Granted Patent B2

US 12,287,622 · App. 17/417,766 · Granted Apr 29, 2025

Inventors: Masakazu Sagasaki (Tokyo, JP); Kensuke Baba (Tokyo, JP); Takashi Sueda (Tokyo, JP)

Assignee: MITSUBISHI ELECTRIC CORPORATION

G05B19/41825G05B19/41835

Abstract

Claims (59)

1. A numerical control device comprising:

control computation circuitry configured to control a machine tool and a robot by using a numerical control program defined in a first coordinate system, wherein

the control computation circuitry includes:

a memory configured to store the numerical control program, the numerical control program including a first command and a second command, the first command being a command for the machine tool described in a first programming language, and the second command being a command for the robot described in the first programming language; and

conversion circuitry configured to convert the second command into a third command, the conversion of the second command into the third command occurring during execution of the numerical control program to control the machine tool and the robot, and the third command being a robot program used for controlling the robot,

the control computation circuitry is configured to control the machine tool by using the first command and control the robot by using the third command, and

both the second command for the robot and the first command for the machine tool are included in the same numerical control program.

2. The numerical control device according to claim 1 , wherein

the first command and the second command in the numerical control program are defined in the first coordinate system,

the third command is defined in a second coordinate system and is described in a second programming language, and

the conversion circuitry is configured to convert the second command into the third command during the execution of the numerical control program to control the machine tool and the robot on the basis of an association between the first coordinate system and the second coordinate system.

3. The numerical control device according to claim 1 , wherein

the numerical control program includes an instruction to synchronize the machine tool and the robot,

the control computation circuitry further includes:

first waiting circuitry configured to keep operation of the machine tool on standby until an operation of the robot associated with a first standby command is completed when the first standby command to wait for the operation of the robot is present in the first command during execution of the first command, and

second waiting circuitry configured to keep operation of the robot on standby until operation an of the machine tool associated with a second standby command is completed when the second standby command to wait for the operation of the machine tool is present in the second command during execution of the second command.

4. The numerical control device according to claim 1 , further comprising:

a display to display an editing screen for editing of the numerical control program and a state display screen displaying a state of the robot.

5. The numerical control device according to claim 1 , wherein

upon receiving an instruction for an override of an operation of the robot, the control computation circuitry is configured to multiply the operation of the robot by an override factor.

6. The numerical control device according to claim 1 , wherein

the control computation circuitry is configured to send the third command to a robot controller during the execution of the numerical control program to control the machine tool and the robot, and

the robot controller controls the robot.

7. The numerical control device according to claim 1 , wherein the second command for the robot immediately follows the first command for the machine tool in the numerical control program.

8. The numerical control device according to claim 1 , wherein the second command for the robot immediately precedes the first command for the machine tool in the numerical control program.

9. The numerical control device according to claim 1 , wherein

the first command for the machine tool constitutes a first system,

the second command for the robot constitutes a second system, and

the first system and the second system are included in the same numerical control program.

10. A numerical control device comprising:

control computation circuitry configured to control a machine tool and a robot by using a numerical control program defined in a first coordinate system, wherein

the control computation circuitry includes:

a memory configured to store the numerical control program, the numerical control program including a first command and a second command, the first command being a command for the machine tool described in a first programming language, and the second command being a command for the robot described in the first programming language; and

accessing circuitry configured to access a robot interface upon receiving the second command, the accessing the robot interface occurring during execution of the numerical control program to control the machine tool and the robot, the robot interface sending a command to the robot,

the control computation circuitry is configured to control the machine tool on the basis of the first command and control the robot by accessing the robot interface by the accessing circuitry, and

both the second command for the robot and the first command for the machine tool are included in the same numerical control program.

11. The numerical control device according to claim 10 , wherein

upon being accessed with a function and command coordinates defined in a second coordinate system, the robot interface performs a process associated with the function and the command coordinates on the robot, and

the accessing circuitry is configured to access the robot interface during the execution of the numerical control program to control the machine tool and the robot with a function and command coordinates associated with the second command on the basis of an association between the first coordinate system and the second coordinate system.

12. The numerical control device according to claim 10 , wherein

the numerical control program includes an instruction to synchronize the machine tool and the robot,

the control computation circuitry further includes:

first waiting circuitry configured to keep operation of the machine tool on standby until an operation of the robot associated with a first standby command is completed when the first standby command to wait for the operation of the robot is present in the first command during execution of the first command, and

second waiting circuitry configured to keep operation of the robot on standby until operation an of the machine tool associated with a second standby command is completed when the second standby command to wait for the operation of the machine tool is present in the second command during execution of the second command.

13. The numerical control device according to claim 10 , further comprising:

a display to display an editing screen for editing of the numerical control program and a state display screen displaying a state of the robot.

14. The numerical control device according to claim 10 , wherein

upon receiving an instruction for an override of an operation of the robot, the control computation circuitry is configured to multiply the operation of the robot by an override factor.

15. A numerical control method comprising:

controlling a machine tool and a robot by using a numerical control program defined in a first coordinate system, wherein

the controlling includes:

storing the numerical control program, the numerical control program including a first command and a second command, the first command being a command for the machine tool described in a first programming language, and the second command being a command for the robot described in the first programming language;

converting the second command into a third command, the conversion of the second command into the third command occurring during execution of the numerical control program to control the machine tool and the robot, the third command being a robot program used for controlling the robot;

controlling the machine tool by using the first command; and

controlling the robot by using the third command, and

both the second command for the robot and the first command for the machine tool are included in the same numerical control program.

16. The numerical control method according to claim 15 , wherein

the controlling includes sending the third command to a robot controller during the execution of the numerical control program to control the machine tool and the robot, and

the robot controller controls the robot.

Assignments (1)

Continuity (1)

References Cited (25)