Smart programming method for integrated CNC-robot

Patent metadata

Field	Value
Publication number	US-12487797-B2
Application number	US-202217671666-A
Country	US
Kind code	B2
Filing date	Feb 15, 2022
Priority date	Feb 25, 2021
Publication date	Dec 2, 2025
Grant date	Dec 2, 2025

Abstract

A programming method is for a numerical control machine tool system including a mobile terminal, a controller, a robot, and a numerical control machine tool. The mobile terminal is wirelessly connected to the controller configured to control the robot and the numerical control machine tool, and the robot and the numerical control machine tool being configured to work cooperatively to process a workpiece. The method includes: loading, at the mobile terminal, a preset motion model of the robot and the numerical control machine tool, the preset motion model being a plurality of graphical functional modules and a connection between them; receiving a graphical programming instruction for a user to configure the preset motion model using the mobile terminal; and converting the graphical programming instruction into G-code, where the G-code is used by the controller to control the robot and the numerical control machine tool to process the workpiece.

First claim

What is claimed is:

1 . A programming method for a numerical control machine tool system, the numerical control machine tool system including a mobile terminal, a controller, a robot, and a numerical control machine tool, the mobile terminal being wirelessly connected to the controller, the controller being configured to control the robot and the numerical control machine tool, and the robot and the numerical control machine tool being configured to work cooperatively to process a workpiece, wherein the programming method comprises:
collecting motion data of the robot and the numerical control machine tool in different modes; constructing a preset motion model based on the collected motion data of the robot and the numerical control machine tool in different modes; loading, at the mobile terminal, the preset motion model of the robot and the numerical control machine tool, the preset motion model being a plurality of graphical functional modules and a connection between the plurality of graphical functional modules; receiving a graphical programming instruction from a user that adjusts the preset motion model using the mobile terminal; sending the graphical programming instruction to a cloud; generating a simulation animation based on the graphical programming instruction; receiving, from the cloud, the simulation animation; displaying the simulation animation; and converting the graphical programming instruction into G-code, wherein the G-code is usable by the controller to control the robot and the numerical control machine tool to process the workpiece.

2 . The programming method of claim 1 , wherein the converting of the graphical programming instruction into G-code comprises:
converting, in response to confirmation of the user of the simulation animation at the mobile terminal, the graphical programming instruction into the G-code.

3 . The programming method of claim 1 , further comprising:
obtaining a sensing signal acquired by at least one of the robot or the numerical control machine tool; and updating the simulation animation of the robot and the numerical control machine tool based on the sensing signal.

4 . A non-transitory computer-readable storage medium storing computer instructions, wherein upon the computer instructions being run, the programming method of claim 1 is performed.

5 . The programming method of claim 1 , wherein the cloud is configured to generate the simulation animation based on the graphical programming instruction prior to generation of the G-code.

6 . The programming method of claim 1 , wherein the cloud is configured to generate the simulation animation based on the graphical programming instruction prior to generation of code usable by the controller to control the robot and the numerical control machine tool.

7 . The programming method of claim 1 , wherein the receiving the graphical programming instruction from the user includes receiving at least adjustment of the preset motion model, the at least one adjustment including at least one of:
adjusting a sequence of the preset motion model; or adjusting a running time of a functional module of the preset motion model.

8 . The programming method of claim 7 , wherein the receiving the graphical programming instruction from the user does not include configuring a connection relationship between functional modules of the preset motion model.

9 . The programming method of claim 1 , further comprising:
receiving the preset motion model from the cloud.

10 . A programming apparatus for a numerical control machine tool system, the numerical control machine tool system including a mobile terminal, a controller, a robot, and a numerical control machine tool, the mobile terminal being wirelessly connected to the controller, the controller being configured to control the robot and the numerical control machine tool, and the robot and the numerical control machine tool being configured to work cooperatively to process a workpiece, wherein the programming apparatus comprises:
a collecting circuit configured to collect motion data of the robot and the numerical control machine tool in different modes; a constructing circuit configured to construct a preset motion model based on the collected motion data of the robot and the numerical control machine tool in different modes; a loading circuit configured to load, at the mobile terminal, the preset motion model of the robot and the numerical control machine tool, the preset motion model being a plurality of graphical functional modules and a connection between the plurality of graphical functional modules; a receiving circuit configured to receive a graphical programming instruction from a user that adjusts the preset motion model using the mobile terminal; a communication circuit configured to
generate a simulation animation based on the graphical programming instruction by transmitting the graphical programming instruction to a cloud and receiving the simulation animation from the cloud; and
a conversion circuit configured to convert the graphical programming instruction into G-code, the G-code being usable by the controller to control the robot and the numerical control machine tool to process the workpiece.

11 . The programming apparatus of claim 10 , wherein the conversion circuit is further configured to:
convert, in response to the user confirming the simulation animation at the mobile terminal, the graphical programming instruction into the G-code.

12 . The programming apparatus of claim 10 , wherein the programming apparatus further comprises:
an updating circuit configured to
obtain a sensing signal acquired by at least one of the robot or the numerical control machine tool; and
update the simulation animation of the robot and the numerical control machine tool based on the sensing signal.

13 . An electronic device, comprising:
a processor; a memory storing instructions, wherein upon the instructions being executed by the processor, a method is implemented comprising:
collecting motion data of a robot and a numerical control machine tool in different modes;
constructing a preset motion model based on the collected motion data of the robot and the numerical control machine tool in different modes;
loading, at a mobile terminal, the preset motion model of the robot and the numerical control machine tool, the preset motion model being a plurality of graphical functional modules and a connection between the plurality of graphical functional modules;
receiving a graphical programming instruction from a user that adjusts the preset motion model using the mobile terminal;
generating a simulation animation based on the graphical programming instruction by sending the graphical programming instruction to a cloud and receiving the simulation animation from the cloud;
displaying the simulation animation; and
converting the graphical programming instruction into G-code, wherein the G-code is usable by a controller to control the robot and the numerical control machine tool to process a workpiece.

Assignees

• Siemens Ag

Inventors

• Zhang Bin
• Roux Armin
• Hu Ye
• Fan Shun Jie

Classifications

• G05B2219/40314

  Simulation of program locally before remote operation · CPC title

• G05B2219/36017

  Graphic assisted robot programming, display projection of surface · CPC title

• G05B2219/32351

  Visual, graphical animation of process · CPC title

• G05B19/4069

  Simulating machining process on screen (G05B19/4068 takes precedence) · CPC title

• G05B19/4063

  Monitoring general control system (G05B19/4062 takes precedence) · CPC title