TWI494724B - Numerical control system of coordinate synchronization and numerical controlling method thereof - Google Patents

Description

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

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

When the processing machine and the robot arm are operated at the same time, the operation is performed by an independent operating system, and the coordinate system of the processing machine and the robot arm is not the same. For example, the tool center point of the processing machine and the robot arm is needed (Tool Center Point) , TCP) When moving to the same position, the machining program belonging to a specific coordinate system must be written separately, and each action of the processing machine or the robot arm needs to be performed one by one using the teaching function, and each of the coordinates is different. The position of the teaching function is different under different coordinate systems, and must be operated by an individual operating system when confirming mutual position coordinates. Furthermore, if the machining conditions are slightly modified, the coordinate confirmation operation and the programming language and the teaching point position must be re-executed. In addition, the programming language of the processing machine and the robotic arm operating system is not the same. In the whole processing process, two operating systems need to be set up, and the operator must be familiar with writing two programming languages, thus increasing the processing and manpower. The cost also complicates the overall operational process.

In order to solve the problems described in the prior art, the main object of the present invention is a numerical control method for controlling a first machine and a second machine, comprising the steps of: moving a tool center point of the first machine to a first position point, and recording the coordinate value obtained by observing the first position point at the position coordinate system of the first machine; Move one of the tool center points of the second machine to the first position point, and record the coordinate value obtained by observing the first position point with the position coordinate system of the second machine; moving the tool center point of the first machine to the first Two position points, and record the coordinate value obtained by observing the second position point with the position coordinate system of the first machine; moving the tool center point of the second machine to the second position point, and recording the second position point to the second position The position coordinate of the machine is the coordinate value obtained by observing the coordinate value; moving the center point of the tool of the first machine to a third position point, and recording the coordinate value obtained by observing the position coordinate system of the position of the first machine at the third position point Moving the tool center point of the second machine to the third position point, and recording the coordinate value obtained by observing the third position point by the position coordinate system of the second machine; according to the first position point, the second position point, and the The three position points respectively calculate the rotation relationship between the position coordinate system of the first machine and the position coordinate system of the second machine by the coordinate value obtained by observing the position coordinate system of the first machine and the position coordinate system of the second machine. Equation; according to the rotation relationship a program for calculating a displacement relationship equation of a position coordinate system of the first machine and a position coordinate system of the second machine; storing a rotational relationship equation and a displacement relationship equation; and a coordinate system according to the position of the first machine, the second machine The position coordinate system, the rotational relationship equation and the displacement relationship equation control the first machine and the second machine.

The numerical control method, wherein the step of moving the tool center point of the first machine to the first position point comprises the following steps: setting a shallow disc at the center point of the tool of the first machine, and one of the center points of the shallow disc The center point of the tool of the first machine is moved, and the first machine is moved so that the center of the circle is aligned with the first position.

The numerical control method, wherein the step of moving the tool center point of the second machine to the first position point comprises the following steps: setting a ball at the center point of the tool of the second machine, the ball having the same diameter as the shallow disk, The center of the ball is aligned with the center point of the tool of the second machine, and the second machine is moved to engage the ball with the shallow disk and the ball is aligned with the first position.

The numerical control method, wherein the first machine is one of a processing machine and a mechanical arm.

A further main object of the present invention is to provide a numerical control system having a coordinate synchronization function, comprising at least one processing machine, at least one mechanical arm, a hand-held input device and a numerical controller, and the processing machine and the mechanical arm are respectively processed along one side. The machine position coordinate system is positioned with a mechanical arm position coordinate system. The machine position coordinate system and the mechanical arm position coordinate system are built in the numerical controller, and the handheld input device, the processing machine and the mechanical arm are electrically connected to the numerical controller. The numerical controller is characterized in that: the numerical controller comprises: a user interface electrically connected to the handheld input device for receiving the positioning command of the processing machine input from the handheld input device and the positioning command of the robot arm, and is used for recording and selecting The coordinate points obtained by observing the position coordinate system of the processing machine and the position coordinate system of the mechanical arm are respectively at least three non-collinear points; and a core processor electrically connected to the user interface, and The processing machine and the mechanical arm are electrically connected to receive the positioning instruction of the processing machine through the user interface, the positioning command of the robot arm, and the position points of the processing machine and the mechanical arm respectively at different positions of the at least three non-collinear lines The coordinate of the position is the coordinate value obtained by observing, and according to the position coordinate system of the processing machine, the coordinate system of the mechanical arm position At least three non-collinear points are respectively observed by the position coordinate system of the processing machine and the coordinate value obtained by the position coordinate system of the robot arm, and the rotational relationship between the position coordinate system of the processing machine and the position coordinate system of the mechanical arm is calculated. Equation, and further calculate the displacement relationship equation of the position coordinate system of the processing machine and the position coordinate system of the mechanical arm according to the rotation relationship equation, the core processor stores the rotation relationship equation and the displacement relationship equation, and according to the coordinate position coordinate system and the processing machine of the processing machine The positioning command controls the processing machine, and controls the robot arm according to the coordinate position coordinate system of the robot arm, the positioning command of the robot arm, the rotational relationship equation and the displacement relationship equation; wherein at least three non-collinear points are located at the processing machine and the machine The overlapping area of the arm's work.

The numerical control system with coordinate synchronization function, wherein the core processor comprises: an arithmetic unit having a processing machine coordinate system and a mechanical arm position coordinate system for receiving at least three non-collinear positions Point points are obtained by observing the coordinate values obtained by the coordinate system of the position coordinate system of the processing machine and the position of the mechanical arm, and calculating the rotational relationship equation and the displacement relationship equation of the coordinate system of the position of the processing machine and the coordinate position of the mechanical arm; a shared memory, It is electrically connected with the computing unit, and receives and stores the processing machine coordinate system, the mechanical arm position coordinate system, the rotational relationship equation and the displacement relationship equation; a processing machine control module, and the handheld input device and the shared memory electrical property Connection, which receives the positioning command of the processing machine, plus a position coordinate system, a rotation relationship equation and a displacement relationship equation of the machine, and used to control the processing machine; and a mechanical arm control module electrically connected with the handheld input device and the shared memory, and receiving the positioning command of the robot arm, The coordinate position of the robot arm, the rotational relationship equation and the displacement relationship equation are used to control the robot arm.

It can be seen from the above that the numerical control system with the coordinate synchronization function of the present invention can synchronize the coordinates of the two different coordinate systems of the processing machine and the robot arm, and does not need to separately set up individual control systems to achieve the processing efficiency. Reduce processing, labor costs, and streamline operational processes.

1‧‧‧Numerical control system with coordinate synchronization

11‧‧‧Handheld input device

12‧‧‧ Numerical controller

121‧‧‧User interface

122‧‧‧ core processor

1221‧‧‧ arithmetic unit

1222‧‧‧ shared memory

1223‧‧‧Processing machine control module

1224‧‧‧ Robot arm control module

13‧‧‧Processing machine

14‧‧‧ Robotic arm

A1 ‧‧‧First location

A2 ‧‧‧Second location

A3 ‧‧‧ Third location

X _CNC , Y _CNC , Z _CNC ‧‧‧Processing machine coordinate axis

X _Robot , Y _Robot , Z _Robot ‧‧‧Mechanical arm coordinate axis

31~37‧‧‧Steps

1 is a schematic diagram of a numerical control system having a coordinate synchronization function according to an embodiment of the present invention.

2 is a schematic diagram showing the relative position of coordinates in a coordinate synchronization process performed by a numerical control system having a coordinate synchronization function according to an embodiment of the present invention.

Figure 3 is a flow chart showing a coordinate synchronization procedure performed by a numerical control system having a coordinate synchronization function according to an embodiment of the present invention.

Since the present invention discloses a numerical control (NC) system having a coordinate synchronization function, the basic meaning of the mathematical matrix used therein has been known to those of ordinary skill in the related art, and therefore, as explained below, No longer a full description. At the same time, the drawings referred to in the following texts express the structure and function diagrams related to the features of the present invention, and are not completely drawn according to actual dimensions, which are first described.

The present invention relates to a numerical control system having coordinate synchronization, and more particularly to a numerical control system having coordinate synchronization functions including at least one processing machine, at least one robot arm, a numerical controller, and a hand-held input device.

First, please refer to FIG. 1 , which is an embodiment of the present invention. Schematic diagram of a numerical control system for coordinate synchronization functions.

As shown in FIG. 1, a numerical control system 1 having a coordinate synchronization function according to an embodiment of the present invention has a handheld input device 11, a numerical controller 12, at least one processing machine 13, and at least one mechanical arm 14, wherein The input device 11 is for changing the operation of the processing machine 13 and the robot arm 14, for example, moving positioning or processing, and the handheld input device 11 can be a hand-held box or a hand wheel, and the processing machine 13 is, for example, a lathe, A milling machine and a cutting machine, which can be combined with a numerical control mode, are positioned along a coordinate system of a processing machine, and are used for at least one workpiece (not shown) to be placed therein and processed for the workpiece. For processing, the robot arm 14 is, for example, a robotic arm having functions of pick-and-place, welding, gluing, deburring, polishing, and sand blasting, and is positioned along a coordinate position of a robot arm to perform a machining operation on the workpiece. The numerical controller 12 is electrically connected to the handheld input device 11, the processing machine 13, and the robot arm 14, and includes a user interface 121 and a core. The user interface 121 is electrically connected to the handheld input device 11. The core processor 122 is electrically connected to the user interface 121, the processing machine 13, and the robot arm 14, respectively, and the position coordinates of the processing machine and the coordinate position of the robot arm. Built in the core processor 122, the user can control the movement positioning or processing of the processing machine 13 and the robot arm 14 through the handheld input device 11 and the user interface 121.

Please continue to refer to Figure 1. The core processor 122 includes an operation unit 1221, a shared memory 1222 electrically connected to the computing unit 1221, a processing machine control module 1223 electrically connected to the handheld input device 11 and the shared memory 1222, and a handheld device. The input device 11 and the shared memory 1222 are electrically connected to one of the robot arm control modules 1224, and the machine position coordinate system and the robot arm position coordinate system are built in the arithmetic unit 1221. First, when the user starts the coordinate synchronization operation of the processing machine 13 and the robot arm 14, a processing machine positioning command is input to the user interface 121 through the handheld input device 11, or the processing machine positioning is directly transmitted through the user interface 121. The user interface 121 then 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 to open the tool center of the processing machine 13. The machine is moved and positioned at a first position, and the user interface 121 is used to record the coordinates of the tool center point of the processing machine 13 at the first position point, which is observed by the machine position coordinate system. Then, the user inputs a robot arm positioning command to the user interface 121 by using the handheld input device 11 or directly transmits the robot arm positioning command through the user interface 121, and the user interface 121 transmits the robot arm positioning command to the robot arm control. The module 1224, and the robot control module 1224 receives and transmits the robot arm positioning command to the robot arm 14, so that the tool center point of the robot arm 14 starts to move and touches the first position point, when the tool center point of the robot arm 14 is at At the first position, the user records the coordinates of the tool center point of the robot arm 14 by the user interface 121. The touch mode here may be contact type or non-contact type, for example, a center of a shallow disc is arranged in the processing machine as a tool center point of the processing machine 13, and a shallow disc is arranged on the robot arm. One of the spheres of the same diameter as the center of the tool of the robot arm 14 is joined to the center of the sphere by the center of the shallow disc to achieve the tool center point of the processing machine 13 and the tool center of the robot arm 14 The direct contact of the dots, and the non-contact type, may be selected from one of an optical mode and an electromagnetic mode.

Next, the 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 to the processing machine control module 1223 through the user interface 121, and the processing machine control module 1223 receives and transmits the processing. Positioning the command to the processing machine 13 to cause the tool center point of the processing machine 13 to start moving and positioning at a second position point, and using the user interface 121 to record the tool center point of the processing machine 13 at the second position point, The coordinates of the machine position coordinates. Then, the user inputs the robot arm positioning command to the user interface 121 by using the handheld input device 11 or directly transmits the robot arm positioning command to the robot arm control module 1224 through the user interface 121, and the robot arm control module 1224 receives the Transfer the robot arm positioning command to the robot arm 14 so that the tool center point of the robot arm 14 starts to move and touch the second position point. When the tool center point of the robot arm 14 is at the second position point, the user uses the user. The interface 121 records the coordinates of the center point of the tool of the robot arm 14 as a coordinate of the position of the robot arm.

Secondly, the user inputs the processing machine through the handheld input device 11. The bit command is sent to the user interface 121, or the processing machine positioning command is transmitted directly to the processing machine control module 1223 through the user interface 121, and the processing machine control module 1223 receives and transmits the processing machine positioning command to the processing machine 13 for processing. The tool center point of the machine 13 starts to move and is positioned at a third position point, and uses the user interface 121 to record the tool center point of the processing machine 13 at the third position point, and the coordinates of the machine position coordinate system . Then, the user inputs the robot arm positioning command to the user interface 121 by using the handheld input device 11 or directly transmits the robot arm positioning command to the robot arm control module 1224 through the user interface 121, and the robot arm control module 1224 receives the Transfer the robot arm positioning command to the robot arm 14 so that the tool center point of the robot arm 14 starts to move and touch the third position point. When the tool center point of the robot arm 14 is at the third position point, the user uses the user. The interface 121 records the coordinates of the center point of the tool of the robot arm 14 as a coordinate of the position of the robot arm. The first position point, the second position point and the third position point described above are any three position points which are different from each other in the overlapping work area of the working area of the processing machine and the working area of the robot arm.

After completing the coordinates of the tool center point of the recording machine 13 and the tool center point of the robot arm 14 at the three position points of the first position point, the second position point and the third position point, the user interface 121 transmits the processing machine position. The coordinate system and the position of the three positions of the coordinate position coordinate system of the robot arm are connected to the arithmetic unit 1221. The arithmetic unit 1221 is based on the three positions of the coordinate position coordinate system of the processing machine, the coordinate system of the robot arm, the position coordinate system of the processing machine, and the coordinate system of the mechanical arm position. The coordinates of the point start to calculate a rotational relationship equation between the coordinate position coordinate system of the processing machine and the coordinate system of the mechanical arm position, and the arithmetic unit 1221 further calculates a displacement relationship equation of the coordinate system of the machining machine position and the coordinate system of the mechanical arm position according to the rotational relationship equation, when the operation is performed After completing the calculation of the rotational relationship equation and the displacement relationship equation of the coordinate position coordinate system of the processing machine and the coordinate system of the mechanical arm position, the unit 1221 transmits the coordinate system of the machining position, the coordinate system of the robot arm, the rotational relationship equation and the displacement relationship equation to the shared memory. Stored in 1222, shared memory 1222 receives and transmits Sending machine position coordinate system, rotation relationship equation and displacement relation equation to processing machine control module 1223, and transmitting robot arm position coordinate system, rotation relationship equation and displacement relationship equation to robot arm control The module 1224 outputs a processing machine positioning command and a robot arm positioning command to the processing machine control module 1223 via the handheld input device 11 and the user interface 121 when the user wants to synchronize the coordinates of the processing machine 13 and the robot arm 14 . And the robot arm control module 1224, the processing machine control module 1223 receives the processing machine positioning command, the processing machine position coordinate system, the rotation relationship equation and the displacement relationship equation, and controls the processing machine 13 according to the processing machine positioning instruction and the processing machine position coordinate system. The robot arm control module 1224 can perform the synchronous operation with the coordinates of the processing machine 13 and control the robot arm 14 by the robot arm positioning command, the mechanical arm position coordinate system, the rotational relationship equation, and the displacement relationship equation. That is to say, during the processing operation, the position coordinate system of the processing machine 13 and the robot arm 14 can be automatically and directly converted through the rotational relationship equation and the displacement relationship equation, so that the positioning coordinates of a certain position point are from the processing machine 13 The coordinate coordinates of the position are all consistent with the coordinates of the position of the robot arm 14, and the positioning coordinates are not separately calculated in the coordinate position coordinate system or the mechanical arm position coordinate system, and the positioning coordinates are not separately calculated. The numerical control device of the processing machine 13 or the robot arm 14 not only saves processing cost and processing time, but also simplifies the overall processing flow and greatly improves the overall processing efficiency.

In addition, in the present invention, the coordinate synchronization manner may be as shown in the embodiment, taking the position coordinate system of the processing machine as a reference point, and then synchronizing the coordinate position coordinate system of the robot arm with the coordinate system coordinate system of the processing machine position as the reference point. The coordinate position coordinate system of the robot arm can be used as a reference point, and the coordinate position coordinate system of the processing machine can be coordinated with the coordinate system coordinate system of the reference point, or the coordinate system of the processing machine position can be used as a reference point, and then another The coordinate position coordinate of the processing machine is coordinately synchronized with the coordinate system coordinate system of the reference point, or the coordinate position coordinate system of the robot arm is used as a reference point, and the coordinate position coordinate of the other robot arm is also used as the coordinate position coordinate of the mechanical arm position as the reference point. The coordinates are synchronized.

Next, please refer to FIG. 2, which is a schematic diagram showing the relative relationship of coordinate positions during the coordinate synchronization process performed by the numerical control system with coordinate synchronization function according to an embodiment of the present invention.

The second drawing is a process for further explaining the rotational relationship equation and the displacement relation equation of the arithmetic unit 121 and the robot arm 14.

First, R _CNC and R _Robot represent the orthogonal matrix of the coordinate position coordinate system of the machine and the coordinate axis of the mechanical arm position coordinate system, which can be defined as mathematical formula (1): R _CNC =[ X _CNC Y _CNC Z _CNC ] R _Robot =[ X _Robot Y _Robot Z _Robot ] (1) Among them, X _CNC , Y _CNC and Z _CNC are the X , Y , Z direction coordinate axes in the machine coordinate system, while X _Robot , Y _Robot and Z _Robot are The coordinate axes of the X , Y , and Z directions in the coordinate system of the robot arm are all 3 × 1 unit vectors.

As described above, when the center points of the tool center point of the processing machine 13 and the tool center point of the robot arm 14 are respectively completed, the coordinates of the three position points of the first position point A1 , the second position point A2, and the third position point A3 are completed. The origin of the machine coordinate system R _CNC will be formed with the first position point A1 , the second position point A2 and the third position point A3, respectively. , and The three vectors, and the origin of the robot arm coordinate system R _Robot will form with the first position point A1 , the second position point A2 and the third position point A3, respectively. , and The three vectors, and because R _CNC and R _Robot are orthogonal matrices, there must be a rotation matrix R , as shown in equation (2): R _CNC = R × R _Robot (2) Next, in order to When the rotation matrix R is out, R _CNC and R _Robot must be converted into non-orthogonal form matrix M _CNC and M _Robot . The matrix of M _CNC is expressed as mathematical formula (3): among them, , and Expressed as mathematical formula (4): Similarly, M _Robot can also be expressed as Mathematical Formula (5): among them, , and Expressed as mathematical formula (6): Since M _CNC , each line (Column) is , and a matrix of three vectors, , and For the three positions A1 , A2 and A3 , the vector formed under the coordinate system of the X _CNC , Y _CNC and Z _CNC coordinate axes, so each line in the M _CNC is , and a linear combination of vectors, and , and The direction of the subtraction between the two vectors is not equal, resulting in the two axes between the M _CNC matrices are not equal, so M _CNC must be full rank, that is, M _CNC has an inverse matrix, the same, M _In the Matrix of _Robot , each line (Column) is , and a matrix of three vectors, , and For the three positions A1 , A2 and A3 , the vector formed under the coordinate system of the X _Robot , Y _Robot and Z _Robot coordinate axes, so each line in the M _Robot is , and a linear combination of vectors, and , and The direction of the subtraction between the two vectors is not equal, resulting in the M _Robot matrix not being equal between the two rows, so M _Robot must have the inverse matrix, and M _CNC and M _Robot are the coordinate position coordinate system and the robot arm respectively. The position coordinates are calculated from the three position points of the first position point A1 , the second position point A2 and the third position point A3 , so M _CNC and M _Robot can be expressed as mathematical formula (7): M _CNC = R × M _Robot (7) can obtain the rotation matrix R from the mathematical formula (7), as shown in the mathematical formula (8): The rotation matrix R is the rotation relationship equation between the coordinate position coordinate system of the processing machine and the coordinate system of the mechanical arm position.

Furthermore, the arithmetic unit 1221 will according to the rotation matrix R Rotate to and Parallel, at this time versus The difference between the two vectors is the displacement relation equation, as shown in the mathematical formula (9): It represents the vector of the origin of the robot arm position coordinate system moving to the origin of the machine position coordinate system under the coordinate position coordinate of the processing machine.

Finally, please refer to FIG. 3, which is a flowchart of a coordinate synchronization procedure performed by a numerical control system having a coordinate synchronization function according to an embodiment of the present invention.

First, as shown in step 31, the center of the machine tool of the first machine is moved to a first position point A1 on the overlapping area of the work of the first machine and the second machine. For example, as shown in FIG. 2, when the user starts the coordinate synchronization operation of the processing machine 13 and the robot arm 14, the processor positioning command is first sent to the user interface 121 through the handheld input device 11, and then the user is passed through the user. The interface 121 transmits the processing machine positioning command to the processing machine control module 1223, or directly sends the processing machine positioning command to the processing machine control module 1223 by using the user interface 121, and the processing machine control module 1223 receives and transmits the processing machine positioning instruction. To the processing machine 13, the tool center point of the processing machine 13 starts to move and is positioned at the first position point A1 .

Next, step 32 is performed to record the coordinate value of the first position point A1 with the position coordinate of the first machine. For example, as shown in FIG. 2, when the tool center point of the processing machine 13 is recorded at the first position point A1 by the user interface 121, the coordinate of the machine position coordinate is used.

Next, proceed to step 33, that is, moving the tool center point of the second machine to the first position point A1 . For example, as shown in FIG. 2, the user transmits the robot arm positioning command to the user interface 121 by using the handheld input device 11, and transmits the robot arm positioning command to the robot arm control module 1224 via the user interface 121, or The robot arm positioning command is transmitted to the robot arm control module 1224 directly through the user interface 121. The robot arm control module 1224 receives and transmits the robot arm positioning command to the robot arm 14 to cause the tool center point of the robot arm 14 to start moving and touching. Touch the first position point A1 , which can be contact or non-contact. The contact type is, for example, a center of a shallow disc is disposed in the processing machine as a tool center point of the processing machine 13, and one of the spheres having the same diameter as the shallow disc is disposed on the robot arm as the robot arm 14 The tool center point is joined to the center of the ball by the center of the shallow disc to achieve direct contact between the tool center point of the processing machine 13 and the tool center point of the robot arm 14, and the non-contact type can be selected from the optical mode. One of the electromagnetic methods.

Furthermore, step 34 is performed to record the coordinate value of the first position point A1 with the position coordinate of the second machine. For example, as shown in FIG. 2, when the tool center point of the robot arm 14 is at the first position point A1 , the user records the tool center point of the robot arm 14 by the user interface 121 under the coordinate position of the robot arm. The coordinates of the coordinates.

According to the foregoing steps 31~34, the coordinate values 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 performed.

Step 35, that is, transmitting the coordinate values of the three position points of the first machine position and the second machine stage at the first position point, the second position point, and the third position point to the operation unit in the numerical control system, and the operation unit starts Calculate the rotational relationship 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 transmits the coordinates of the three position points A1 , A2 , and A3 of the processing machine position coordinate system R _CNC and the robot arm coordinate system R _Robot to the arithmetic unit 1221, and the arithmetic unit 1221 starts calculation based on the coordinates of the built-in machine position coordinate system R _CNC , the robot position coordinate system R _Robot , the machine position coordinate system R _CNC, and the robot arm position coordinate system R _Robot at positions A1 , A2 , and A3 . The rotational relationship equation between the coordinate position coordinate system R _CNC and the mechanical arm position coordinate system R _Robot is the rotation matrix R shown in the above mathematical formula (8).

Then, step 36 is executed, that is, the calculation unit calculates the displacement relationship equation of the first machine position coordinate system and the second machine position coordinate system, and the first machine position coordinate system, the second machine position coordinate system, and the rotation The relationship equation and the displacement relation equation are transmitted to a memory unit, and the memory unit receives and transmits the rotation relationship equation and the displacement relationship equation to the control module of the first machine and the control module of the second machine, and the user inputs through the hand The device 11 and the user interface 121 respectively transmit the first machine positioning command and the second machine positioning 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 operation unit 1221 further calculates a displacement relationship equation between the machine position coordinate system R _CNC and the robot position coordinate system R _Robot according to the calculated rotation matrix R , that is, the mathematical formula (9) Show And the machine position coordinate system R _CNC , the mechanical arm position coordinate system R _Robot , the rotational relationship equation R and the displacement relationship equation Transfer to the shared memory 1222, the shared memory 1222 stores and transfers the processor position coordinate system R _CNC , the rotational relationship equation R, and the displacement relationship equation To the processing machine control module 1223, and the shared memory 1222 stores and transmits the robot arm coordinate system R _Robot , the rotational relationship equation R, and the displacement relationship equation To the robotic arm control module 1224.

Finally, step 37 is performed, that is, the control module of the first machine and the control module of the second machine are based on the first machine positioning command, the second machine positioning command, the first machine position coordinate system, and the second machine The position coordinate system, the rotation relationship equation and the displacement relationship equation perform the synchronous operation of the coordinates of the first machine position coordinate system and the second machine position coordinate system and control the first machine and the second machine. For example, as shown in FIG. 2, the processing machine control module 1223 receives the processing machine positioning command transmitted by the handheld input device 11 and the user interface 121, and receives the processing machine coordinate system R transmitted by the shared memory 1222. _CNC , rotational relationship equation R and displacement relation equation The robot arm control module 1224 receives the robot arm positioning command transmitted by the handheld input device 11 and the user interface 121, and receives the robot arm coordinate system R _Robot , the rotational relationship equation R, and the displacement relationship equation transmitted by the shared memory 1222. Therefore, the processing machine control module 1223 and the robot arm control module 1224 can be processed by the processing machine positioning command, the robot arm positioning command, the processing machine position coordinate system R _CNC , the mechanical arm position coordinate system R _Robot , the rotational relationship equation R and the displacement Relational equation The processing machine position coordinate system is synchronized with the coordinates of the robot arm position coordinate system and the processing machine 13 and the robot arm 14 are controlled.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. The above description should be understood and implemented by those skilled in the relevant art, so that the other embodiments are not disclosed. Equivalent changes or modifications made under the spirit shall be included in the scope of the patent application.

31~37‧‧‧Steps

Claims (6)

A numerical control method for controlling a first machine and a second machine includes the steps of: moving a tool center point of the first machine to a first position point, and recording the first position point The position coordinate of the first machine is obtained by observing the obtained coordinate value; moving a tool center point of the second machine to the first position point, and recording the first position point to the position coordinate of the second machine Observing the obtained coordinate value; moving the tool center point of the first machine to a second position point, and recording the coordinate value obtained by observing the second position point by the position coordinate system of the first machine; Moving the tool center point of the second machine to the second position point, and recording the second position point to observe the coordinate value obtained by the position coordinate system of the second machine; moving the first machine Pointing the tool center point to a third position point, and recording the coordinate value obtained by observing the third position point by the position coordinate system of the first machine; moving the tool center point of the second machine to the third position Point and record the third position point to the second machine The position coordinate is obtained by observing the obtained coordinate value; according to the first position point, the second position point and the third position point, respectively, the position coordinate system of the first machine and the position coordinate system of the second machine Observing the obtained coordinate value to calculate a rotational relationship equation of the position coordinate system of the first machine and the position coordinate system of the second machine; according to the rotation relationship equation, calculating the position coordinate system of the first machine and the a displacement relationship equation of the position coordinate system of the second machine; And storing the rotation relationship equation and the displacement relationship equation; and controlling the first machine according to the position coordinate system of the first machine, the position coordinate system of the second machine, the rotation relationship equation and the displacement relationship equation The second machine. According to the numerical control method of claim 1, wherein the step of moving the tool center point of the first machine to the first position point comprises the following steps: setting the tool center point of the first machine a shallow disc, the center of one of the shallow discs being aligned with the center point of the tool of the first machine, and moving the first machine to align the center with the first position. According to the numerical control method of claim 2, the step of moving the tool center point of the second machine to the first position point comprises the following steps: setting the tool center point of the second machine a ball having the same diameter as the shallow disk, the center of the ball being aligned with the center point of the tool of the second machine, moving the second machine to engage the ball with the shallow disk and The ball is aligned with the first position. The numerical control method according to claim 1, wherein the first machine is one of a processing machine and a mechanical arm. A numerical control system having a coordinate synchronization function, comprising at least one processing machine, at least one mechanical arm, a hand-held input device and a numerical controller, the processing machine and the mechanical arm respectively along a processing machine position coordinate system and a mechanical machine The arm position coordinate system is positioned, the machine position coordinate system and the mechanical arm position coordinate system are built in the numerical controller, and the handheld input device, the processing machine and the mechanical arm are electrically connected to the numerical controller. The numerical controller is characterized in that: the numerical controller comprises: a user interface electrically connected to the handheld input device, configured to receive a positioning instruction of the processing machine input from the handheld input device, and Positioning command of the robot arm, and used to record the coordinate values obtained by observing the position coordinate system of the processing machine and the position coordinate system of the robot arm at different positions of the selected at least three non-collinear lines; and a core processing The device is electrically connected to the user interface and electrically connected to the processing machine and the mechanical arm for receiving a positioning instruction of the processing machine, a positioning instruction of the robot arm, and at least the user interface The different position points of the three non-collinear lines are respectively obtained by observing the coordinate values obtained by the position coordinate system of the processing machine and the position coordinate system of the robot arm, and according to the coordinate position coordinate system of the processing machine, the coordinate system of the mechanical arm position, and at least The position points of the three non-collinear lines are respectively observed by the position coordinate system of the processing machine and the coordinate system of the position of the robot arm, and the position coordinate system of the processing machine and the position coordinate system of the robot arm are calculated. a rotation relationship equation, and further calculating a position coordinate system of the processing machine and a position coordinate of the robot arm according to the rotation relationship equation a displacement relationship equation, the core processor stores the rotation relationship equation and the displacement relationship equation, and controls the processing machine according to the position coordinate system of the processing machine and the positioning instruction of the processing machine, and according to the coordinate position coordinate system of the robot arm, The positioning command of the robot arm, the rotation relationship equation and the displacement relationship equation control the robot arm; wherein at least the three non-collinear points are located at an overlapping area of the processing machine and the robot arm. The numerical control system with coordinate synchronization function according to claim 5, wherein the core processor comprises: an operation unit, wherein the processing machine position coordinate system and the mechanical arm position coordinate system are built therein; Receiving at least the different positions of the three non-collinear lines respectively, the position coordinates of the processing machine and the position coordinates of the robot arm Observing the obtained coordinate value, and calculating the rotation relationship equation between the processing machine coordinate system and the mechanical arm position coordinate system and the displacement relationship equation; a shared memory, which is electrically connected to the operation unit, and receives the same And storing the processing machine coordinate system, the mechanical arm position coordinate system, the rotation relationship equation and the displacement relationship equation; a processing machine control module electrically connected to the handheld input device and the shared memory, and receiving the same a positioning command of the processing machine, a position coordinate system of the processing machine, the rotation relationship equation and the displacement relationship equation, and used to control the processing machine; and a mechanical arm control module, the handheld input device and the shared memory The electro-mechanical connection receives the positioning command of the robot arm, the position coordinate system of the robot arm, the rotation relationship equation and the displacement relationship equation, and is used to control the robot arm.