Interference check system for machine tool and robot

Patent metadata

Field	Value
Publication number	US-9862094-B2
Application number	US-201615194629-A
Country	US
Kind code	B2
Filing date	Jun 28, 2016
Priority date	Jun 29, 2015
Publication date	Jan 9, 2018
Grant date	Jan 9, 2018

Abstract

A numerical controller and a robot controller share interpolation level move data obtained by recording position information for each interpolation period of a robot in association with an index. Based on the interpolation level move data, a preceding position of the robot after the passage of a time (lead time) for calculating a next preceding position since a reference time for interference check is calculated. And, based on the robot preceding position and a preceding position (machine preceding-position) of an axis of the machine after the passage of the lead time, interference between a machine and the robot is checked.

First claim

The invention claimed is:

1. An interference check system comprising a numerical controller for drivingly controlling an axis of a machine based on a command from an NC program, a robot controller for controlling a robot based on a command from a teaching program, and an interference check device configured to check interference between the machine and the robot,
wherein the numerical controller and the robot controller share interpolation level move data obtained by recording position information for each interpolation period of the robot in association with an index, and

the numerical controller comprises:
a look-ahead unit configured to read look-ahead block command data from the NC program;
a lead time calculation unit configured to calculate a lead time for calculating a next preceding position;
a machine preceding-position calculation unit configured to calculate a machine preceding position, which is a preceding position of the axis of the machine after the passage of the lead time since a reference time for the interference check; and
a robot preceding-position calculation unit configured to calculate a robot preceding position, which is a preceding position of the robot after the passage of the lead time since the reference time for the interference check, and wherein
the interference check device is configured to check the interference between the machine and the robot based on the machine preceding position and the robot preceding position.

2. The interference check system according to claim 1 , wherein the numerical controller further comprises a robot move command unit configured to command the robot to start moving based on a robot move command included in the NC program, and
the robot preceding-position calculation unit is configured to calculate the robot preceding position based on a move start command time given to the robot by the robot move command unit, the interpolation level move data, and the lead time.

3. The interference check system according to claim 1 , wherein the numerical controller is configured to store state information about the robot including an index indicative of a current position of the robot and a move state of the robot, acquired by or notified from the robot controller, and
the robot preceding-position calculation unit is configured to calculate the robot preceding position based on the state information, the interpolation level move data, and the lead time.

4. An interference check system comprising a numerical controller for drivingly controlling an axis of a machine based on a command from an NC program, a robot controller for controlling a robot based on a command from a teaching program, and an interference check device configured to check interference between the machine and the robot,
wherein the numerical controller and the robot controller share interpolation level move data obtained by recording position information for each interpolation period of the machine in association with an index, and
the robot controller comprises:
a look-ahead unit configured to read look-ahead block command data from the teaching program;
a lead time calculation unit configured to calculate a lead time for calculating a next preceding position;
a robot preceding-position calculation unit configured to calculate a robot preceding position, which is a preceding position of the robot after the passage of the lead time since a reference time for the interference check; and
a machine preceding-position calculation unit configured to calculate a machine preceding position, which is a preceding position of the axis of the machine after the passage of the lead time since the reference time for the interference check, and wherein
the interference check device is configured to check the interference between the robot and the machine based on the robot preceding position and the machine preceding position.

5. The interference check system according to claim 4 , wherein the robot controller is configured to store state information about the machine including an index indicative of a current position of the axis of the machine acquired by or notified from the numerical controller, and
the machine preceding-position calculation unit is configured to calculate the machine preceding position based on the state information, the interpolation level move data, and the lead time.

Assignees

• Fanuc Corp

Inventors

• Nakajima Masatoshi
• Ichinose Masakazu

Classifications

• G05B2219/40476

  Collision, planning for collision free path · CPC title

• B25J9/1666 Primary

  Avoiding collision or forbidden zones · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/1656

  characterised by programming, planning systems for manipulators · CPC title

• G05B19/4061

  Avoiding collision or forbidden zones · CPC title