TWI713967B - Machine tool integration control system - Google Patents

Abstract

A machining tool integrated control system, including robotic arm, tooling machine, setting unit and controller. The robotic arm can be used to grab unprocessed material on the tray or to place the finished product. The machine tool can be used to machine a robot arm to pick up unprocessed workpieces. The setting unit can be used to set at least one control parameter of the robot arm. The controller can control the robot arm to grasp unprocessed workpieces on the tray according to the control parameters set by the setting unit.

Description

Tool machining integrated control system

The invention provides a machine tool processing integrated control system, in particular, a control system for integrating a tool processing machine and a mechanical arm for picking and unloading materials.

The pick-and-place device of the machine tool plays a very important role when the machine tool performs processing operations. The performance of the pick-and-place device directly affects the accuracy and efficiency of the processing operation performed by the machine tool. The traditional machine tool is used with the pick and place When installing, a machine tool controller and a material picking device controller are needed, and the controller and the controller exchange information through input and output (Input/Output, IO) or bus communication, or use the machine tool The redundant control axis of the controller is used for the control of the robot arm, but because the machine tool controller and the pick-and-place device controller are not specially designed, it fails to provide effective pick-and-place application functions and tray settings during workpiece processing.

In addition, on the machine tool controller of another traditional turning and milling machine, it has the functions of loader axis and loader axis group, and the pick and place axis and the pick and place axis group can be used as robotic arms on the tray However, there is no human-machine interface and function for tray setting when the workpiece is processed.

Therefore, how to propose an integration of a machine tool taking and unloading device with a processing system that can effectively improve the shortcomings of the conventional technology has become an important topic.

One purpose of the present invention is to provide a machine tool processing integrated control system, which integrates the robot arm and the tool processing machine to achieve two-in-one processing and workpiece pick-and-place through the robot arm, the tool processing machine, the setting unit, and the controller. Control and operation, and use G code or M code to trigger the tool processing machine control module and robotic arm control module to read and set the value of the register, so as to quickly integrate the robotic arm and tool processing machine control effect.

An object of the present invention is to use mutually independent tool processing machine control modules and robotic arm control modules for the tool processing machine, and the controller controls the tool processing machine and the robotic arm through the tool processing machine control module and the robotic arm control module respectively . Among them, the tool processing machine control module and the robotic arm control module are each an axis group, and the axis group and the axis group communicate in signal mode.

According to the above objective, the present invention proposes in a preferred embodiment a machine tool processing integrated control system, which includes: a robotic arm for grabbing a workpiece to be processed or placing a processed workpiece on a tray; tool processing The machine is used to process the workpiece to be processed by the robotic arm; the setting unit is used to set at least one control parameter of the robotic arm; and the controller is used to control the robotic arm to grab the workpiece to be processed on the tray according to the control parameter At the same time, it controls the tool processing machine to process the workpiece to be processed. After the workpiece is processed, the controller controls the robotic arm to grab the processed workpiece and place the processed workpiece on the tray. The controller Simultaneously control the tool processing machine and the robotic arm.

In another preferred embodiment of the present invention, the communication between the tool processing machine control module and the robotic arm control module is triggered by M code, so when the M code is used in the processing program to trigger the R1033 command, and when When the R1033 command triggered by the M code read by the controller is 1, it means that the controller controls the robot arm to move to a safe point for standby; and when the R1033 command triggered by the M code read by the controller is 2, it means the machine Arm 1 is ready to move to the unloading point. When the R1033 command triggered by the M code read by the controller is 3, the tool processing machine grabs the workpiece and releases the spindle gripper. Then, when the M code read by the controller 4 triggers The R1033 instruction is At 4 o'clock, the controller controls the robotic arm to enter the tool processing machine to grab and place the processed workpiece; when the R1033 command triggered by the M code read by the controller is 5, it means the tool processing machine grabs the workpiece The spindle gripper is closed; then, when the R1033 command triggered by the M code read by the controller is 0, the robotic arm places the processed workpiece on the tray, and then grabs another workpiece to be processed on the tray Enter the tool processing machine.

In another preferred embodiment of the present invention, a method for machining a machine tool includes: providing a controller, the controller including a tool machining machine control module and a robot arm control module; and a robot arm, the controller can pass The robot arm control module is used to control the robot arm; a tool processing machine is also provided. The controller can control the tool processing machine through the tool processing machine control module, where the tool processing machine control module and the robot arm control module are each axis group , These axis groups communicate in signal mode; at the same time, use the setting unit to set at least one control parameter, and use the controller to control the robotic arm to grab the workpiece to be processed on the tray according to the control parameter, and then control the tool processing machine at the same time After the workpiece is processed, and the workpiece to be processed is processed into a processed workpiece, the controller is used to control the robotic arm to grab the processed workpiece and place the processed workpiece on the tray. The controller uses the tool processing machine control module Simultaneously and independently control the operation of the tool processing machine and the robot arm with the robot arm control module.

1: Robotic arm

2: material tray

3: Tool processing machine

4: Controller

41: Tool processing machine control module

42: Robotic arm control module

43: register

212: Workpiece

5: Setting unit

6: Display unit

A01~A04: Operation process of tool processing machine

B01~B05: Robotic arm operation process

Fig. 1 is a system architecture diagram of an integrated control system for machine tool processing according to the present invention.

Fig. 2 is a flowchart of a tool processing machine of the machine tool processing integrated control system according to the present invention.

Fig. 3 is a flow chart of the robot arm of the machine tool processing integrated control system according to the present invention.

The advantages and features of the present invention and the methods for achieving the same will be described in more detail with reference to the exemplary embodiments and the accompanying drawings to make it easier to understand. However, the present invention can be implemented in different forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, for those with ordinary knowledge in the technical field, the provided embodiments will make this disclosure more thorough, comprehensive and complete to convey the scope of the present invention.

Please refer to Figure 1 for the system architecture diagram of the machine tool machining integrated control system of the present invention. As shown in Figure 1, the machine tool machining integrated control system of the present invention consists of a robot arm 1, a tray 2, a tool machining machine 3, and a controller. 4. The setting unit 5 and the display unit 6 are composed; the robotic arm 1 is used to grab the workpiece 212 to be processed on the tray 2 or place the processed workpiece 212, and place the grabbed workpiece 212 to be processed on In the tool processing machine 3, in addition, the robotic arm 1 can be one or more robotic arms 1. When there are multiple robotic arms 1, these robotic arms 1 can operate simultaneously to increase the efficiency of picking and placing; and the tray 2 It is used to place one or more workpieces 212 to be processed or one or more processed workpieces 212, and the tray 2 can be a track-shaped tray, an inclined tray, a single-point tray or a matrix material plate.

The controller 4 of the machine tool processing integrated control system also includes a tool machine control module 41 and a robot arm control module 42 that are independent of each other. The controller 4 is controlled by the tool machine control module 41 and the robot arm control module 42 respectively. Tool processing machine 3 and robotic arm 1. Among them, the tool processing machine control module 41 and the robotic arm control module 42 are each an axis group, and the axis group and the axis group communicate in a signal manner.

In addition, the controller 4 of the machine tool processing integrated control system further includes a register 43, the register 43 contains a value, and the tool processing machine control module 41 controls the loading and unloading operation or processing operation of the tool processing machine 3 according to the value, and The robot arm control module 42 controls the robot arm 1 according to the value Loading and unloading operations and pick and place operations. At the same time, the tool processing machine control module 41 and the robotic arm control module 42 read and set the value of the register 43 by triggering the G code or the M code.

For example, the tool processing machine control module 41 and the robotic arm control module 42 use M code triggering for communication transmission. Therefore, when the M code is used in the processing program to trigger the R1033 command, and when the controller 4 reads When the R1033 command triggered by the M code is 1, it means that the controller 4 controls the robot arm 1 to move to a safe point for standby; and when the R1033 command triggered by the M code read by the controller 4 is 2, it means the robot arm 1 Ready to move to the unloading point. When the R1033 command triggered by the M code read by the controller 4 is 3, the tool processing machine 3 grabs the spindle gripper (not shown in the figure) of the workpiece 212 and releases it. Then, when the control When the R1033 command triggered by the M code read by the controller 4 is 4, the controller 4 controls the robotic arm 1 to enter the tool processing machine 3 to grab and place the processed workpiece 212; when the controller 4 reads When the R1033 command triggered by the M code is 5, it means that the spindle gripper (not shown in the figure) of the tool processing machine 3 grabbing the workpiece 212 is closed; then, the R1033 command triggered by the M code read by the controller 4 is At 0 o'clock, the robotic arm 1 places the processed workpiece 212 on the tray 2 and then grabs another workpiece 212 to be processed on the tray 2 into the tool processing machine 3. According to the above steps, the process is repeated until all the workpieces 212 to be processed on the tray 2 are processed.

Next, with continued reference to Fig. 1, the setting unit 5 of the machine tool processing integrated control system can be used to set the control parameters of the robotic arm 1, where the control parameters include the pick-and-place axis control, the moving reference point of the robotic arm 1, the coordinate system setting and/ Or the tray 2 is set, and the controller 4 can be used to control the robotic arm 1 to grab the workpiece 212 to be processed on the tray 2 according to the control parameters set by the setting unit 5, and at the same time control the tool processing machine 3 to process the workpiece 212 is processed, and after the workpiece 212 is processed, the robot arm 1 is controlled to grab the processed workpiece 212, and the processed workpiece 212 is placed on the tray 2. The controller 4 simultaneously controls the tool processing machine 3 and Mechanical arm 1.

For the setting of the axial control of the pick and place of the robot arm 1, in the embodiment of the present invention, the tool processing machine control module 41 and the robot arm control module 42 control the tool processing machine 3 and the robot arm 1, respectively. The arm 1 and the tool processing machine 3 are each independent tool processing machine control module 41 and robot arm control module 42. Therefore, the motion planning of the robot arm 1 and the tool processing machine 3 during operation can be completely independent. When the robot arm 1 is in operation The movement does not affect the tool processing machine 3, and vice versa. In addition, for the axial control of the robot arm 1, the robot arm control module 42 has an independent acceleration and deceleration plan, and the robot arm control module 42 has an independent maximum speed. For example, when the respective axis groups of the tool processing machine control module 41 and the robot arm control module 42 of the robot arm 1 and the tool processing machine 3 have a linear speed of 6~360,000 mm/min, if the robot arm 1 When the respective axis groups of the tool processing machine control module 41 and the robot arm control module 42 of the tool processing machine 3 move in a rotating manner, the speed is 6 to 360,000 deg/min. In addition, the robot arm control module 42 of the robot arm 1 also includes the settings of an independent mechanism conversion module, which is set for various types of the robot arm 1. The robot arm 1 can be a six-axis articulated robot arm or SCARA robotic arm.

For the setting of the human-machine interface, the special monitoring screen of the robotic arm 1 can monitor the mechanical coordinates and various processing states of each axis of the robotic arm 1. The processing state can be the current execution action, operation authority, current execution magnification, The processing time of a single piece and the speed of each axis are monitored, and the working status can be viewed and inquired through the display unit 6 in real time.

Next, in the setting of the moving reference point and coordinate system of the robot arm 1, the commonly used moving points of the robot arm 1 are set and stored in the controller 4. The commonly used moving points of the robot arm 1 are set according to the coordinate system The coordinate system setting can be set using the rectangular coordinate system. In addition, the coordinate conversion function can be used to change to the polar coordinate system for setting. in In a preferred embodiment, the polar coordinate system is easier for users to understand the coordinate position marked when the robot arm 1 is moving, and the coordinate conversion method is to have a rectangular coordinate system (X=0, Y=100) after conversion It becomes the coordinates of the polar coordinate system (X=100, C=90). The meaning of this coordinate position is a radius of 100 and an angle of 90 degrees; in addition, the setting of tray 2 can be set according to different needs, among which tray 2 It can be a racetrack tray, an inclined tray, a single point tray or a matrix tray.

Next, please refer to FIG. 2 and FIG. 3 at the same time. FIG. 2 is a flow chart of a tool processing machine of the integrated control system for tool machining of the present invention, and FIG. 3 is a flow chart of a robot arm of the integrated control system of tool machining of the present invention. In this embodiment, first, in step A01, when the workpiece 212 to be processed is in the tool processing machine 3, the tool processing machine 3 starts to start processing. Next, in step B01, when the tool processing machine 3 starts processing, the robot arm 1 places and picks materials on the tray 2. In another embodiment, the order of step A01 and step B01 can be interchanged. Then, in step B02, after the robot arm 1 finishes discharging and reclaiming materials on the tray 2, the robot arm 1 moves to a safe point and waits. Then, in step A02, when the processing of the tool processing machine 3 is completed, the operation of the tool processing machine 3 is stopped and the standby state is entered. Then, in step B03, the robotic arm 1 moves to the feeding point to prepare for feeding. Next, in step A03, the spindle jaws of the tool processing machine 3 grabbing the workpiece 212 are released. Then, in step B04, the robotic arm 1 enters the tool processing machine 3 to grab the processed workpiece 212, and at the same time, place the workpiece 212 to be processed. Next, in step A04, the spindle jaws of the tool processing machine 3 grabbing the workpiece 212 are closed. Finally, in step B05, the robot arm 1 moves to a safe point for standby, and repeats according to the above steps until all the workpieces 212 to be processed on the tray 2 are processed.

In another preferred embodiment of the present invention, a machine tool processing method includes: providing a controller, wherein the controller includes a tool processing machine control module and a robot arm control module; and a robot arm and controlling The machine can control the robot arm through the robot arm control module; it also provides the tool processing machine, and at the same time, the controller can control the tool processing through the tool processing machine control module The control module of the tool processing machine and the control module of the robotic arm are each axis groups, and the axis groups communicate in signal mode; at the same time, at least one control parameter is set by the setting unit, and the controller is used to control the control parameter according to the control parameter. The robotic arm grabs the workpiece to be processed on the tray, and then controls the tool processing machine to process the workpiece to be processed. After processing the workpiece to be processed into a processed workpiece, use the controller to control the robotic arm to grab the processed workpiece, and The processed workpiece is placed on the tray, and the controller simultaneously and independently controls the operation of the tool processing machine and the robot arm through the tool processing machine control module and the robot arm control module.

The above are only preferred embodiments of the present invention. Any equivalent modifications or changes made in accordance with the spirit of the present invention and the system architecture of the machine tool machining integrated control system proposed in accordance with the same concept should still be covered by the present invention. Within the range.

1: Robotic arm

2: material tray

3: Tool processing machine

4: Controller

41: Tool processing machine control module

42: Robotic arm control module

43: register

5: Setting unit

6: Display unit

212: Workpiece

Claims (12)

A machine tool processing integrated control system includes: a mechanical arm for grabbing a workpiece to be processed or placing a processed workpiece on a tray; a tool processing machine for grabbing the workpiece to be processed by the mechanical arm The workpiece is processed; a setting unit for setting at least one control parameter and a tray setting; and a controller, the controller also includes a tool processing machine control module and a robot arm control module that are independent of each other, The controller is used to control the robotic arm to grab the workpiece to be processed on the tray according to the control parameters and the setting of the tray, and to control the tool processing machine to process the workpiece to be processed, and to process the workpiece to be processed To complete the machined workpiece, the controller controls the robotic arm to grab the processed workpiece, and places the processed workpiece on the tray, and the controller communicates with the robotic arm through the tool processing machine control module The control module simultaneously controls the tool processing machine and the mechanical arm. The machine tool processing integration system according to claim 1, wherein the robot arm and the tool processing machine are each independent of the tool processing machine control module and the robot arm control module, so the robot arm and the tool processing machine A movement plan during operation is mutually independent. The machine tool processing integration system according to claim 2, wherein the mutual independence means that the machine tool control module and the robot arm control module are each an axis group, and the axis groups communicate in signal mode. The machine tool processing integration system according to claim 3, wherein the controller includes a register, the register includes a value, and the tool processing machine control module controls the tool according to the value. For loading and unloading operations or processing operations of the processing machine, the robotic arm control module controls the loading and unloading operations and pick-and-place operations of the robotic arm according to the numerical value. The machine tool processing integration system according to claim 4, wherein the tool processing machine control module and the robot arm control module read and set the value of the register. The machine tool processing integration system according to claim 5, wherein the reading and setting of the value of the register are triggered by G code or M code. The machine tool processing integration system according to claim 1, wherein the control parameters include a pick-and-place axis control, a mechanical arm movement reference point and/or a standard system setting. A method for machining a machine tool includes: providing a controller, the controller including a tool processing machine control module and a robot arm control module; providing a robot arm, the controller controlling the machine through the robot arm control module Arm; provides a tool processing machine, the controller controls the tool processing machine through the tool processing machine control module, wherein the tool processing machine control module and the robotic arm control module are each an axis group, and the axis groups are Communicate with each other by signal; use a setting unit to set at least one control parameter and a tray setting; and use the controller to control the robotic arm to grab a workpiece to be processed on a tray according to the control parameter and the tray setting , And at the same time control the tool processing machine to process the workpiece to be processed, and then process the workpiece to be processed into a processed workpiece, the controller controls the robotic arm to grab the processed workpiece and place the processed workpiece On the tray, the controller simultaneously and independently controls the operation of the tool processing machine and the robot arm through the tool processing machine control module and the robot arm control module. The machine tool processing method according to claim 8, wherein the controller includes a register, the register includes a value, and the tool processing machine control module controls the loading and unloading operations of the tool processing machine according to the value. For processing operations, the robotic arm control module controls the loading and unloading operations and pick-and-place operations of the robotic arm according to the numerical value. The machine tool processing method according to claim 9, wherein the machine tool control module and the robot arm control module read and set the value of the register. The machine tool processing method according to claim 10, wherein the reading and setting of the value of the register is triggered by a G code or an M code. The machine tool processing method of claim 8, wherein the control parameters include a pick-and-place axis control, a robot arm movement reference point, and/or a standard system setting.

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