus acquired to the robot control device.

According to a tenth aspect of the present invention, in the machine tool control device (for example, “numerical control device100,100-2” described later) as described in any one of the first to eighth aspects, the sending unit (for example, “signal allocation unit140” described later) may send, to the robot control device (for example, “robot control device400” described later), the parameter setting the selection of the operating program (for example, “operating program503,513,523” described later) stored in the robot control device (for example, “robot control device400” described later), and/or setting an operation of the operating program.

A production system (for example, “production system1000” described later) according to an eleventh aspect of the present invention includes: a robot control device (for example, “robot control device400” described later) that controls a robot (for example, “robot300” described later); and a machine tool control device (for example “machine tool control device100,100-2,100-3” described later) that is connected to the robot control device, and controls a machine tool (for example, “machine tool200” described later) which is used in combination with the robot, in which the machine tool control device includes: a reception unit (for example, “reception unit120” described later) for accepting setting information for the robot; and a sending unit (for example, “signal allocation unit140” described later) for sending, to the robot control device, a parameter setting a selection of an operating program (for example, “operating program503,513,523,543a” described later) of the robot, and/or setting an operation of the operating program, based on the setting information accepted by the reception unit, and in which the robot control device includes: a receiving unit (for example, “receiving unit410” described later) for receiving the parameter; and a program setting unit (for example, “program setting unit430” described later) for setting the operating program of the robot based on the parameter received by the receiving unit.

According to the present invention, it is possible to provide a machine tool control device and production system which determine an operating sequence of a robot and set the numerical data required in operation, by setting a selection of the operating program of the robot and/or setting operations of the operating program, in accordance with an instruction by the user from the machine tool side.

DETAILED DESCRIPTION OF THE INVENTION

Embodiments

The configuration of a production system1000according to the present embodiment will be explained.FIG. 1is a schematic drawing of the basic configuration of the present embodiment and a functional block diagram of a numerical control device100and a robot control device400.FIG. 2is a block diagram of main parts of the numerical control device100in the present embodiment. The production system1000shown inFIG. 1includes a numerical control device (CNC: Computerized Numerical Control)100(machine tool control device), a machine tool200, a robot300, and a robot control device400. When the user makes an instruction using the numerical control device100, this production system1000can control the robot300by the robot control device400executing an operating program for controlling the robot300in accordance with the instruction.

The numerical control device100and machine tool200are established in groups of one-to-one, and are connected to be communicable. It should be noted that the numerical control device100and machine tool200may be directly connected via a connection interface, and may be connected via a network such as a LAN (Local Area Network). In addition, the robot300and robot control device400are established in groups of one-to-one, and are connected to be communicable. Also in terms of the connection between the robot300and the robot control device400, it may be directly connected via a connection interface, and may be connected via a network such as a LAN.

The numerical control device100and robot control device400, for example, are connected via a network N, and are able to perform communication with each other. It should be noted that the network N may be a LAN constructed within a factory, the Internet, a public telephone network, or a combination of these, and may be connected directly via a connection interface. The specific communication method of the network N, and whether being either a wired connected or wireless connected, or the like, is not particularly limited.

The numerical control device100is a device for causing predetermined operations to be performed by the machine tool200by controlling the machine tool200. Herein, the general configuration of the numerical control device100will be explained by referencingFIG. 2. A CPU11is a processor which controls the entirety of the numerical control device100. The CPU11reads out a system program stored in ROM12via a bus20, and controls the entirety of the numerical control device100following the system program. Temporal calculation data, display data, various kinds of data inputted by an operator via a display/MDI unit70, etc. are stored in. RAM13.

CMOS memory14is configured as non-volatile memory that is backed up by a battery (not illustrated) and in which the storage state is maintained even if the power source of the numerical control device100is turned off. It may be configured so that machining programs read via an interface15or inputted via the display/MDI unit70and causing predetermined operations to be performed by the machine tool200, operating programs described later which are executed by the robot control device400and cause predetermined operations to be performed by the robot300, etc. are stored In the CMOS memory14. Various system programs for executing processing of editing mode necessitated for creation and editing of machining programs and operating programs, and processing for automated operation are written in advance in the ROM12. The various programs such as machining programs and operating programs executing the present invention can be inputted via the interface15and/or display/MDI unit70, and stored in the CMOS memory14.

The interface15enables connection with the numerical control device100and external equipment72such as an adapter. Machining programs and operating programs, various parameters, etc. are read from the external equipment72side. In addition, the machining programs and operating programs edited within the numerical control device100can be stored in an external storage unit via the external equipment72. A PMC (programmable machine controller)16is commonly called PLC (programmable logic controller). The PMC16outputs signals via an I/O unit17to auxiliary devices (e.g., actuators such as robot hands for tool exchange) of the machine tool200to control by a sequence program (PLC software) built into the numerical control device100. In addition, after signals of various switches, etc. on a control panel equipped to the main body of the machine tool200are received, and doing the necessary signal processing, the PMC16transfers to the CPU11.

The display/MDT unit70is a manual data input device equipped with a display, keyboard, etc., and the interface18receives commands and/or data from the keyboard of the display/MDI unit70, and transfers to the CPU11. The interface19is connected to the control panel71equipped with a manual pulse generator, etc.

Axis control circuits30to34of each axis receive the movement command amount of each axis from the CPU11, and output commands for each axis to the servo amplifiers40to44. The servo amplifiers40to44receive these commands and drive the servomotors50to54of each axis. The servomotors50to54of each axis are equipped with position/speed detectors, feedback the position/speed feedback signals from these position/speed detectors to the axis control circuit30to34, and perform feedback control of the position/speed. It should be noted that position/speed feedback is omitted in this drawing.

A spindle control circuit60receives a spindle rotation command for the machine tool200, and outputs a spindle speed signal to a spindle amplifier61. The spindle amplifier61receives this spindle speed signal, and causes the spindle motor62of the machine tool200to rotate at the commanded rotation speed to drive the tool. A pulse encoder63coupled by gears, a belt or the like to the spindle motor62, whereby the pulse encoder63outputs a return pulse synchronized with the rotation of the spindle, and this return pulse passes through a bus20and is read by the CPU11.

The designation screen output unit110outputs, to the display/MDI unit70, a designation screen described later, which is a screen for designating selection of an operating program for the robot300, and/or parameters setting the operations of the operating program. Herein, the parameters are information setting a selection of an operating program for controlling the robot300, and/or operations of the operating program (operating sequence, numerical data required in operation, etc.), which is, for example, information setting the hand type of the robot300(single hand or dual hand), or information setting the number and/or arrangement position of a workpiece to be handled by the robot300.

The reception unit120accepts setting information by way of an instruction input by the user using the display/MIDI unit70corresponding to the display of the designation screen. The signal allocation unit140allocates a parameter setting a selection of an operating program, and/or operations of the operating program based on the setting information accepted by the reception unit120, as a signal used by the robot control device400.

The machine tool200is a machine tool that performs predetermined machining such as cutting on a workpiece such as a component, based on an operation command outputted by the numerical control device100. In the present embodiment, the machine tool200and robot300perform work in combination, and do work jointly within the same work space.

The robot300, for example, is a 6-axis articulated robot, and has a hand which can grip a workpiece machined by the machine tool200, or on which to perform machining thereafter. The robot300conveys the workpiece, for example, in accordance with an operation command generated by the operating program set in the robot control device400.

The robot control device400is a device which causes a predetermined operation to be performed by the robot300, by way of controlling the robot300. The general configuration of the robot control device400is substantially the same configuration as that explained for the numerical control device100inFIG. 2except for the point of using a teaching control panel in place of the display/MDI unit70; therefore, a detailed explanation will be omitted herein. The robot control device400includes a receiving unit410, a program storage unit420, and a program setting unit430.

The receiving unit410receives parameters from the numerical control device100. The program storage unit420is a storage area which stores various programs for causing the robot control device400to operate. The program storage unit420stores operating programs corresponding to the parameters received by the receiving unit410. The program storage unit420may store operating programs in advance, or may receive and store operating programs via a network from a server or cloud (not illustrated). In addition, the program storage unit420is not limited to storing one operating program, and may store a plurality of operating programs. The program setting unit430sets an operating program based on the received parameters. More specifically, the program setting unit430uses the received parameters in selection of an operating program, and uses in variables setting operations of the operating program, and in branch processing.

A summary of the respective devices of the production system1000, and the functional blocks included in the numerical control device100and robot control device400have been explained above. It should be noted that each of the respective devices included in the above-mentioned production system100can be realized by way of hardware, software or a combination of these. Herein, being realized by way of software indicates the matter of being realized by a computer reading and executing programs. As a specific example, the numerical control device100can be realized by incorporating application software for realizing the present embodiment into a general numerical control device. In addition, the robot control device400can be realized by incorporating application software for realizing the present embodiment into the general control device of the robot300.

Next, specific examples of performing control of the robot control device400using the numerical control device100will be explained.

Specific Example 1

Specific Example 1 is an example of designating the type of robot hand of the robot300in the robot control device400from the numerical control device100.FIG. 3Ashows a ladder diagram501representing first processing executed by the PMC16of the numerical control device100. The processing shown by the ladder diagram501is executed by the PLC software in the aforementioned PMC16. According to this ladder diagram15, a signal M1of the numerical control device100and a signal R1sent to the robot control device400are allocated as first processing. Herein, signal M1and signal R1are each 1 bit.

FIG. 3Bshows a designation screen502for selecting the hand type of the robot300. The designation screen502is a screen for designating the hand type as single or dual. The designation screen output unit110outputs the designation screen502to the display/MDI unit70. By configuring in this way, since the user designates single or dual by manipulating the display/MDI unit70, the reception unit120accepts the designated setting information (single or dual). Then, the signal allocation unit140determines the signal M1on the side of the numerical control device100from the setting information according to the processing shown in the ladder diagram501, and allocates the signal R1(parameter) on the side of the robot control device400. The signal allocation unit140allocates signal R1=0 in the case of the setting information being single in this case. In addition, the signal allocation unit140allocates signal R1=1 in the case of the setting information being dual.

FIG. 3Cshows an operating program503stored in the program storage unit420of the robot control device400. Herein, the production system1000shall be a configuration in which the operating program503corresponding to the designation screen502is stored in the program storage unit420in advance. The operating program503incorporates as branch processing in advance whether to perform single hand-directed operation or to perform dual hand-directed operation, according to the value of the signal R1.

By configuring in this way, the robot control device400is set so as to control the operations of the robot300based on the signal R1, by the signal R1being inputted during execution of the operating program503in the robot control device400. In this example, when the signal R1=0, it is set so as to perform single hand-directed operation in the robot300, according to the conditional branch processing of the operating program503. In addition, when the signal R1=1, it is set so as to perform dual hand-directed operation in the robot300, according to the conditional branch processing of the operating program503.

Based on the setting information accepted via the designation screen502displayed on the display/MDI unit70of the numerical control device100from the user in this way, the numerical control device100(signal allocation unit140) determines the signal M1on the side of the numerical control device100, and executes PLC software set in advance, thereby allocating the signal R1(parameter) on the side of the robot control device400. Then, during execution of the operating program503, the signal R1is inputted to the robot control device400, and as a result thereof, the numerical control device100can determine the operation sequence of the robot300.

Specific Example 2

Specific Example 2 is an example for notifying the number in the lateral direction of unmachined workpieces to the robot control device400from the numerical control device100. The robot control device400thereby performs transfer and the like of workpieces only by the number of unmachined workpieces relative to the robot300.FIG. 4Ashows a state510in which unmachined workpieces are placed in a grid pattern within a work space.FIG. 4Bshows a ladder diagram511representing second processing which is executed by the PMC16of the numerical control device100. According to this ladder diagram511, the signal M1of the numerical control device100and the signal Ri to be sent to the robot control device400are allocated as second processing. Herein, i is an integer of 0 to 7.

FIG. 4Cshows a designation screen512for inputting the number in the lateral direction of unmachined workpieces. The designation screen output unit110outputs the designation screen512to the display/MDI unit70. By configuring in this way, the user manipulates the display/MDI unit70to designate the number by a numerical character; therefore, the reception unit120accepts the designated setting information (number in lateral direction of unmachined workpieces). Then, the signal allocation unit140determines the signal Mi on the side of the numerical control device100from the setting information (number in lateral direction of unmachined workpieces) according to the processing shown in the ladder diagram511, and allocates the signal Ri on the side of the robot control device400. The signal allocation unit140, in this example, establishes the setting information (number in lateral direction of unmachined workpieces) in binary digits and allocates as the signal Mi (0≤i≤7) of 1 byte (=8 bits). For example, in the case of “5” being designated as the setting information (number in lateral direction of unmachined workpieces), as in the example shown inFIG. 4C, the binary digits are 00000101. For this reason, the signal allocation unit140can allocate 1 to signal R5and signal R7, and 0 to from signal R0to signal R4and signal R6on the side of the robot control device400, respectively, by allocating 1 to signal M5and signal M7, allocate 0 to from signal M0to signal M4and signal M6.

FIG. 4Dshows an operating program513stored in the program storage unit420of the robot control device400. This operating program513is for setting the decimal digit value in the R[2], by the value of a signal Ri indicated by binary digits being inputted. Processing using this variable is incorporated into the operating program513in advance. By configuring in this way, the robot control device400is set so as to control operations of the robot300based on the signal Ri, by the signal Ri being inputted to the operating program513in the robot control device400. In this example, in the robot control device400, by binary digits indicated by the signal Ri being inputted to the variable of the operating program513, the number in the lateral direction of the unmachined workpiece designated on the designation screen is set in the R[2]. The robot control device400, by the signal Ri allocated by the setting information being inputted during execution of the operating program513, is set so as to perform processing of the unmachined workpiece in proportion to the number of unmachined workpieces relative to robots300.

In this way, based on the setting information accept via the designation screen512displayed on the display/MDI unit70of the numerical control device100by the user, the numerical control device100(signal allocation unit140) determines the signal Mi on the side of the numerical control device100, and executes PLC software set in advance, thereby allocating the signal Ri (parameter) on the side of the robot control device400from the signal Mi on the side of the numerical control device100. Then, during execution of the operating program513, the signal Ri (parameter) is inputted by the robot control device400, and as a result thereof, the numerical control device100can perform setting of the numerical values requiring input, in the robot control device400.

Specific Example 3

Specific Example 3 is an example arrived at by combining Specific Example 1 and Specific Example 2, and can be used in the actual work by the robot300. In Specific Example 2, by designating the number in the lateral direction of unmachined workpieces from the numerical control device100, the number in the lateral direction of unmachined workpieces is set in the operating program513of the robot control device400. However, in the case of the robot300actually performing processing on unmachined workpieces, the information of simply number in the lateral direction is not enough, and information such as the arrangement form of workpieces and the arrangement interval between workpieces, etc. is also required.

FIG. 5Ashows a ladder diagram521representing third processing to be executed by the PMC16of the numerical control device100. According to this ladder diagram521, the signal Mji of the numerical control device100and the signal Rji to be sent to the robot control device400are allocated as third processing. Herein, i and j both are integers of 0 to 7.FIG. 5Bshows an allocation table525in which the signal Mji on the side of the numerical control device100, and the signal Rji on the side of the robot control device400are allocated for every setting item. Since part of the setting information is expressed in decimal digits, the signal allocation unit140converts the setting information decimal digits into binary digits, and allocates the signal Mji as signal Rji.

FIG. 6AandFIG. 6Bshow the designation screen522aand designation screen522bcorresponding to the setting items ofFIG. 5B. The designation screen output unit110outputs the designation screen522aand designation screen522bto the display/MDI unit70. By configuring in this way, the user designates information corresponding to various setting items, at locations corresponding to the designation screen522aand designation screen522b, via the display/MDI unit70. When this is done, the reception unit120accepts the designated setting information (information corresponding to the various setting items). Then, the signal allocation unit140determines the signal Mji on the side of the numerical control device100from the setting information (information correspond to the various setting items) according to the processing shown in the ladder diagram521(refer toFIG. 5A), and allocates the signal Rji on the side of the robot control device400(refer toFIG. 5B).

By configuring in this way, the signal Rji is inputted during execution of the operating program523ofFIG. 7in the robot control device400, whereby the robot control device400is set so as to control operation of the robot300based on the signal Rji.

The robot control device400, when starting the operating program523, first executes a main program523a. When this is done, the robot control device400calls a SETUP program523b(Step ST1). The robot control device400, in the case of a robot simple setting being ON (refer toFIG. 6A) in the SETUP program523b, performs processing of determining values of a R[1] and R[2], which are register variables (Step ST2), and conversion processing to decimal digits from binary digits determining the values of R[3] to R[4], which are register variables (Step ST3).

Herein, by the value of signal R2i(0≤i≤7) indicated in binary digits being inputted to the R[3], similarly to Specific Example 2, the uframe_num designated on the designation screen522ais set. Similarly, by the values of the signals R3i, R4i, R5i, R6iand R7i(0≤i≤7) indicated in binary digits being inputted to the R[4], R[5], R[6], R[7] and R[8], respectively, the utool_num, longitudinal workpiece number, lateral workpiece number, vertical grid spacing, and horizontal grid spacing designated on the designation screens522aand522b, respectively, are set.

Thereafter, the robot control device400returns to the main program523a, and selects a calling JOB from the hand type and way of placing the unmachined workpiece, which are values determined by the SETUP program523bin the main program523a(Step ST4). In the example shown inFIG. 7, JOB program523cof JOB4is selected. The robot control device400can determine the operation of the robot300based on the longitudinal workpiece number, lateral workpiece number, vertical grid spacing and horizontal grid spacing, which are set in R[5], R[6], R[7] and R[8] in the JOB program523cthus selected (Steps ST5and ST6). In this processing, by the signal Rji allocated by the setting information being inputted during execution of the operating program523, the robot control device400is set so as to perform processing on the unmachined workpiece according to the hand type and way of placing of the unmachined workpiece relative to the robot300.

Based on the setting information (information corresponding to various setting items) accepted via the designation screens522aand522bdisplayed on the display/MDI unit70of the numerical control device100by the user in this way, the numerical control device100(signal allocation unit140) determines the signal Mji on the side of the numerical control device100, and executes the PLC software set in advance, thereby allocating the signal Rji (parameter) on the side of the robot control device400from the signal Mji on the side of the numerical control device100. Then, the signal Rji (parameter) is inputted by the robot control device400during execution of the operating program523, and as a result thereof, the numerical control device100can make selection of branch processing within the operating program523, and/or input of numerical values required in in variables for setting the operations of the operating program523, in the robot control device400. It should be noted that Specific Example 3 may also include the way of placing of the machined workpieces, in addition to the hand type and way of placing of the unmachined workpieces.

Specific Example 4

Specific Example 4 is an example designating the hand type of the robot300in the robot control device400from a numerical control device100-2. In Specific Example 4, similarly to Specific Example 1, the first processing is executed, and the robot control device400executes the operating program503(refer toFIG. 3C) illustrated in Specific Example 1. Herein, it differs from Specific Example 1 in the point of the numerical control device100-2using a switch S1in place of a designation screen.

FIG. 8Ais a functional block diagram of the numerical control device100-2. The numerical control device100-2, compared with the numerical control device100(refer toFIG. 1), is similar to the numerical control device100other than including the switch S1and not the designation screen output unit110. The switch S1is hardware for designating the hand type of the robot300.FIG. 8Bshows a circuit diagram531representing the logic circuit of the numerical control device100-2. According to this circuit diagram.531, as the first processing, the switch S1shown inFIG. 8Cincluded in the numerical control device100-2, and the signal R1to be sent to the robot control device400are allocated.

The switch S1shown inFIG. 8Cis a member switching between ON and OFF. The reception unit120receives ON or OFF of current based on the ON/OFF operation of the switch S1. The signal allocation unit140allocates ON/OFF of current based on the operation of the switch S1to ON/OFF, as the signal R1. In this example, dual is designated as the hand type of the robot300by ON of switch S1, and single is designated by OFF of switch S1.

As mentioned above, the operating program503is stored in the program storage unit420of the robot control device400. Whether the operating program503performs single hand-directed operation or performs dual hand-directed operation according to the value of the signal R1, is incorporated as branch processing in advance. By configuring in this way, by the signal R1being inputted during execution of this operating program503(refer toFIG. 3C) in the robot control device400, the robot control device400is set so as to control operation of the robot300based on the signal R1. The processing thereafter is similar to that explained in Specific Example 1.

In this way, the numerical control device100-2allocates the signal R1(parameter) on the side of the robot control device400according to ON/OFF of current, in accordance with the manipulation by the user of the switch S1of the numerical control device100-2. Then, the signal R1is inputted by the robot control device400, and as a result thereof, the numerical control device100-2can determine the operation sequence of the robot300.

Specific Example 5

Specific Example 5 is an example of designating the hand type of the robot300in the robot control device400from a numerical control device100-3. In Specific Example 5, the numerical control device100-3sends an operating program543apossessed in the memory to the robot control device400, and executes the operating program543awith the robot control device400.FIG. 9Ais a functional block diagram of the numerical control device100-3. Compared to the numerical control device100(refer toFIG. 1), the numerical control device100-3further has a program acquisition unit130.

The program acquisition unit130acquires the operating program543acorresponding to setting information accepted by the reception unit120, and sends the operating program543ato the robot control device400. The operating program543aused by the robot control device400is stored in the memory unit (for example, CMOS memory14, etc.) of the numerical control device100. As shown inFIG. 9E, in the memory unit of the numerical control device100, a plurality of different operating programs543is stored. It should be noted that the operating program543may be stored in a file server, cloud or the like which are accessible via the network N.

In this example, the processing executed by the PMC16of the numerical control device100is similar to the first processing (processing according to ladder diagram501shown inFIG. 3A). In addition, the designation screen is similar to the designation screen502shown inFIG. 3Bexplained in Specific Example 1. In the case of the user designating dual, for example, on the designation screen, the reception unit120accepts the designated setting information.

Next, the program acquisition unit130acquires, from the memory unit in the numerical control device100, the operating program543acorresponding to dual, which is the setting information accepted by the reception unit120, and sends the operating program543ato the robot control device400. The receiving unit410of the robot control device400receives the operating program543a. Then, the program setting unit430saves the operating program543ain the memory unit of the robot control device400. The subsequent processing of the signal allocation unit140is similar to Specific Example 1, and thus explanation thereof will be omitted. It should be noted that the aforementioned shows the processing of sending the signal R1as the processing according to the same ladder diagram as Specific Example 1. However, in the case of not having branch processing, variables, etc. according to the parameters in the operating program, it may simply send the operating program543ato the robot control device400.

In this way, the numerical control device100-3acquires the operating program543ato be executed by the robot control device400, according to the manipulation on the display/MDI unit70. Then, the operating program543ais sent from the numerical control device100-3to the robot control device400.

According to the above, in the production system1000, by the numerical control device100sending a parameter to the robot control device400as a signal, the robot control device400selects an operating program based on the received signal, and/or inputs numerical values into variables of the operating program to cause the robot300to operate. In other words, the user can perform setting in the robot control device400from the numerical control device100. Consequently, even if the user is unexperienced with manipulation of the robot control device400, since manipulation can be performed from the numerical control device100, it is useful. In addition, setting thereof, due to being selected from the designation screen or inputting numbers, can be simply input by the user.

Furthermore, in the present embodiment, by allocating signals between the machine tool side (numerical control device100) and robot side (robot control device400) using PLC software or a logic circuit, a configuration is made that sends a selection of an operating program of the robot300, and/or parameters setting the operation of the operating program. By configuring in this way, it is possible to realize the present invention with an existing configuration, without requiring adding or modifying a special configuration to the machine tool (numerical control device100) and robot (robot control device400). In addition, by employing allocation of a signal according to PLC software or a logic circuit for which those skilled in the art are used to handling, it is possible for one skilled in the art who is used to the handling of a machine tool (numerical control device100) to easily realize the present invention. By setting, or setting and changing, the PLC software or logic circuit, it is possible to set any parameters on the robot side (robot control device400) from the machine tool side (numerical control device100), and thus a system change and expansion are very easy, and moreover, a system change can be performed with low cost.

The program including the operating program used in the present invention can be stored using various types of non-transitory computer readable media, and supplied to computers. The non-transitory computer readable media includes various types of tangible storage media. Examples of non-transitory computer readable media include magnetic media (for example, flexible disks, magnetic tape, hard disk drive), magneto-optical recording media (for example, magneto-optical disk), CD-ROM (Read Only Memory), CD-R, CD-R/W, and semiconductor memory (for example, mask ROM, PROM (Programmable RM, EPROM (Erasable PROM), flash ROM, RAM (random access memory)). In addition, the programs may be supplied to a computer by way of various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals and electromagnetic waves. The transitory computer readable media can supply programs to a computer via wired communication paths such as electrical wires and optical fiber, or a wireless communication path.

In addition, the aforementioned embodiment is a preferred embodiment of the present invention; however, it is not to limit the scope of the present invention to only the above-mentioned embodiment, and implementation in forms arrived at by conducting various modifications of a scope not departing from the gist of the present invention is possible.

Modified Example 1

In the aforementioned embodiment, a configuration in which the numerical control device controls one machine tool is explained; however, it is not limited thereto. The numerical control device may be a device that controls a plurality of machine tools. In addition, the robot control device may also be a device that controls a plurality of robots. Furthermore, a plurality of the numerical control devices and a plurality of robot control devices may be connected via a network.

Modified Example 2

In the aforementioned embodiment, it is explained as a configuration in which the numerical control device and machine tool are separate devices, and it is explained as a configuration in which the robot and the robot control device are separate devices; however, it is not limited thereto. It may be a configuration equipping the numerical control device to the machine tool, and may be a configuration equipping the robot control device to the robot.

Modified Example 3

In the aforementioned embodiment, a configuration in which one operating program is stored in advance in the robot control device is explained as an example; however, it is not limited thereto. A plurality of operating programs may be stored in the robot control device, and it may be configured to be able to select one operating program according to a parameter. In this case, for example, it may be configured so as to select the operating program according to the number of parameters.

Modified Example 4

In the aforementioned Specific Examples of the embodiment, a parameter for setting selection of the operating program of the robot and/or operations of the operating program is first converted to the signal M on the side of the numerical control device100, afterwards, the signal M on the side of the numerical control device100is allocated to signal R on the side of the robot control device400according to PLC software or a logic circuit such as a switch, whereby this parameter is sent to the robot control device400from the numerical control device100; however, it is not limited thereto. For example, it may be configured so as to send this parameter to the robot control device via a network, for example, as a sending unit of the numerical control device. In this case, the robot control device may be configured so as to receive this parameter, and then a program setting unit inserts this parameter thus received into the operating program. By configuring in this way, it is possible to exert similar effects as the Specific Examples of the embodiments.

EXPLANATION OF REFERENCE NUMERALS

100,100-2,100-3numerical control device

110designation screen output unit

130program acquisition unit

140signal allocation unit

400robot control device

420program storage unit

430program setting unit