An industrial robot control method for use in a system having a machine tool (MAC), a numerical control device (NCU) for controlling the machine tool, an industrial robot (RBT), and a robot control device (RCU) for controlling the industrial robot. In accordance with this industrial robot control me
An industrial robot control method for use in a system having a machine tool (MAC), a numerical control device (NCU) for controlling the machine tool, an industrial robot (RBT), and a robot control device (RCU) for controlling the industrial robot. In accordance with this industrial robot control method, a plurality of NC programs are stored beforehand in an internal memory (DMN) of the numerical control device (NCU), and a plurality of robot control programs are stored beforehand in an internal memory (DMR) of the robot control device (RCU). The size or shape of a workpiece is sensed by a workpiece discriminating unit (WKD) to select the NC program conforming to the particular workpiece. A robot program number, corresponding to the selected NC program, is transmitted from the numerical control device (NCU) to the robot control device (RCU), so that the robot (RBT) may be controlled based on the robot program identified by the robot program number number.
대표청구항▼
1. An industrial robot control method for use in a system having a machine tool, a numerical control device for controlling the machine tool, an industrial robot and a robot control device for controlling the industrial robot under one of a plurality of robot control programs, comprising the steps o
1. An industrial robot control method for use in a system having a machine tool, a numerical control device for controlling the machine tool, an industrial robot and a robot control device for controlling the industrial robot under one of a plurality of robot control programs, comprising the steps of: (a) storing the plurality of robot control programs in the robot control device; (b) automatically generating a robot control program selection signal under the control of the numerical control device; and (c) executing robot service processing, under the control of the robot control device, based on a selected one of the robot control programs corresponding to the robot control program selection signal. 2. An industrial robot control method according to claim 1, further comprising the steps of: (d) storing a plurality of NC programs in the numerical control device; (e) inserting a robot program identification code into each of the NC programs prior to said step (d); and (f) automatically selecting a predetermined NC program, wherein said step (b) comprises transmitting the robot control program selection signal to the robot control device to select the one of the robot control programs corresponding to the selected NC program. 3. An industrial robot control method according to claim 1, further comprising the steps of: (d) storing a plurality of NC programs in the numerical control device; (e) storing a correspondence table, indicating the correspondence between the NC programs and robot programs in memory in advance; (f) automatically selecting a predetermined NC program; and (g) referring to the correspondence table to determine the robot control program corresponding to the predetermined NC program selected in said step (f), wherein said step (b) comprises transmitting the robot control program selection signal to the robot control device to select the robot control program corresponding to the selected NC program. 4. An industrial robot control method according to claim 3, further comprising the steps of: (h) storing a corresponding relationship between NC programs and the sizes of workpieces to be loaded or unloaded relative to a machine tool in memory in advance; (i) discriminating the sizes of the workpieces; and (j) automatically selecting a desired NC program based on the results of said discrimination step (i). 5. An industrial robot control method according to claim 3, further comprising the steps of: (h) storing a corresponding relationship between NC programs and the shapes of workpieces to be loaded or unloaded relative to a machine tool in memory in advance; (i) discriminating the shapes of the workpieces; and (j) automatically selecting a predetermined NC program based on the results of said discrimination step (i). 6. An industrial robot control method according to claim 3, further comprising the steps of: (h) storing a schedule, including the machining sequence of a plurality of workpieces and the number of workpieces to be machined, beforehand in an internal memory of the robot control device; and (i) automatically selecting the NC programs based on the schedule stored in said step (h). 7. An industrial robot control method according to claim 2, further comprising the steps of: (g) storing a corresponding relationship between NC programs and the sizes of workpieces to be loaded or unloaded relative to a machine tool in memory in advance; (h) discriminating the sizes of the workpieces; and (i) automatically selecting a desired NC program based on the result of said discrimination step (h). 8. An industrial robot control method according to claim 2, further comprising the steps of: (g) storing a corresponding relationship between NC programs and the shapes of workpieces to be loaded or unloaded relative to a machine tool in memory in advance; (h) discriminating the shapes of the workpieces; and (i) automatically selecting the predetermined NC program based on the results of said discrimination step (h). 9. An industrial robot control method according to claim 2, further comprising the steps of: (g) storing a schedule, including the machining sequence of a plurality of workpieces and the number of workpieces to be machined, beforehand in an internal memory of the robot control device; and (h) automatically selecting the NC programs based on the schedule stored in said step (g). 10. An industrial robot control method for use in a system having a machine tool for machining workpieces, a numerical control device for controlling the machine tool under one of a plurality of numerical control programs, an industrial robot and a robot control device for controlling the industrial robot under one of a plurality of robot control programs, comprising the steps of: (a) storing the relationship between the workpieces, the NC programs, and the NC control programs, so that a particular workpiece corresponds to a predetermined NC program and a predetermined robot control program; (b) determining the size or shape of the workpiece to be machined; (c) automatically selecting the corresponding one of the NC programs based on the results of said determining step (b); (d) transmitting a robot control program selection signal to the robot control device in accordance with the selected NC program, to select the corresponding robot control program; and (e) executing robot service processing under the control of the robot control device based on the selected one of the robot control programs corresponding to the robot control program selection signal.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허에 인용된 특허 (4)
Fleig Gunther (Hanau DEX), Analog paint output control.
Kobayashi Kengo (Kawasaki JPX) Inaba Hajimu (Hino JPX) Sakakibara Shinsuke (Kunitachi JPX), Numerical control system for controlling both a machine tool and a robot.
Grohmann, Thomas; Kuenzel, Stefan; Papiernik, Wolfgang; Quaschner, Bernd; Seeger, Guido; Welker, Johannes, Method of control and control structure for the movement control, pre-control and fine interpolation of objects in a speed controller clock which is faster than the position controller clock.
Lancraft Roy E. (Southbury CT) Daggett Kenneth E. (Murrysville PA) Onaga Eimei M. (Brookfield Center CT) Casler ; Jr. Richard J. (Newtown CT) Booth Barrett L. (Brookfield CT) Bergman Norman J. (Danbu, Multiprocessor position/velocity servo control for multiaxis digital robot control system.
Daggett Kenneth E. (Murrysville PA) Onaga Eimei M. (Brookfield Center CT) Casler ; Jr. Richard J. (Newtown CT), Multiprocessor torque servo control for multiaxis digital robot control system.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.