CN103809507A - Numerical control system with coordinate synchronizing function and numerical control method thereof - Google Patents

Abstract

The invention relates to a numerical control system with a coordinate synchronizing function and a numerical control method thereof. The numerical control system consists of a handheld input device, a numerical controller, at least one processing machine and at least one mechanical arm. A calculating unit in the numerical controller is used for calculating a rotation relation equation and a displacement relation equation between the position coordinate system of the processing machine and the position coordinate system of the mechanical arm in order to synchronize the coordinates of the processing machine and the mechanical arm, thereby simplifying compilation of a processing program and increasing the working efficiency.

Description

There is numerical control system and the numerical control method thereof of coordinate synchronizing function

Technical field

The present invention relates to a kind of numerical control system and numerical control method thereof with coordinate synchronizing function.

Background technology

At present, do not carry out in the industry processing machine and mechanical arm while operating simultaneously, utilize individually independently operating system operate, and processing machine is not identical with the coordinate of mechanical arm, as need to be by the tool center point of processing machine and mechanical arm (Tool Center Point, TCP) while moving to same position point, must write respectively the job sequence that belongs to preferred coordinate system, and each action of processing machine or mechanical arm needs to use instruction function to carry out one by one, and due to the difference of coordinate system, the location point of each instruction function is all not identical under different coordinates, in the time carrying out mutual alignment coordinate confirmation, must be at individual other Operational System Control.Moreover, if processing conditions is revised a little, must re-start the action of coordinate confirmation and compile program language and an instruction point position.In addition, processing machine is not identical with the program language of the operating system of mechanical arm, in overall process, need set up two kinds of operating systems, and operating personnel must know two kinds of program languages and write, thus, not only increase processing, human cost, also make integrated operation flow process more complicated simultaneously.

Summary of the invention

The object of the invention is to overcome the deficiency that prior art exists, a kind of numerical control system and numerical control method thereof with coordinate synchronizing function is provided.

Object of the present invention is achieved through the following technical solutions:

There is the numerical control system of coordinate synchronizing function, comprise at least one processing machine, at least one mechanical arm, a hand-held input device and a numerical controller, processing machine and mechanical arm position along a processing machine position coordinates system and a mechanical arm position coordinates system respectively, processing machine position coordinates system and mechanical arm position coordinates system are located in numerical controller, hand-held input device, processing machine and mechanical arm are electrically connected at numerical controller, feature: described numerical controller comprises:

One User's Interface, itself and hand-held input device are electrically connected, the positioning instruction of processing machine and the positioning instruction of mechanical arm inputted in order to be received from hand-held input device, and at least three non-colinear diverse location points through choosing observe with the position coordinates system of processing machine and the position coordinates system of mechanical arm the coordinate figure being obtained respectively in order to record; And

One core processor, itself and User's Interface are electrically connected, and be electrically connected with processing machine and mechanical arm, in order to the positioning instruction of the processing machine via User's Interface reception, the positioning instruction of mechanical arm and at least three non-colinear diverse location points observe with the position coordinates system of processing machine and the position coordinates system of mechanical arm the coordinate figure being obtained respectively, and according to processing machine position coordinates be, mechanical arm position coordinates system and at least three non-colinear diverse location points observe with the position coordinates system of processing machine and the position coordinates system of mechanical arm the coordinate figure being obtained respectively, one rotation relationship equation of the position coordinates system of calculating processing machine and the position coordinates system of mechanical arm, and according to one of the position coordinates system of the position coordinates system of rotation relationship equation calculating processing machine and mechanical arm displacement relation equation, core processor stores rotation relationship equation and displacement relation equation, and according to the positioning instruction controlled working machine of processing machine position coordinates system and processing machine, and according to mechanical arm position coordinates be, the positioning instruction of mechanical arm, rotation relationship equation and displacement relation equation control mechanical arm,

Wherein, at least three non-colinear diverse location points are positioned at the operation overlapping area of processing machine and mechanical arm.

Further, the above-mentioned numerical control system with coordinate synchronizing function, described core processor comprises:

One arithmetic element, it is provided with processing machine position coordinates system and mechanical arm position coordinates system, observe with the position coordinates system of processing machine and the position coordinates system of mechanical arm the coordinate figure being obtained respectively in order to receive at least three non-colinear diverse location points, and rotation relationship equation and the displacement relation equation of coordinate system and mechanical arm position coordinates system are put in calculating processing seat in the plane;

One shared drive, itself and arithmetic element are electrically connected, and its reception also stores processing machine position coordinates system, mechanical arm position coordinates system, rotation relationship equation and displacement relation equation;

One processing machine control module, itself and hand-held input device and shared drive are electrically connected, and it receives the positioning instruction of processing machine, position coordinates system, rotation relationship equation and the displacement relation equation of processing machine, and in order to controlled working machine; And

One mechanical arm control module, itself and hand-held input device and shared drive are electrically connected, and it receives the positioning instruction of mechanical arm, position coordinates system, rotation relationship equation and the displacement relation equation of mechanical arm, controls mechanical arm.

The present invention has the numerical control method of coordinate synchronizing function, comprises the following steps:

Move the tool center point of the first board to primary importance point, and note down primary importance o'clock and observe with the position coordinates system of the first board the coordinate figure being obtained;

Move the tool center point of the second board to primary importance point, and note down primary importance o'clock and observe with the position coordinates system of the second board the coordinate figure being obtained;

Move the tool center point of the first board to second place point, and note down the second place o'clock and observe with the position coordinates system of the first board the coordinate figure being obtained;

Move the tool center point of the second board to second place point, and note down the second place o'clock and observe with the position coordinates system of the second board the coordinate figure being obtained;

Tool center point to the three location points of mobile the first board, and note down the 3rd location point and observe with the position coordinates system of the first board the coordinate figure being obtained;

Tool center point to the three location points of mobile the second board, and record the 3rd location point and observe with the position coordinates system of the second board the coordinate figure being obtained;

The coordinate figure being obtained with the position coordinates system of the first board and the position coordinates system observation of the second board respectively according to primary importance point, second place point and the 3rd location point calculates the rotation relationship equation of the position coordinates system of the first board and the position coordinates system of the second board;

According to rotation relationship equation, calculate the displacement relation equation of the position coordinates system of the first board and the position coordinates system of the second board; Store rotation relationship equation and displacement relation equation; And

According to position coordinates system, rotation relationship equation and the displacement relation equation of the position coordinates system of the first board, the second board, control the first board and the second board.

Further, the above-mentioned numerical control method with coordinate synchronizing function, tool center point to the step of primary importance point of mobile the first board comprises: the tool center point place of the first board arranges a shallow disk, the tool center point of the first board is aimed in one center of circle of shallow disk, and mobile the first board makes the center of circle aim at primary importance point.

Again further, the above-mentioned numerical control method with coordinate synchronizing function, tool center point to the step of primary importance point of mobile the second board comprises: in the tool center point of the second board, one ball is set, ball is identical with shallow disk diameter, the centre of sphere of ball is aimed at the tool center point of the second board, and mobile the second board makes ball engage with shallow disk and the centre of sphere is aimed at primary importance point.

The substantive distinguishing features that technical solution of the present invention is outstanding and significant progressive being mainly reflected in:

It is synchronous that the numerical control system with coordinate synchronizing function can be carried out coordinate systems different from two kinds of mechanical arm processing machine coordinate, must not set up respectively other control system yet, can promote working (machining) efficiency, reduce processing and human cost, flow process simplifies the operation.

Accompanying drawing explanation

Below in conjunction with accompanying drawing, technical solution of the present invention is described further:

Fig. 1: the schematic diagram with the numerical control system of coordinate synchronizing function;

Fig. 2: the numerical control system with coordinate synchronizing function is carried out the coordinate position relativeness schematic diagram in coordinate synchronizing process;

Fig. 3: the numerical control system with coordinate synchronizing function is carried out the process flow diagram of coordinate synchronization program.

Embodiment

As shown in Figure 1, the numerical control system 1 with coordinate synchronizing function has a hand-held input device 11, one numerical controller 12, at least one processing machine 13 and at least one mechanical arm 14, wherein, hand-held input device 11 is the running in order to change processing machine 13 and mechanical arm 14, for example running fix or processing action, and hand-held input device 11 can be a handhold box or handwheel, processing machine 13 is for example a lathe, one milling machine and a cutting machine etc. can be in conjunction with the processing machines of mathematical control mode, it positions along a processing machine position coordinates system, and use at least one processing work and place respectively wherein and processing work is carried out to a processing processing, mechanical arm 14 is for example to have to pick and place, welding, gluing, burr removing, the mechanical arm of the function such as polishing and sandblast, it positions along a mechanical arm position coordinates system, and in order to processing work is carried out respectively to a processing action, and numerical controller 12 is electrically connected at hand-held input device 11, processing machine 13 and mechanical arm 14, it comprises a User's Interface 121 and a core processor 122, User's Interface 121 is electrically connected with hand-held input device 11, core processor 122 respectively with User's Interface 121, processing machine 13 and mechanical arm 14 are electrically connected, processing machine position coordinates system and mechanical arm position coordinates system are located in core processor 122, and user can running fix or the processing action with User's Interface 121 controlled working machines 13 and mechanical arm 14 by hand-held input device 11.

Shared drive 1222 that core processor 122 comprises an arithmetic element 1221, be electrically connected with arithmetic element 1221, one of be electrically connected processing machine control module 1223 and one of be electrically connected mechanical arm control module 1224 with hand-held input device 11 and shared drive 1222 with hand-held input device 11 and shared drive 1222, processing machine position coordinates system and mechanical arm position coordinates system are located in arithmetic element 1221.First, in the time that user starts to carry out the coordinate synchronization action of processing machine 13 and mechanical arm 14, first input a processing machine positioning instruction to User's Interface 121 by hand-held input device 11, or directly transmit processing machine positioning instruction by User's Interface 121, User's Interface 121 is sent to processing machine control module 1223 by processing machine positioning instruction again, and processing machine control module 1223 receives and transmits processing machine positioning instruction to processing machine 13, make the tool center point of processing machine 13 start to move and be positioned primary importance point, and utilize tool center point that User's Interface 121 notes down processing machine 13 in the time of this primary importance point, the coordinate that it is observed with processing machine position coordinates system.Then, user utilizes hand-held input device 11 to input a mechanical arm positioning instruction to User's Interface 121, or directly by User's Interface 121 transfer robot arm positioning instructions, User's Interface 121 is sent to mechanical arm control module 1224 by mechanical arm positioning instruction again, and 1224 receptions of mechanical arm control module transfer robot arm positioning instruction are to mechanical arm 14, make the tool center point of mechanical arm 14 start to move and touch primary importance point, when the tool center point of mechanical arm 14 is during at this primary importance point, user is noted down the tool center point of mechanical arm 14 with the coordinate of mechanical arm position coordinates system sight by User's Interface 121.The mode of touching herein can be contact or contactless, contact is for example that the tool center point that one of the shallow disk center of circle is processing machine 13 is set in processing machine, and a centre of sphere of one of identical with shallow disk diameter ball is set on mechanical arm, as the tool center point of mechanical arm 14, engage to reach the tool center point of processing machine 13 and the direct of tool center point of mechanical arm 14 contacts by the center of circle of shallow disk and the centre of sphere of ball, and contactless optional from optical mode and electromagnetic mode one of them.

Secondly, input processing machine positioning instruction to User's Interface 121 with crossing hand-held input device 11, or directly transmit processing machine positioning instruction to processing machine control module 1223 by User's Interface 121, and processing machine control module 1223 receives and transmits processing machine positioning instruction to processing machine 13, make the tool center point of processing machine 13 start to move and be positioned a second place point, and utilizing tool center point that User's Interface 121 notes down processing machine 13 in the time of this second place point, it is with the coordinate of processing machine position coordinates system.Then, user utilizes hand-held input device 11 to input mechanical arm positioning instruction to User's Interface 121, or directly pass through User's Interface 121 transfer robot arm positioning instructions to mechanical arm control module 1224, and 1224 receptions of mechanical arm control module transfer robot arm positioning instruction are to mechanical arm 14, make the tool center point of mechanical arm 14 start to move and touch second place point, when the tool center point of mechanical arm 14 is during at this second place point, user is noted down mechanical arm 14 tool center point by User's Interface 121 with the sight of mechanical arm position coordinates system coordinate.

Again secondly, user inputs processing machine positioning instruction to User's Interface 121 by hand-held input device 11, or directly transmit processing machine positioning instruction to processing machine control module 1223 by User's Interface 121, and processing machine control module 1223 receives and transmits processing machine positioning instruction to processing machine 13, make the tool center point of processing machine 13 start to move and be positioned one the 3rd location point, and utilize tool center point that User's Interface 121 notes down processing machine 13 in the time of this 3rd location point, its with the sight of processing machine position coordinates system coordinate.Then, user utilizes hand-held input device 11 to input mechanical arm positioning instruction to User's Interface 121, or directly pass through User's Interface 121 transfer robot arm positioning instructions to mechanical arm control module 1224, and 1224 receptions of mechanical arm control module transfer robot arm positioning instruction are to mechanical arm 14, make the tool center point of mechanical arm 14 start to move and touch the 3rd location point, when the tool center point of mechanical arm 14 is during at this 3rd location point, user is noted down mechanical arm 14 tool center point by User's Interface 121 with the sight of mechanical arm position coordinates system coordinate.Above-described primary importance point, second place point and the 3rd location point are in the overlay region of processing machine perform region and mechanical arm perform region, any three location points of different not conllinear.

When completing the record tool center point of processing machine 13 and the tool center point of mechanical arm 14 at primary importance point, after the coordinate of second place point and the 3rd these three location points of location point, User's Interface 121 transmit processing machine position coordinates system with the coordinate of three location points of mechanical arm position coordinates system to arithmetic element 1221, arithmetic element 1221 according to processing machine position coordinates is, mechanical arm coordinate system and processing machine position coordinates system start calculating processing seat in the plane with the coordinate of three location points of mechanical arm position coordinates system and put one of coordinate system and mechanical arm position coordinates system rotation relationship equation, arithmetic element 1221 is put one of coordinate system and mechanical arm position coordinates system displacement relation equation according to the further calculating processing of rotation relationship equation seat in the plane, when arithmetic element 1221 completes after the rotation relationship equation and displacement relation equation of putting coordinate system and mechanical arm position coordinates system in calculating processing seat in the plane, by processing machine position coordinates be, mechanical arm position coordinates system, rotation relationship equation and displacement relation equation are sent in shared drive 1222 and store, shared drive 1222 receives and transmits processing machine position coordinates system, rotation relationship equation and displacement relation equation are to processing machine control module 1223, and transfer robot arm position coordinates system, rotation relationship equation and displacement relation equation are to mechanical arm control module 1224, in the time that user wants to carry out the coordinate synchronization action of processing machine 13 and mechanical arm 14, export respectively processing machine positioning instruction and mechanical arm positioning instruction to processing machine control module 1223 and mechanical arm control module 1224 via hand-held input device 11 and User's Interface 121, processing machine control module 1223 receives processing machine positioning instruction, processing machine position coordinates system, rotation relationship equation and displacement relation equation, and be controlled working machine 13 according to processing machine positioning instruction and processing machine position coordinates, mechanical arm control module 1224 is by mechanical arm positioning instruction, mechanical arm position coordinates system, rotation relationship equation and displacement relation equation carry out with the coordinate synchronization action of processing machine 13 and control mechanical arm 14.That is to say, processing in operation process, the position coordinates system of processing machine 13 and mechanical arm 14 can change by rotation relationship equation and displacement relation equation automatically and directly, thereby the elements of a fix of a certain location point no matter from position coordinates system sights of processing machine 13 or being unanimously from the position coordinates system sight of mechanical arm 14, and do not need respectively in processing machine position coordinates system or mechanical arm position coordinates system recalculates individually its elements of a fix, processing machine 13 or the numerical control device of mechanical arm 14 must be set separately yet, except saving processing cost, outside process time, also can simplify overall work flow simultaneously, and significantly promote overall working (machining) efficiency.

In addition, in the present invention, the synchronous mode of coordinate can be as shown in the Examples, be reference point with processing machine position coordinates, again mechanical arm position coordinates system being carried out to coordinate with the processing machine position coordinates system for reference point synchronizes, also can be to be reference point with mechanical arm position coordinates, again processing machine position coordinates system being carried out to coordinate with the mechanical arm position coordinates system for reference point synchronizes, also can be to be reference point with processing machine position coordinates, again another processing machine position coordinates system being carried out to coordinate with the processing machine position coordinates system for reference point synchronizes, also can be to be reference point with mechanical arm position coordinates, again another mechanical arm position coordinates system being carried out to coordinate with the mechanical arm position coordinates system for reference point synchronizes.

As Fig. 2, the present invention has the numerical control system of coordinate synchronizing function and carries out the coordinate position relativeness schematic diagram in coordinate synchronizing process.In order to further illustrate rotation relationship equation and the equational process of displacement relation of arithmetic element 1221 computing processing machines 13 and mechanical arm 14.

First, R _cNCand R _robotrepresent respectively processing machine position coordinates system and the orthogonal moment configuration that the coordinate axis of mechanical arm position coordinates system forms, may be defined as mathematical expression (1):

R _CNC=[X _CNCY _CNCZ _CNC]

R _Robot=[X _RobotY _RobotZ _Robot] (1)

Wherein, X _cNC, Y _cNCand Z _cNCfor X, Y, Z direction coordinate axis in processing machine position coordinates system, and X _robot, Y _robotand Z _robotfor X, Y, Z direction coordinate axis in mechanical arm position coordinates system, be all 3 × 1 vector of unit length.

From the above, note down respectively the tool center point of processing machine 13 and the tool center point of mechanical arm 14 is put after the coordinate of three location points such as A1, second place point A2 and the 3rd location point A3 in primary importance when completing, processing machine position coordinates is R _cNCformer name a person for a particular job respectively form with primary importance point A1, second place point A2 and the 3rd location point A3 and

three vectors, and mechanical arm position coordinates is R _robotformer name a person for a particular job respectively form with primary importance point A1, second place point A2 and the 3rd location point A3

and

three vectors, and due to R _cNCwith R _robotfor orthogonal matrix, thus must there is a rotation matrix R, as shown in mathematical expression (2):

R _CNC=R×R _Robot (2)

Then, in order to obtain rotation matrix R, must be by R _cNCwith R _robotbe scaled nonopiate formal matrices M _cNCwith M _robot, M _cNCmatrix representation be mathematical expression (3):

$M_{\mathrm{CNC}}=\left[{\stackrel{\→}{v}}_{1,\mathrm{CNC}}{\stackrel{\→}{v}}_{2,\mathrm{CNC}}{\stackrel{\→}{v}}_{3,\mathrm{CNC}}\right]---\left(3\right)$

Wherein,

and

be expressed as mathematical expression (4):

${\stackrel{\→}{v}}_{1,\mathrm{CNC}}={\stackrel{\→}{A}}_{2,\mathrm{CNC}}-{\stackrel{\→}{A}}_{1,\mathrm{CNC}}$

${\stackrel{\→}{v}}_{2,\mathrm{CNC}}={\stackrel{\→}{A}}_{3,\mathrm{CNC}}-{\stackrel{\→}{A}}_{1,\mathrm{CNC}}$

${\stackrel{\→}{v}}_{3,\mathrm{CNC}}={\stackrel{\→}{v}}_{1,\mathrm{CNC}}{\×\stackrel{\→}{v}}_{2,\mathrm{CNC}}---\left(4\right)$

Similarly, M _robotalso can be expressed as mathematical expression (5):

$M_{\mathrm{Robot}}=\left[{\stackrel{\→}{v}}_{1,\mathrm{Robot}}{\stackrel{\→}{v}}_{2,\mathrm{Robot}}{\stackrel{\→}{v}}_{3,\mathrm{Robot}}\right]---\left(3\right)$

Wherein,

and represent as mathematical expression (6):

${\stackrel{\→}{v}}_{1,\mathrm{Robot}}={\stackrel{\→}{A}}_{2,\mathrm{Robot}}-{\stackrel{\→}{A}}_{1,\mathrm{Robot}}$

${\stackrel{\→}{v}}_{2,\mathrm{Robot}}={\stackrel{\→}{A}}_{3,\mathrm{Robot}}-{\stackrel{\→}{A}}_{1,\mathrm{Robot}}$

${\stackrel{\→}{v}}_{3,\mathrm{Robot}}={\stackrel{\→}{v}}_{1,\mathrm{Robot}}\×{\stackrel{\→}{v}}_{2,\mathrm{Robot}}]---(6)$

Due to M _cNCin, every row (Column) is all

and

three matrixes that vector forms, again

and

for A1, A2 and tri-location points of A3 are at X _cNC, Y _cNCand Z _cNCthe lower vector forming of position coordinates system of coordinate axis, therefore M _cNCin every row (Column) be

and

the linear combination of vector, and

and the vector direction of subtracting each other between vector is between two also unequal, causes M _cNCalso unequal in the ranks between two in matrix, therefore M _cNCmust be full rank (Full Rank), namely M _cNCthere is inverse matrix, in the same manner, M _robotmatrix in, every row (Column) is all

and

three matrixes that vector forms, again

and

for A1, A2 and tri-location points of A3 are at X _robot, Y _robotand Z _robotthe lower vector forming of position coordinates system of coordinate axis, therefore M _robotin every row (Column) be

and

the linear combination of vector, and

and

the vector direction of subtracting each other between vector is between two also unequal, causes M _robotalso unequal in the ranks between two in matrix, therefore M _robotmust there is inverse matrix, and M _cNCwith M _robotbe respectively processing machine position coordinates system and tie up to the calculating of three location points such as primary importance point A1, second place point A2 and the 3rd location point A3 and obtain with mechanical arm position coordinates, therefore can be by M _cNCwith M _robotbe expressed as mathematical expression (7):

M _CNC=R×M _Robot (7)

Can obtain rotation matrix R by mathematical expression (7), as shown in mathematical expression (8):

$R=M_{\mathrm{CNC}}\×M_{\mathrm{Robot}}^{-1}---\left(8\right)$

Rotation matrix R is the rotation relationship equation of processing machine position coordinates system and mechanical arm position coordinates system.

Moreover arithmetic element 1221, will according to rotation matrix R

rotation to

parallel, now

with

the difference of two vectors is displacement relation equation, as shown in mathematical expression (9):

${\stackrel{\→}{S}}_{\mathrm{RC}}={\stackrel{\→}{A}}_{1,\mathrm{CNC}}-R{\stackrel{\→}{A}}_{1,\mathrm{Robot}}$

Its representative is under processing machine position coordinates system, and the initial point of mechanical arm position coordinates system moves to the vector of the initial point of processing machine position coordinates system.

As Fig. 3, the numerical control system with coordinate synchronizing function is carried out the process flow diagram of coordinate synchronization program.

First,, as shown in step 31, the machine tool center of the first board is moved to the primary importance point A1 on the operation overlapping area of the first board and one second board.For example, as shown in Figure 2, in the time that user starts to carry out the coordinate synchronization action of processing machine 13 and mechanical arm 14, first send processing machine positioning instruction to User's Interface 121 by hand-held input device 11, transmit processing machine positioning instruction to processing machine control module 1223 by User's Interface 121 again, or directly utilize User's Interface 121 to send processing machine positioning instruction to processing machine control module 1223, and processing machine control module 1223 receives and transmits processing machine positioning instruction to processing machine 13, make the tool center point of processing machine 13 start to move and be positioned primary importance point A1.

Then carry out step 32, record primary importance point A1 with the position coordinates system sight of the first board coordinate figure.For example, as shown in Figure 2, utilize tool center point that User's Interface 121 notes down processing machine 13 in the time of primary importance point A1, with the sight of processing machine position coordinates system coordinate.

Then, carry out step 33, tool center point to the primary importance of mobile the second board is put A1.For example, as shown in Figure 2, user utilizes hand-held input device 11 transfer robot arm positioning instructions to User's Interface 121, again via User's Interface 121 transfer robot arm positioning instructions to mechanical arm control module 1224, or directly by User's Interface 121 transfer robot arm positioning instructions to mechanical arm control module 1224, 1224 receptions of mechanical arm control module transfer robot arm positioning instruction are to mechanical arm 14, make the tool center point of mechanical arm 14 start to move and touch primary importance point A1, this mode of touching can be contact or contactless.Contact is for example that the tool center point that one of the shallow disk center of circle is processing machine 13 is set in processing machine, and a centre of sphere of one of identical with shallow disk diameter ball is set on mechanical arm, as the tool center point of mechanical arm 14, engage to reach the tool center point of processing machine 13 and the direct of tool center point of mechanical arm 14 contacts by the center of circle of shallow disk and the centre of sphere of ball, and contactless optional from optical mode and electromagnetic mode one of them.

Moreover, carry out step 34, record primary importance point A1 with the position coordinates system sight of the second board coordinate figure.For example, as shown in Figure 2, when the tool center point of mechanical arm 14 is during at primary importance point A1, the coordinate of user is noted down mechanical arm 14 tool center point by User's Interface 121 under mechanical arm position coordinates system.According to preceding step 31～34, complete respectively the coordinate figure record at second place point A2 and the 3rd location point A3 of the tool center point of the first board and the tool center point of the second board, perform step afterwards 35.

Step 35, be and transmit the first board and the second board arithmetic element in the coordinate figure of three location points such as primary importance point, second place point and the 3rd location point to numerical control system, arithmetic element starts to calculate the rotation relationship equation that the first board position coordinates is and the second board position coordinates is.For example, as shown in Figure 2, it is R that User's Interface 121 transmits processing machine position coordinates _cNCwith mechanical arm position coordinates be R _robotthe coordinate of A1, A2, tri-location points of A3 to arithmetic element 1221, arithmetic element 1221 according in to establish processing machine position coordinates be R _cNC, mechanical arm position coordinates is R _robot, processing machine position coordinates is R _cNCwith mechanical arm position coordinates be R _robotthe coordinate of A1, A2, tri-location points of A3 start calculating processing seat in the plane and put coordinate system R _cNCwith mechanical arm position coordinates be R _robotrotation relationship equation, i.e. rotation matrix R shown in aforementioned mathematical expression (8).

Then, execution step 36, be arithmetic element and calculate the displacement relation equation of the first board position coordinates system and the second board position coordinates system, and by the first board position coordinates system, the second board position coordinates system, rotation relationship equation and displacement relation equation are sent to an internal storage location, internal storage location receives and transmits rotation relationship equation and the control module of displacement relation equation to the first board and the control module of the second board, user transmits respectively the first board positioning instruction and second control module of board positioning instruction to the first board and the control module of the second board by hand-held input device 11 and User's Interface 121.For example, as shown in Figure 2, arithmetic element 1221 is put coordinate system R according to the calculated further calculating processing of rotation matrix R seat in the plane _cNCwith mechanical arm position coordinates be R _robotdisplacement relation equation, shown in mathematical expression (9)

and be R by processing machine position coordinates _cNC, mechanical arm position coordinates is R _robot, rotation relationship equation R and displacement relation equation

be sent to shared drive 1222, it is R that shared drive 1222 stores and transmit processing machine position coordinates _cNC, rotation relationship equation R and displacement relation equation

to processing machine control module 1223, and shared drive 1222 stores and transfer robot arm position coordinates is R _robot, rotation relationship equation R and displacement relation equation

to mechanical arm control module 1224.

Finally, carry out step 37, the control module of the control module of the first board and the second board is carried out the coordinate synchronization action of the first board position coordinates system and the second board position coordinates system and controls the first board and the second board according to the first board positioning instruction, the second board positioning instruction, the first board position coordinates system, the second board position coordinates system, rotation relationship equation and displacement relation equation.For example, as shown in Figure 2, processing machine control module 1223 receives the processing machine positioning instruction that hand-held input device 11 and User's Interface 121 transmit, and to receive the processing machine position coordinates that shared drive 1222 transmits be R _cNC, rotation relationship equation R and displacement relation equation mechanical arm control module 1224 receives the mechanical arm positioning instruction that hand-held input device 11 and User's Interface 121 transmit, and to receive the mechanical arm position coordinates that shared drive 1222 transmits be R _robot, rotation relationship equation R and displacement relation equation

therefore processing machine control module 1223 and mechanical arm control module 1224 can be R by processing machine positioning instruction, mechanical arm positioning instruction, processing machine position coordinates _cNC, mechanical arm position coordinates is R _robot, rotation relationship equation R and displacement relation equation Sr _rCcarry out coordinate synchronization action the controlled working machine 13 and mechanical arm 14 of processing machine position coordinates system and mechanical arm position coordinates system.

In sum, the present invention has the numerical control system of coordinate synchronizing function, coordinate systems different from two kinds of mechanical arm processing machine can be carried out to coordinate synchronous, must not set up respectively other control system yet, can promote working (machining) efficiency, reduce processing and human cost, flow process simplifies the operation.

It is to be understood that: the above is only the preferred embodiment of the present invention; for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (5)

1. there is the numerical control system of coordinate synchronizing function, comprise at least one processing machine, at least one mechanical arm, a hand-held input device and a numerical controller, processing machine and mechanical arm position along a processing machine position coordinates system and a mechanical arm position coordinates system respectively, processing machine position coordinates system and mechanical arm position coordinates system are located in numerical controller, hand-held input device, processing machine and mechanical arm are electrically connected at numerical controller, it is characterized in that: described numerical controller comprises:

One User's Interface, itself and hand-held input device are electrically connected, the positioning instruction of processing machine and the positioning instruction of mechanical arm inputted in order to be received from hand-held input device, and at least three non-colinear diverse location points through choosing observe with the position coordinates system of processing machine and the position coordinates system of mechanical arm the coordinate figure being obtained respectively in order to record; And

One core processor, itself and User's Interface are electrically connected, and be electrically connected with processing machine and mechanical arm, in order to the positioning instruction of the processing machine via User's Interface reception, the positioning instruction of mechanical arm and at least three non-colinear diverse location points observe with the position coordinates system of processing machine and the position coordinates system of mechanical arm the coordinate figure being obtained respectively, and according to processing machine position coordinates be, mechanical arm position coordinates system and at least three non-colinear diverse location points observe with the position coordinates system of processing machine and the position coordinates system of mechanical arm the coordinate figure being obtained respectively, one rotation relationship equation of the position coordinates system of calculating processing machine and the position coordinates system of mechanical arm, and according to one of the position coordinates system of the position coordinates system of rotation relationship equation calculating processing machine and mechanical arm displacement relation equation, core processor stores rotation relationship equation and displacement relation equation, and according to the positioning instruction controlled working machine of processing machine position coordinates system and processing machine, and according to mechanical arm position coordinates be, the positioning instruction of mechanical arm, rotation relationship equation and displacement relation equation control mechanical arm,

Wherein, at least three non-colinear diverse location points are positioned at the operation overlapping area of processing machine and mechanical arm.

2. the numerical control system with coordinate synchronizing function according to claim 1, is characterized in that: described core processor comprises:

One arithmetic element, it is provided with processing machine position coordinates system and mechanical arm position coordinates system, observe with the position coordinates system of processing machine and the position coordinates system of mechanical arm the coordinate figure being obtained respectively in order to receive at least three non-colinear diverse location points, and rotation relationship equation and the displacement relation equation of coordinate system and mechanical arm position coordinates system are put in calculating processing seat in the plane;

One shared drive, itself and arithmetic element are electrically connected, and its reception also stores processing machine position coordinates system, mechanical arm position coordinates system, rotation relationship equation and displacement relation equation;

One processing machine control module, itself and hand-held input device and shared drive are electrically connected, and it receives the positioning instruction of processing machine, position coordinates system, rotation relationship equation and the displacement relation equation of processing machine, and in order to controlled working machine; And

One mechanical arm control module, itself and hand-held input device and shared drive are electrically connected, and it receives the positioning instruction of mechanical arm, position coordinates system, rotation relationship equation and the displacement relation equation of mechanical arm, controls mechanical arm.

3. the numerical control system that has coordinate synchronizing function described in claim 1 realizes numerical control method, it is characterized in that comprising the following steps:

Move the tool center point of the first board to primary importance point, and note down primary importance o'clock and observe with the position coordinates system of the first board the coordinate figure being obtained;

Move the tool center point of the second board to primary importance point, and note down primary importance o'clock and observe with the position coordinates system of the second board the coordinate figure being obtained;

Move the tool center point of the first board to second place point, and note down the second place o'clock and observe with the position coordinates system of the first board the coordinate figure being obtained;

Move the tool center point of the second board to second place point, and note down the second place o'clock and observe with the position coordinates system of the second board the coordinate figure being obtained;

Tool center point to the three location points of mobile the first board, and note down the 3rd location point and observe with the position coordinates system of the first board the coordinate figure being obtained;

Tool center point to the three location points of mobile the second board, and record the 3rd location point and observe with the position coordinates system of the second board the coordinate figure being obtained;

The coordinate figure being obtained with the position coordinates system of the first board and the position coordinates system observation of the second board respectively according to primary importance point, second place point and the 3rd location point calculates the rotation relationship equation of the position coordinates system of the first board and the position coordinates system of the second board;

According to rotation relationship equation, calculate the displacement relation equation of the position coordinates system of the first board and the position coordinates system of the second board; Store rotation relationship equation and displacement relation equation; And

According to position coordinates system, rotation relationship equation and the displacement relation equation of the position coordinates system of the first board, the second board, control the first board and the second board.

4. the numerical control method with coordinate synchronizing function according to claim 3, it is characterized in that: tool center point to the step of primary importance point of mobile the first board comprises: the tool center point place of the first board arranges a shallow disk, the tool center point of the first board is aimed in one center of circle of shallow disk, and mobile the first board makes the center of circle aim at primary importance point.

5. the numerical control method with coordinate synchronizing function according to claim 3, it is characterized in that: tool center point to the step of primary importance point of mobile the second board comprises: in the tool center point of the second board, one ball is set, ball is identical with shallow disk diameter, the centre of sphere of ball is aimed at the tool center point of the second board, and mobile the second board makes ball engage with shallow disk and the centre of sphere is aimed at primary importance point.

Images