CN103809507B - There is numerical control system and the numerical control method thereof of coordinate synchronizing function - Google Patents

Abstract

The present invention relates to have numerical control system and the numerical control method thereof of coordinate synchronizing function, formed by hand-held input device, numerical controller, at least one processing machine and at least one mechanical arm, utilize the arithmetic element calculating processing seat in the plane in numerical controller to put rotation relationship equation and the displacement relation equation between coordinate system and mechanical arm position coordinates system, the coordinate reaching between processing machine and mechanical arm is synchronizeed, write thereby simplify procedure, promote operating efficiency.

Description

Numerical control system with coordinate synchronization function and numerical control method thereof

Technical Field

The invention relates to a numerical control system with a coordinate synchronization function and a numerical control method thereof.

Background

At present, when the processing machine and the robot are not operated simultaneously in the industry, the processing machine and the robot are operated by using respective independent operating systems, and the coordinates of the processing machine and the robot are not the same, if the tool center point (toolcenter point, TCP) of the processing machine and the robot needs to be moved to the same position point, the processing program belonging to a specific coordinate system needs to be written respectively, and each action of the processing machine or the robot needs to be performed one by using a teaching function, and the position point of each teaching function is different under different coordinate systems due to the difference of the coordinate systems, and when the mutual position coordinates are confirmed, the processing machine and the robot need to be operated by respective operating systems. If the machining conditions are slightly modified, the coordinate determination operation, the programming language, and the teaching point position must be newly performed. In addition, the program languages of the operating systems of the processing machine and the robot arm are different, two operating systems need to be set up in the whole processing process, and the operator needs to be familiar with the two program languages for writing, so that the processing and labor costs are increased, and the whole operation process is more complicated.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides a numerical control system with a coordinate synchronization function and a numerical control method thereof.

The purpose of the invention is realized by the following technical scheme:

numerical control system with coordinate synchronization function, including at least a processing machine, at least a robotic arm, a handheld input device and a numerical controller, processing machine and robotic arm are fixed a position along a processing machine position coordinate system and a robotic arm position coordinate system respectively, and processing machine position coordinate system and robotic arm position coordinate system locate in the numerical controller, handheld input device, processing machine and robotic arm electric connection in numerical controller, characteristics: the numerical controller includes:

the user interface is electrically connected with the handheld input device, is used for receiving the positioning instruction of the processing machine and the positioning instruction of the mechanical arm input by the handheld input device, and is used for recording coordinate values obtained by observing at least three selected non-collinear different position points by using a position coordinate system of the processing machine and a position coordinate system of the mechanical arm respectively; and

a core processor electrically connected to the user interface, the core processor being electrically connected to the processing machine and the robot for receiving the positioning command of the processing machine, the positioning command of the robot and the coordinate values obtained by observing the position coordinate system of the processing machine and the position coordinate system of the robot at least three non-collinear different position points through the user interface, calculating a rotation relation equation between the position coordinate system of the processing machine and the position coordinate system of the robot according to the position coordinate system of the processing machine, the position coordinate system of the robot and the coordinate values obtained by observing the position coordinate system of the processing machine and the position coordinate system of the robot at least three non-collinear different position points respectively, calculating a displacement relation equation between the position coordinate system of the processing machine and the position coordinate system of the robot according to the rotation relation equation, the core processor storing the rotation relation equation and the displacement relation equation, controlling the processing machine according to the position coordinate system of the processing machine and the positioning instruction of the processing machine, and controlling the mechanical arm according to the position coordinate system of the mechanical arm, the positioning instruction of the mechanical arm, the rotation relation equation and the displacement relation equation;

wherein the at least three non-collinear different location points are located in a working overlap region of the processing machine and the robot.

Further, in the numerical control system with coordinate synchronization function described above, the core processor includes:

the computing unit is provided with a processing machine position coordinate system and a mechanical arm position coordinate system and used for receiving coordinate values obtained by observing at least three non-collinear different position points respectively by using the processing machine position coordinate system and the mechanical arm position coordinate system and calculating a rotation relation equation and a displacement relation equation of the processing machine position coordinate system and the mechanical arm position coordinate system;

a shared memory electrically connected to the computing unit for receiving and storing the machine position coordinate system, the robot position coordinate system, the rotation relation equation and the displacement relation equation;

the processing machine control module is electrically connected with the handheld input device and the shared memory, receives a positioning instruction of the processing machine, a position coordinate system of the processing machine, a rotation relation equation and a displacement relation equation and is used for controlling the processing machine; and

and the mechanical arm control module is electrically connected with the handheld input device and the shared memory, receives the positioning instruction of the mechanical arm, the position coordinate system of the mechanical arm, the rotation relation equation and the displacement relation equation and controls the mechanical arm.

The invention discloses a numerical control system with a coordinate synchronization function and a numerical control method, which comprises the following steps:

moving a tool center point of a first machine to a first position point, and recording a coordinate value obtained by observing the first position point by using a position coordinate system of the first machine;

moving the tool center point of the second machine to the first position point, and recording the coordinate value obtained by observing the first position point by using the position coordinate system of the second machine;

moving the tool center point of the first machine to a second position point, and recording a coordinate value obtained by observing the second position point by using the position coordinate system of the first machine;

moving the tool center point of the second machine to a second position point, and recording a coordinate value obtained by observing the second position point by using a position coordinate system of the second machine;

moving the tool center point of the first machine to a third position point, and recording a coordinate value obtained by observing the third position point by using the position coordinate system of the first machine;

moving the tool center point of the second machine to a third position point, and recording a coordinate value obtained by observing the third position point by using the position coordinate system of the second machine;

calculating a rotation relation equation of the position coordinate system of the first machine and the position coordinate system of the second machine according to coordinate values obtained by observing the first position point, the second position point and the third position point respectively by using the position coordinate system of the first machine and the position coordinate system of the second machine;

calculating a displacement relation equation of the position coordinate system of the first machine and the position coordinate system of the second machine according to the rotation relation equation; storing the rotation relation equation and the displacement relation equation; and

and controlling the first machine and the second machine according to the position coordinate system of the first machine, the position coordinate system of the second machine, the rotation relation equation and the displacement relation equation.

Furthermore, the step of moving the tool center point of the first machine to the first position point includes: a shallow disc is arranged at the tool center point of the first machine table, the center of the shallow disc is aligned with the tool center point of the first machine table, and the first machine table is moved to enable the center of the shallow disc to be aligned with the first position point.

Still further, the numerical control system with the coordinate synchronization function realizes a numerical control method, and the step of moving the tool center point of the second machine to the first position point comprises: and arranging a round ball at the tool center point of the second machine table, wherein the diameter of the round ball is the same as that of the shallow disc, the center of the round ball is aligned to the tool center point of the second machine table, and the second machine table is moved to enable the round ball to be jointed with the shallow disc and the center of the round ball to be aligned to the first position point.

The outstanding substantive features and remarkable progress of the technical scheme of the invention are mainly reflected in that:

the numerical control system with the coordinate synchronization function can synchronize the coordinates of two different coordinate systems of the processing machine and the mechanical arm, and individual control systems are not required to be respectively erected, so that the processing efficiency can be improved, the processing and labor costs can be reduced, and the operation flow can be simplified.

Drawings

The technical scheme of the invention is further explained by combining the accompanying drawings as follows:

FIG. 1: a schematic diagram of a numerical control system with coordinate synchronization;

FIG. 2: the numerical control system with the coordinate synchronization function executes a coordinate position relative relationship schematic diagram in the coordinate synchronization process;

FIG. 3: a numerical control system having a coordinate synchronization function executes a flowchart of a coordinate synchronization program.

Detailed Description

As shown in fig. 1, the numerical control system 1 with coordinate synchronization function has a handheld input device 11, a numerical controller 12, at least one processing machine 13 and at least one robot 14, wherein the handheld input device 11 is used for changing the operations of the processing machine 13 and the robot 14, such as moving positioning or processing actions, the handheld input device 11 can be a handheld box or a handwheel, the processing machine 13 is a processing machine capable of combining numerical control methods, such as a lathe, a milling machine and a cutting machine, which is positioned along a processing machine position coordinate system and used for placing at least one processing workpiece therein and performing a processing operation on the processing workpiece, the robot 14 is a robot having the functions of picking and placing, welding, gluing, deburring, polishing and sandblasting, which is positioned along a robot position coordinate system, the numerical controller 12 is electrically connected to the hand-held input device 11, the processing machine 13 and the robot 14, and includes a user interface 121 and a core processor 122, the user interface 121 is electrically connected to the hand-held input device 11, the core processor 122 is electrically connected to the user interface 121, the processing machine 13 and the robot 14, the processing machine position coordinate system and the robot position coordinate system are disposed in the core processor 122, and the user can control the movement positioning or the processing operation of the processing machine 13 and the robot 14 through the hand-held input device 11 and the user interface 121.

The core processor 122 includes an arithmetic unit 1221, a shared memory 1222 electrically connected to the arithmetic unit 1221, a machine control module 1223 electrically connected to the hand-held input device 11 and the shared memory 1222, and a robot control module 1224 electrically connected to the hand-held input device 11 and the shared memory 1222, wherein the machine position coordinate system and the robot position coordinate system are provided in the arithmetic unit 1221. First, when the user starts to synchronize the coordinates of the processing machine 13 and the robot 14, a processing machine positioning command is input to the user interface 121 through the handheld input device 11, or the processing machine positioning command is directly transmitted through the user interface 121, the user interface 121 transmits the processing machine positioning command to the processing machine control module 1223, and the processing machine control module 1223 receives and transmits the processing machine positioning command to the processing machine 13, so that the tool center point of the processing machine 13 starts to move and be positioned at a first position point, and the user interface 121 records the coordinates observed in the processing machine position coordinate system when the tool center point of the processing machine 13 is at the first position point. Then, the user inputs a positioning command to the user interface 121 by using the handheld input device 11, or directly transmits the positioning command to the user interface 121, the user interface 121 then transmits the positioning command to the robot control module 1224, and the robot control module 1224 receives and transmits the positioning command to the robot 14, so that the tool center of the robot 14 starts to move and touch the first position point, when the tool center of the robot 14 is at the first position point, the user records the coordinates of the tool center of the robot 14 viewed by the robot position coordinate system through the user interface 121. The touching manner may be a contact type or a non-contact type, where the contact type is, for example, to set a center of a shallow disc in the processing machine as the tool center point of the processing machine 13, and set a center of a sphere having the same diameter as the shallow disc on the robot as the tool center point of the robot 14, and the center of the shallow disc and the center of the sphere are combined to achieve direct contact between the tool center point of the processing machine 13 and the tool center point of the robot 14, and the non-contact type may be one of an optical type and an electromagnetic type.

Then, the handheld input device 11 inputs the positioning command of the processing machine to the user interface 121, or the positioning command of the processing machine is directly transmitted to the processing machine control module 1223 through the user interface 121, and the processing machine control module 1223 receives and transmits the positioning command of the processing machine to the processing machine 13, so that the tool center of the processing machine 13 starts to move and is positioned at a second position point, and the user interface 121 records the coordinates of the tool center of the processing machine 13 in the processing machine position coordinate system when the tool center is at the second position point. Then, the user inputs the robot positioning command to the user interface 121 by using the handheld input device 11, or directly transmits the robot positioning command to the robot control module 1224 through the user interface 121, and the robot control module 1224 receives and transmits the robot positioning command to the robot 14, so that the tool center point of the robot 14 starts to move and touch a second position point, when the tool center point of the robot 14 is at the second position point, the user records the coordinates of the tool center point of the robot 14 viewed by the robot position coordinate system through the user interface 121.

Then, the user inputs the positioning command of the processing machine to the user interface 121 through the handheld input device 11, or directly transmits the positioning command of the processing machine to the processing machine control module 1223 through the user interface 121, and the processing machine control module 1223 receives and transmits the positioning command of the processing machine to the processing machine 13, so that the tool center point of the processing machine 13 starts to move and is positioned at a third position point, and the user interface 121 is used to record the coordinate of the tool center point of the processing machine 13 viewed in the processing machine position coordinate system when the tool center point is at the third position point. Then, the user inputs the robot positioning command to the user interface 121 by using the handheld input device 11, or directly transmits the robot positioning command to the robot control module 1224 through the user interface 121, and the robot control module 1224 receives and transmits the robot positioning command to the robot 14, so that the tool center point of the robot 14 starts to move and touch a third position point, when the tool center point of the robot 14 is at the third position point, the user records the coordinates of the tool center point of the robot 14 viewed by the robot position coordinate system through the user interface 121. The first position point, the second position point and the third position point are any three different position points which are not collinear in the overlapping operation area of the working area of the processing machine and the working area of the mechanical arm.

After the recording of the coordinates of the tool center point of the processing machine 13 and the tool center point of the robot 14 at the first position point, the second position point, and the third position point is completed, the user interface 121 transmits the coordinates of the three position points of the processing machine position coordinate system and the robot position coordinate system to the computing unit 1221, the computing unit 1221 starts to calculate a rotation relation equation of the processing machine position coordinate system and the robot position coordinate system according to the coordinates of the processing machine position coordinate system, the robot coordinate system, and the three position points of the processing machine position coordinate system and the robot position coordinate system, the computing unit 1221 further calculates a displacement relation equation of the processing machine position coordinate system and the robot position coordinate system according to the rotation relation equation, and after the computing unit 1221 finishes calculating the rotation relation equation and the displacement relation equation of the processing machine position coordinate system and the robot position coordinate system, the shared memory 1222 receives and transmits the machine position coordinate system, the robot position coordinate system, the rotational relationship equation, and the displacement relationship equation to the machine control module 1223, and transmits the robot position coordinate system, the rotational relationship equation, and the displacement relationship equation to the robot control module 1224, when the user wants to synchronize the coordinates of the machine 13 and the robot 14, the machine control module 1223 respectively outputs the machine positioning command and the robot positioning command to the machine control module 1223 and the robot control module 1224 through the handheld input device 11 and the user interface 121, the machine control module 1223 receives the machine positioning command, the machine position coordinate system, the rotational relationship equation, and the displacement relationship equation, and controls the machine 13 according to the machine positioning command and the machine position coordinate system, the robot control module 1224 controls the robot 14 by synchronizing the robot positioning command, the robot position coordinate system, the rotational relationship equation, and the displacement relationship equation with the coordinates of the processing machine 13. That is, during the processing operation, the position coordinate systems of the processing machine 13 and the robot 14 can be automatically and directly converted by the rotation relation equation and the displacement relation equation, so that the positioning coordinate of a certain position point is consistent no matter viewed from the position coordinate system of the processing machine 13 or the position coordinate system of the robot 14, and there is no need to separately recalculate the positioning coordinate in the processing machine position coordinate system or the robot position coordinate system, and there is no need to separately provide a numerical control device of the processing machine 13 or the robot 14, which can save the processing cost and the processing time, simplify the whole processing flow, and greatly improve the whole processing efficiency.

In the present invention, the coordinate synchronization may be performed by using the machine position coordinate system as a reference point and then performing coordinate synchronization between the robot position coordinate system and the machine position coordinate system as the reference point, or may be performed by using the robot position coordinate system as the reference point and then performing coordinate synchronization between the machine position coordinate system and the robot position coordinate system as the reference point, or may be performed by using the machine position coordinate system as the reference point and then performing coordinate synchronization between the other machine position coordinate system and the machine position coordinate system as the reference point, or may be performed by using the robot position coordinate system as the reference point and then performing coordinate synchronization between the other robot position coordinate system and the robot position coordinate system as the reference point, as shown in the embodiment.

Referring to fig. 2, a schematic diagram of a coordinate position relative relationship in a coordinate synchronization process performed by the numerical control system with a coordinate synchronization function according to the present invention is shown. The process of the calculation unit 1221 calculating the rotational relation equation and the displacement relation equation of the processing machine 13 and the robot 14 is further described.

First, R_CNCAnd R_RobotThe orthogonal matrix type composed of coordinate axes respectively representing the position coordinate system of the processing machine and the position coordinate system of the mechanical arm can be defined as a mathematical formula (1):

R_CNC＝[X_CNCY_CNCZ_CNC]

R_Robot＝[X_RobotY_RobotZ_Robot](1)

wherein, X_CNC、Y_CNCAnd Z_CNCIs the X, Y, Z coordinate axis of the machine position coordinate system, and X_Robot、Y_RobotAnd Z_RobotThe X, Y, Z axes in the coordinate system of the robot are all unit vectors of 3 × 1.

As described above, after the coordinates of the tool center point of the processing machine 13 and the tool center point of the robot 14 at the three position points, i.e., the first position point a1, the second position point a2, and the third position point A3, are recorded, the machine position coordinate system R is determined_CNCWill be formed with first position point a1, second position point a2, and third position point A3, respectivelyAndand the robot arm position coordinate system R_RobotWill be formed with first position point a1, second position point a2, and third position point A3, respectivelyAndand due to R_CNCAnd R_RobotIs orthogonal, so there must be a rotation matrix R, as shown in equation (2):

R_CNC＝R×R_Robot(2)

then, in order to obtain the rotation matrix R, R must be set_CNCAnd R_RobotConversion to non-orthogonal form matrix M_CNCAnd M_Robot，M_CNCIs expressed by the following mathematical formula (3):

$M_{CNC}=\[\begin{array}{ccc}{\stackrel{\→}{v}}_{1,CNC}& {\stackrel{\→}{v}}_{2,CNC}& {\stackrel{\→}{v}}_{3,CNC}\end{array}\]---\left(3\right)$

wherein,andexpressed as the following mathematical formula (4):

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

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

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

likewise, M_RobotCan also be expressed as shown in the formula (5):

$M_{Robot}=\[\begin{array}{ccc}{\stackrel{\→}{v}}_{1,Robot}& {\stackrel{\→}{v}}_{2,Robot}& {\stackrel{\→}{v}}_{3,Robot}\end{array}\]---\left(5\right)$

wherein,andexpressed as the following formula (6):

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

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

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

due to M_CNCIn the middle, each Column (Column) isAnda matrix of three vectors, andandis three position points A1, A2 and A3 at X_CNC、Y_CNCAnd Z_CNCA vector formed in a coordinate system of the positions of the coordinate axes, so M_CNCIn each row (Column) ofAndlinear combination of vectors, andandthe vector directions of the subtraction between two vectors are not equal, resulting in M_CNCThe rows in the matrix are not equal to each other, so M_CNCMust be full rank (FullRank), i.e., M_CNCWith an inverse matrix, identically, M_RobotIn the matrix of (1), each Column (Column) isAnda matrix of three vectors, andandis three position points A1, A2 and A3 at X_Robot、Y_RobotAnd Z_RobotA vector formed in a coordinate system of the positions of the coordinate axes, so M_RobotIn each row (Column) ofAndlinear combination of vectors, andandthe vector directions of the subtraction between two vectors are not equal, resulting in M_RobotThe rows in the matrix are not equal to each other, so M_RobotMust have an inverse matrix, and M_CNCAnd M_RobotRespectively, the position coordinate system of the processing machine and the position coordinate system of the mechanical arm are calculated at three position points, namely a first position point A1, a second position point A2 and a third position point A3, so that M can be calculated_CNCAnd M_RobotExpressed by the following numerical formula (7):

M_CNC＝R×M_Robot(7)

from equation (7), the rotation matrix R can be obtained, as shown in equation (8):

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

the rotation matrix R is a rotation relation equation of the machine position coordinate system and the robot position coordinate system.

Furthermore, the operation unit 1221 will perform the operation according to the rotation matrix RRotate to andparallel whenAndthe difference between the two vectors is the displacement relation equation, as shown in equation (9):

which represents a vector that moves the origin of the robot position coordinate system to the origin of the machine position coordinate system in the machine position coordinate system.

As shown in fig. 3, the numerical control system having the coordinate synchronization function executes a flowchart of a coordinate synchronization program.

First, in step 31, the center of the machine tool of the first station is moved to a first position A1 on the operation overlapping area of the first station and a second station. For example, as shown in fig. 2, when the user starts to perform the coordinate synchronization of the processing machine 13 and the robot 14, the user first sends a positioning command of the processing machine to the user interface 121 through the handheld input device 11, and then transmits the positioning command of the processing machine to the processing machine control module 1223 through the user interface 121, or directly sends the positioning command of the processing machine to the processing machine control module 1223 through the user interface 121, and the processing machine control module 1223 receives and transmits the positioning command of the processing machine to the processing machine 13, so that the tool center point of the processing machine 13 starts to move and be positioned at the first position point a 1.

Then, in step 32, the coordinate values of the first position point a1 viewed from the position coordinate system of the first machine are recorded. For example, as shown in fig. 2, the coordinates of the tool center point of the processing machine 13 at the first position point a1 in the processing machine position coordinate system are recorded by the user interface 121.

Next, step 33 is performed, in which the tool center point of the second tool is moved to the first position A1. For example, as shown in fig. 1 and fig. 2, the user uses the handheld input device 11 to transmit the robot positioning command to the user interface 121, and then transmits the robot positioning command to the robot control module 1224 through the user interface 121, or directly transmits the robot positioning command to the robot control module 1224 through the user interface 121, and the robot control module 1224 receives and transmits the robot positioning command to the robot 14, so that the tool center point of the robot 14 starts to move and touch the first position point a1, which may be a contact type or a non-contact type. For example, the contact type is to set a center of a shallow disc in the processing machine as the tool center of the processing machine 13, and set a center of a sphere having the same diameter as the shallow disc on the robot as the tool center of the robot 14, and the center of the shallow disc and the center of the sphere are joined to achieve direct contact between the tool center of the processing machine 13 and the tool center of the robot 14, and the non-contact type can be selected from one of optical and electromagnetic methods.

Then, step 34 is performed to record the coordinate values of the first position point a1 viewed from the position coordinate system of the second machine. For example, as shown in fig. 2, when the tool center point of the robot 14 is at the first position point a1, the user records the coordinates of the tool center point of the robot 14 in the robot position coordinate system through the user interface 121. According to the previous steps 31-34, the coordinate value records of the tool center point of the first machine and the tool center point of the second machine at the second position point A2 and the third position point A3 are respectively completed, and then step 35 is executed.

Step 35, transmitting the coordinate values of the first machine and the second machine at the first position point, the second position point, the third position point, and the like to the computing unit in the numerical control system, and the computing unit starts to compute the rotation relation equation of the first machine position coordinate system and the second machine position coordinate system. For example, as shown in FIG. 2, the user interface 121 conveys the machine position coordinate system R_CNCAnd a robot position coordinate system R_RobotA1, a2 and A3 to an arithmetic unit 1221, the arithmetic unit 1221 being based on a machining center position coordinate system R_CNCAnd a robot arm position coordinate system R_RobotAnd a machine position coordinate system R_CNCAnd a robot position coordinate system R_RobotThe coordinates of the three position points A1, A2 and A3 are calculated to start to calculate the machine position coordinate system R_CNCAnd a robot position coordinate system R_RobotThe rotation matrix R shown in the above equation (8).

Next, step 36 is executed, that is, the computing unit calculates the displacement relation equation of the first machine position coordinate system and the second machine position coordinate system, and transmits the first machine position coordinate system, the second machine position coordinate system, the rotation relation equation and the displacement relation equation to a memory unit, the memory unit receives and transmits the rotation relation equation and the displacement relation equation to the control module of the first machine and the control module of the second machine, and the user transmits the first machine positioning instruction and the second machine positioning instruction through the handheld input device 11 and the user interface 121 respectivelyAnd positioning the command to the control module of the first machine and the control module of the second machine. For example, as shown in FIG. 2, the computing unit 1221 further calculates the machine position coordinate system R according to the calculated rotation matrix R_CNCAnd a robot position coordinate system R_RobotIs expressed by the equation (9)And coordinate system R of the position of the processing machine_CNCAnd a robot arm position coordinate system R_RobotEquation of rotation relationship R and equation of displacement relationshipTo a shared memory 1222, the shared memory 1222 stores and transmits a machine position coordinate system R_CNCEquation of rotation relationship R and equation of displacement relationshipTo the machine control module 1223 and the shared memory 1222 stores and transfers the robot position coordinate system R_RobotEquation of rotation relationship R and equation of displacement relationshipTo the robot control module 1224.

Finally, step 37 is performed, in which the control module of the first machine and the control module of the second machine perform coordinate synchronization of the first machine position coordinate system and the second machine position coordinate system according to the first machine positioning instruction, the second machine positioning instruction, the first machine position coordinate system, the second machine position coordinate system, the rotation relation equation, and the displacement relation equation, and control the first machine and the second machine. For example, as shown in fig. 1 and 2, the machine control module 1223 receives the machine positioning commands transmitted from the handheld input device 11 and the user interface 121, and receives the machine position coordinate system R transmitted from the shared memory 1222_CNCEquation of rotation relationship R and equation of displacement relationshipThe robot control module 1224 receives the positioning commands from the hand-held input device 11 and the user interface 121 and receives the robot position coordinate system R from the shared memory 1222_RobotEquation of rotation relationship R and equation of displacement relationshipTherefore, the machine control module 1223 and the robot control module 1224 can be selected from the machine positioning command, the robot positioning command, and the machine position coordinate system R_CNCAnd a robot arm position coordinate system R_RobotEquation of rotation relationship R and equation of displacement relationshipThe machine tool 13 and the robot 14 are controlled by synchronizing the coordinates of the machine tool position coordinate system and the robot position coordinate system.

In summary, the numerical control system with coordinate synchronization function of the present invention can synchronize the coordinates of two different coordinate systems of the processing machine and the robot, and it is not necessary to separately set up separate control systems, so as to improve the processing efficiency, reduce the processing and manpower costs, and simplify the operation process.

It is to be understood that: the foregoing is only a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should be considered as the protection scope of the present invention.

Claims (5)

1. Numerical control system with coordinate synchronization function, including at least a processing machine, an at least robotic arm, a handheld input device and a numerical controller, processing machine and robotic arm are fixed a position along a processing machine position coordinate system and a robotic arm position coordinate system respectively, and processing machine position coordinate system and robotic arm position coordinate system locate in the numerical controller, handheld input device, processing machine and robotic arm electric connection in numerical controller, its characterized in that: the numerical controller includes:

the user interface is electrically connected with the handheld input device, is used for receiving the positioning instruction of the processing machine and the positioning instruction of the mechanical arm input by the handheld input device, and is used for recording coordinate values obtained by observing at least three selected non-collinear different position points by using a position coordinate system of the processing machine and a position coordinate system of the mechanical arm respectively; and

a core processor electrically connected to the user interface, the core processor being electrically connected to the processing machine and the robot for receiving the positioning command of the processing machine, the positioning command of the robot and the coordinate values obtained by observing the position coordinate system of the processing machine and the position coordinate system of the robot at least three non-collinear different position points through the user interface, calculating a rotation relation equation between the position coordinate system of the processing machine and the position coordinate system of the robot according to the position coordinate system of the processing machine, the position coordinate system of the robot and the coordinate values obtained by observing the position coordinate system of the processing machine and the position coordinate system of the robot at least three non-collinear different position points respectively, calculating a displacement relation equation between the position coordinate system of the processing machine and the position coordinate system of the robot according to the rotation relation equation, the core processor storing the rotation relation equation and the displacement relation equation, controlling the processing machine according to the position coordinate system of the processing machine and the positioning instruction of the processing machine, and controlling the mechanical arm according to the position coordinate system of the mechanical arm, the positioning instruction of the mechanical arm, the rotation relation equation and the displacement relation equation;

wherein the at least three non-collinear different location points are located in a working overlap region of the processing machine and the robot.

2. The numerical control system with a coordinate synchronization function according to claim 1, characterized in that: the core processor includes:

the computing unit is provided with a processing machine position coordinate system and a mechanical arm position coordinate system and used for receiving coordinate values obtained by observing at least three non-collinear different position points respectively by using the processing machine position coordinate system and the mechanical arm position coordinate system and calculating a rotation relation equation and a displacement relation equation of the processing machine position coordinate system and the mechanical arm position coordinate system;

a shared memory electrically connected to the computing unit for receiving and storing the machine position coordinate system, the robot position coordinate system, the rotation relation equation and the displacement relation equation;

the processing machine control module is electrically connected with the handheld input device and the shared memory, receives a positioning instruction of the processing machine, a position coordinate system of the processing machine, a rotation relation equation and a displacement relation equation and is used for controlling the processing machine; and

and the mechanical arm control module is electrically connected with the handheld input device and the shared memory, receives the positioning instruction of the mechanical arm, the position coordinate system of the mechanical arm, the rotation relation equation and the displacement relation equation and controls the mechanical arm.

3. A numerical control system having a coordinate synchronization function according to claim 1, which implements a numerical control method, characterized by comprising the steps of:

moving a tool center point of a first machine to a first position point, and recording a coordinate value obtained by observing the first position point by using a position coordinate system of the first machine;

moving the tool center point of the second machine to the first position point, and recording the coordinate value obtained by observing the first position point by using the position coordinate system of the second machine;

moving the tool center point of the first machine to a second position point, and recording a coordinate value obtained by observing the second position point by using the position coordinate system of the first machine;

moving the tool center point of the second machine to a second position point, and recording a coordinate value obtained by observing the second position point by using a position coordinate system of the second machine;

moving the tool center point of the first machine to a third position point, and recording a coordinate value obtained by observing the third position point by using the position coordinate system of the first machine;

moving the tool center point of the second machine to a third position point, and recording a coordinate value obtained by observing the third position point by using the position coordinate system of the second machine;

calculating a rotation relation equation of the position coordinate system of the first machine and the position coordinate system of the second machine according to coordinate values obtained by observing the first position point, the second position point and the third position point respectively by using the position coordinate system of the first machine and the position coordinate system of the second machine;

calculating a displacement relation equation of the position coordinate system of the first machine and the position coordinate system of the second machine according to the rotation relation equation; storing the rotation relation equation and the displacement relation equation; and

and controlling the first machine and the second machine according to the position coordinate system of the first machine, the position coordinate system of the second machine, the rotation relation equation and the displacement relation equation.

4. The numerical control system with a coordinate synchronization function according to claim 3, wherein the numerical control system includes: the step of moving the tool center point of the first tool to the first location point comprises: a shallow disc is arranged at the tool center point of the first machine table, the center of the shallow disc is aligned with the tool center point of the first machine table, and the first machine table is moved to enable the center of the shallow disc to be aligned with the first position point.

5. The numerical control system with a coordinate synchronization function according to claim 3, wherein the numerical control system includes: the step of moving the tool center point of the second stage to the first position point comprises: and arranging a round ball at the tool center point of the second machine table, wherein the diameter of the round ball is the same as that of the shallow disc, the center of the round ball is aligned to the tool center point of the second machine table, and the second machine table is moved to enable the round ball to be jointed with the shallow disc and the center of the round ball to be aligned to the first position point.