TW202422252A - Numerical control device and numerical control system - Google Patents

Abstract

提供一種數值控制裝置及數值控制系統，前述數值控制裝置及數值控制系統可在檢測到接觸時繼續機器人的運轉，且工具機的使用者可容易地使用機器人的功能。數值控制裝置具備：解析部；接觸動作指令部；及機器人指令訊號生成部，機器人控制指令包含外力閾值，前述外力閾值是用以在機器人檢測到外力的情況下使前述機器人停止，機器人控制裝置因應前述接觸跳過動作訊號，在前述機器人的移動中，在前述機器人檢測到的外力超過前述外力閾值的情況下，使前述機器人的移動停止，並將前述機器人已停止移動之情形通知前述數值控制裝置，當被前述機器人控制裝置通知前述機器人已停止移動之情形時，前述接觸動作指令部執行前述機器人控制指令的下一個指令區塊。Provided are a numerical control device and a numerical control system, which can continue the operation of a robot when contact is detected, and a user of a machine tool can easily use the functions of the robot. The numerical control device comprises: an analysis unit; a contact action command unit; and a robot command signal generation unit, wherein the robot control command includes an external force threshold, and the external force threshold is used to stop the robot when the robot detects an external force. The robot control device skips the action signal in response to the contact, and during the movement of the robot, when the external force detected by the robot exceeds the external force threshold, the movement of the robot is stopped, and the numerical control device is notified of the fact that the robot has stopped moving. When the robot control device notifies the robot that the robot has stopped moving, the contact action command unit executes the next command block of the robot control command.

Description

數值控制裝置及數值控制系統Numerical control device and numerical control system

發明領域Invention Field

本揭示是有關於一種數值控制裝置及數值控制系統。The present disclosure relates to a numerical control device and a numerical control system.

發明背景Invention Background

以往，揭示有一種關於偵測與人的接觸並停止動作的協同合作機器人的技術。例如，揭示有一種為了正確地計測協同合作機器人的接觸力，而設定要保持之工件的負載資訊的技術。Conventionally, there is a technology for a cooperative robot that detects contact with a person and stops the action. For example, there is a technology for setting the load information of the workpiece to be held in order to accurately measure the contact force of the cooperative robot.

又，揭示有一種關於為了將加工現場自動化，而從工具機操作機器人的系統的技術。例如，揭示有一種使用工具機的使用者所熟悉的數值控制指令，來進行機器人的運轉的技術(參考例如專利文獻1)。 先前技術文獻 專利文獻 In addition, a technology for operating a robot from a machine tool in order to automate a processing site is disclosed. For example, a technology for operating a robot using numerical control instructions familiar to a machine tool user is disclosed (see, for example, Patent Document 1). Prior Art Documents Patent Documents

專利文獻1：日本專利特開2014-241018號公報Patent document 1: Japanese Patent Publication No. 2014-241018

發明概要 發明欲解決之課題 Invention Summary Problem to be solved by the invention

於數值控制裝置中使用數值控制指令來控制機器人時，若機器人一面移動一面檢測對對象物的接觸，機器人控制裝置有時會在檢測到接觸時停止機器人的動作，無法繼續機器人的運轉。又，由於工具機的使用者為了使用機器人的功能而必須使用不習慣之機器人用的教示操作盤，因此對工具機的使用者而言是難易度高的作業。When a robot is controlled by a numerical control command in a numerical control device, if the robot moves while detecting contact with an object, the robot control device may stop the robot's movement when contact is detected, and the robot cannot continue to operate. In addition, since the user of the machine tool must use the robot's teaching operation panel, which he is not used to, in order to use the robot's functions, it is a difficult task for the user of the machine tool.

因此，期望一種數值控制裝置及數值控制系統，前述數值控制裝置及數值控制系統可在檢測到接觸時繼續機器人的運轉，且工具機的使用者可容易地使用機器人的功能。 用以解決課題之手段 Therefore, a numerical control device and a numerical control system are desired, which can continue the operation of the robot when contact is detected, and the user of the machine tool can easily use the function of the robot. Means for solving the problem

本揭示的一態樣為一種數值控制裝置，是使用數值控制程式，透過機器人控制裝置來控制機器人的數值控制裝置，具備：解析部，解析前述數值控制程式中之機器人控制指令；接觸動作指令部，因應藉由前述解析部所解析的前述機器人控制指令，來生成用以使前述機器人控制裝置執行接觸跳過動作的接觸跳過動作訊號；及機器人指令訊號生成部，生成包含前述接觸跳過動作訊號的機器人指令訊號，並發送至前述機器人控制裝置，前述機器人控制指令包含外力閾值，前述外力閾值是用以在前述機器人檢測到外力的情況下使前述機器人停止，前述機器人控制裝置因應前述接觸跳過動作訊號，在前述機器人的移動中，在前述機器人檢測到的外力超過前述外力閾值的情況下，使前述機器人的移動停止，並將前述機器人已停止移動之情形通知前述數值控制裝置，當被前述機器人控制裝置通知前述機器人已停止移動之情形時，前述接觸動作指令部執行前述機器人控制指令的下一個指令區塊。One aspect of the present disclosure is a numerical control device that uses a numerical control program to control a robot through a robot control device, and comprises: an analysis unit that analyzes the robot control instructions in the numerical control program; a contact action instruction unit that generates a contact skip action signal for causing the robot control device to execute a contact skip action in response to the robot control instructions analyzed by the analysis unit; and a robot instruction signal generation unit that generates a robot instruction signal including the contact skip action signal and sends it to the robot control device. The robot control device The control instruction includes an external force threshold, and the external force threshold is used to stop the robot when the robot detects an external force. The robot control device responds to the contact skip action signal. During the movement of the robot, when the external force detected by the robot exceeds the external force threshold, the movement of the robot is stopped and the numerical control device is notified that the robot has stopped moving. When the robot control device notifies the robot that it has stopped moving, the contact action instruction unit executes the next instruction block of the robot control instruction.

本揭示的一態樣為一種數值控制系統，是使用數值控制裝置的數值控制程式，透過機器人控制裝置來控制機器人的數值控制系統，前述數值控制裝置具備：解析部，解析前述數值控制程式中之機器人控制指令；接觸動作指令部，因應藉由前述解析部所解析的前述機器人控制指令，來生成用以使前述機器人控制裝置執行接觸跳過動作的接觸跳過動作訊號；及機器人指令訊號生成部，生成包含前述接觸跳過動作訊號的機器人指令訊號，並發送至前述機器人控制裝置， 前述機器人控制指令包含外力閾值，前述外力閾值是用以在前述機器人檢測到外力的情況下使前述機器人停止，前述機器人控制裝置具備接觸動作執行部，前述接觸動作執行部因應前述接觸跳過動作訊號，在前述機器人的移動中，在前述機器人檢測到的外力超過前述外力閾值的情況下，使前述機器人的移動停止，並將前述機器人已停止移動之情形通知前述數值控制裝置，當被前述機器人控制裝置通知前述機器人已停止移動之情形時，前述接觸動作指令部執行前述機器人控制指令的下一個指令區塊。 One aspect of the present disclosure is a digital control system, which uses a digital control program of a digital control device to control a robot through a robot control device. The digital control device comprises: an analysis unit, which analyzes the robot control instructions in the digital control program; a contact action instruction unit, which generates a contact skip action signal for causing the robot control device to perform a contact skip action in response to the robot control instructions analyzed by the analysis unit; and a robot instruction signal generation unit, which generates a robot instruction signal including the contact skip action signal and sends it to the robot control device. The robot control instruction includes an external force threshold, and the external force threshold is used to stop the robot when the robot detects an external force. The robot control device is equipped with a contact action execution unit. The contact action execution unit responds to the contact skip action signal. During the movement of the robot, when the external force detected by the robot exceeds the external force threshold, the movement of the robot is stopped, and the numerical control device is notified that the robot has stopped moving. When the robot control device notifies the robot that it has stopped moving, the contact action instruction unit executes the next instruction block of the robot control instruction.

用以實施發明之形態The form used to implement the invention

以下，就本揭示之實施形態之一例加以說明。圖1是本實施形態的數值控制系統1的功能方塊圖。An example of an embodiment of the present disclosure is described below. FIG1 is a functional block diagram of a numerical control system 1 of the present embodiment.

數值控制系統1具備：工具機2，加工未圖示的工件；數值控制裝置(CNC)4，控制該工具機2的動作；協同合作機器人3，設置於工具機2附近；及機器人控制裝置5，控制協同合作機器人3的動作。數值控制系統1藉由利用相互可通訊地連接的數值控制裝置4及機器人控制裝置5，來將工具機2及協同合作機器人3的動作進行聯動控制。The numerical control system 1 includes: a machine tool 2 for processing a workpiece (not shown); a numerical control device (CNC) 4 for controlling the operation of the machine tool 2; a cooperative robot 3 installed near the machine tool 2; and a robot control device 5 for controlling the operation of the cooperative robot 3. The numerical control system 1 controls the operation of the machine tool 2 and the cooperative robot 3 in a coordinated manner by using the numerical control device 4 and the robot control device 5 which are connected to each other so as to be communicable with each other.

工具機2因應從數值控制裝置4發送的工具機控制訊號，來加工未圖示的工件。於此，工具機2是例如車床、鑽床、銑床、磨床、雷射加工機及射出成型機等，但不限於此等。The machine tool 2 processes a workpiece (not shown) in response to a machine tool control signal sent from the numerical control device 4. Here, the machine tool 2 is, for example, a lathe, a drilling machine, a milling machine, a grinding machine, a laser processing machine, and an injection molding machine, but is not limited thereto.

協同合作機器人3是在機器人控制裝置5所進行的控制下動作，例如針對藉由工具機2所加工的工件進行預定的作業。協同合作機器人3是例如多關節機器人，於其臂前端部3a安裝有工具3b，前述工具3b用以把持、加工或檢查工件。以下，就協同合作機器人3採用6軸多關節機器人的情況加以說明，但不限於此。又，於以下就協同合作機器人3採用6軸多關節機器人的情況加以說明，但軸數不限於此。The cooperative robot 3 operates under the control of the robot control device 5, for example, performing a predetermined operation on the workpiece processed by the machine tool 2. The cooperative robot 3 is, for example, a multi-joint robot, and a tool 3b is installed at the front end 3a of its arm, and the tool 3b is used to hold, process or inspect the workpiece. The following describes the case where the cooperative robot 3 is a 6-axis multi-joint robot, but the present invention is not limited to this. In addition, the following describes the case where the cooperative robot 3 is a 6-axis multi-joint robot, but the number of axes is not limited to this.

協同合作機器人3具有接觸停止功能、退開模式功能、反轉動作功能等功能，能與人協同合作來安全地作業。接觸停止功能是在以輕的力(例如10到20N(亦即1到2kgf))與人接觸時立即停止的功能。退開模式功能是藉由人推動協同合作機器人3的臂，而可使臂在各軸下退開的功能。反轉動作功能是在協同合作機器人3接觸到硬的物體的情況下，藉由臂立即反轉來減輕夾入的功能。協同合作機器人3為了檢測與人的接觸等外力，具備藉由外力檢測感測器等來構成的外力檢測部31(參考圖2)。外力檢測感測器是例如扭矩感測器、力感測器等。亦即，協同合作機器人3藉由外力檢測感測器來偵測與人的接觸，機器人控制裝置5因應藉由外力檢測感測器檢測到的外力而停止協同合作機器人3的動作。藉此，協同合作機器人3能與人協同合作來安全地作業。The cooperative robot 3 has functions such as a contact stop function, a retreat mode function, and a reversal function, and can work safely in cooperation with humans. The contact stop function is a function to stop immediately when it contacts a human with a light force (for example, 10 to 20N (i.e., 1 to 2kgf)). The retreat mode function is a function that allows the arm of the cooperative robot 3 to retreat on each axis when the human pushes the arm. The reversal function is a function that reduces pinching by immediately reversing the arm when the cooperative robot 3 contacts a hard object. In order to detect external forces such as contact with a human, the cooperative robot 3 has an external force detection unit 31 (refer to FIG. 2 ) formed by an external force detection sensor. The external force detection sensor is, for example, a torque sensor, a force sensor, or the like. That is, the cooperative robot 3 detects contact with a person through the external force detection sensor, and the robot control device 5 stops the action of the cooperative robot 3 in response to the external force detected by the external force detection sensor. In this way, the cooperative robot 3 can work safely in cooperation with a person.

數值控制裝置4及機器人控制裝置5是分別藉由以下硬體來構成的電腦：CPU(Central Processing Unit(中央處理單元))等運算處理機構；儲存了各種電腦程式的HDD(Hard Disk Drive(硬碟驅動機))或SSD(Solid State Drive(固態硬碟))等輔助記憶機構；用以儲存運算處理機構執行電腦程式上暫時所需的資料的RAM(Random Access Memory(隨機存取記憶體))等主記憶機構；操作者進行各種操作的鍵盤等操作機構；及對操作者顯示各種資訊的顯示器等顯示機構等。這些數值控制裝置4及機器人控制裝置5可藉由例如乙太網路(註冊商標)來相互收發各種訊號。The numerical control device 4 and the robot control device 5 are computers respectively constructed by the following hardware: arithmetic processing mechanisms such as a CPU (Central Processing Unit); auxiliary memory mechanisms such as a HDD (Hard Disk Drive) or a SSD (Solid State Drive) that stores various computer programs; main memory mechanisms such as a RAM (Random Access Memory) that stores data temporarily required by the arithmetic processing mechanism to execute computer programs; operating mechanisms such as a keyboard for an operator to perform various operations; and display mechanisms such as a display that displays various information to the operator. These numerical control devices 4 and robot control devices 5 can send and receive various signals to each other via, for example, Ethernet (registered trademark).

圖2是本實施形態的數值控制裝置4及機器人控制裝置5的功能方塊圖。首先，就數值控制裝置4的詳細構成加以說明。如圖2所示，數值控制裝置4是藉由上述硬體構成，來實現控制工具機2的動作的功能、生成協同合作機器人3的控制軸的動作路徑的功能等各種功能。FIG2 is a functional block diagram of the numerical control device 4 and the robot control device 5 of this embodiment. First, the detailed structure of the numerical control device 4 is described. As shown in FIG2, the numerical control device 4 realizes various functions such as the function of controlling the operation of the machine tool 2 and the function of generating the operation path of the control axis of the cooperative robot 3 by the above-mentioned hardware structure.

數值控制裝置4使用數值控制程式，透過機器人控制裝置5來控制協同合作機器人3。亦即，數值控制裝置4按照機器人用數值控制程式，生成用以控制協同合作機器人3及工具3b的動作的各種指令，並發送至機器人控制裝置5。更具體而言，數值控制裝置4具備程式輸入部41、解析部42、動作控制部43、記憶部44、機器人指令訊號生成部45、資料收發部46及接觸動作指令部47。The numerical control device 4 uses the numerical control program to control the cooperative robot 3 through the robot control device 5. That is, the numerical control device 4 generates various instructions for controlling the actions of the cooperative robot 3 and the tool 3b according to the numerical control program for the robot, and sends them to the robot control device 5. More specifically, the numerical control device 4 has a program input unit 41, an analysis unit 42, an action control unit 43, a memory unit 44, a robot instruction signal generation unit 45, a data transceiver unit 46, and a contact action instruction unit 47.

程式輸入部41從記憶部44，讀出藉由複數個機器人指令區塊來構成的機器人用數值控制程式，並逐次將其輸入至解析部42。The program input unit 41 reads out a robot numerical control program composed of a plurality of robot command blocks from the memory unit 44 , and sequentially inputs the program to the analysis unit 42 .

解析部42是就每個指令區塊，解析根據從程式輸入部41輸入的數值控制程式的指令類別，將其解析結果輸出至動作控制部43及機器人指令訊號生成部45。更具體而言，解析部42是在指令區塊的指令類別為針對工具機2的工具機用數值控制指令的情況下，將該工具機用數值控制指令發送至動作控制部43。解析部42是在指令區塊的指令類別為針對協同合作機器人3的機器人用數值控制指令的情況下，將該機器人用數值控制指令(以下亦稱為機器人控制指令)輸出至機器人指令訊號生成部45。The analysis unit 42 analyzes the command type of the numerical control program input from the program input unit 41 for each command block, and outputs the analysis result to the motion control unit 43 and the robot command signal generation unit 45. More specifically, when the command type of the command block is a machine tool numerical control command for the machine tool 2, the analysis unit 42 sends the machine tool numerical control command to the motion control unit 43. When the command type of the command block is a robot numerical control command for the cooperative robot 3, the analysis unit 42 outputs the robot numerical control command (hereinafter also referred to as the robot control command) to the robot command signal generation unit 45.

動作控制部43因應從解析部42發送的解析結果，來生成用以控制工具機2的動作的工具機控制訊號，並輸入至驅動工具機2的各種軸的致動器。工具機2因應從動作控制部43輸入的工具機控制訊號而動作，將未圖示的工件加工。The motion control unit 43 generates a machine tool control signal for controlling the motion of the machine tool 2 in response to the analysis result sent from the analysis unit 42, and inputs the signal to the actuators driving various axes of the machine tool 2. The machine tool 2 operates in response to the machine tool control signal input from the motion control unit 43 to machine a workpiece (not shown).

記憶部44儲存例如根據藉由操作者的操作所製作的複數個數值控制程式。更具體而言，記憶部44儲存數值控制程式，該數值控制程式是藉由用以控制工具機2的動作之針對工具機2的複數個指令區塊、或用以控制協同合作機器人3的動作之針對協同合作機器人3的複數個指令區塊等來構成。儲存於記憶部44的數值控制程式，是以G代碼或M代碼等用以控制工具機2的動作之已知的程式語言來描述。The memory unit 44 stores a plurality of numerical control programs created, for example, based on the operation of the operator. More specifically, the memory unit 44 stores the numerical control program, which is composed of a plurality of instruction blocks for the machine tool 2 for controlling the operation of the machine tool 2, or a plurality of instruction blocks for the cooperative robot 3 for controlling the operation of the cooperative robot 3. The numerical control program stored in the memory unit 44 is described in a known programming language such as G code or M code for controlling the operation of the machine tool 2.

又，記憶部44儲存例如機械座標值，前述機械座標值表示在上述數值控制程式下作動之工具機2的各種軸的位置(亦即工具機2的刀具台或工作台等之位置)。再者，這些機械座標值是在以決定於工具機2上或工具機2附近的任意位置的基準點作為原點之工具機座標系統下定義。於記憶部44，藉由未圖示的處理獲逐次更新，以儲存在數值控制程式下逐次變化的機械座標值的最新值。The memory unit 44 stores, for example, mechanical coordinate values, which indicate the positions of various axes of the machine tool 2 (i.e., the positions of the tool table or work table of the machine tool 2) operated under the numerical control program. These mechanical coordinate values are defined in a machine tool coordinate system with a reference point determined at an arbitrary position on or near the machine tool 2 as the origin. The memory unit 44 is updated successively by a process not shown in the figure to store the latest values of the mechanical coordinate values that are successively changed under the numerical control program.

又，記憶部44儲存有例如機器人座標值，前述機器人座標值表示在機器人控制裝置5的控制下作動之協同合作機器人3的控制點(例如協同合作機器人3的臂前端部3a)的位置及姿勢，換言之表示協同合作機器人3的各控制軸的位置。再者，這些機器人座標值是如上述，在與工具機座標系統不同的機器人座標系統下定義。於記憶部44，藉由未圖示的處理而利用從機器人控制裝置5取得的機器人座標值獲逐次更新，以儲存在數值控制程式下逐次變化的機器人座標值的最新值。The memory unit 44 stores, for example, robot coordinate values, which indicate the position and posture of the control point (for example, the arm front end 3a of the cooperative robot 3) of the cooperative robot 3 operating under the control of the robot control device 5, in other words, the position of each control axis of the cooperative robot 3. Furthermore, these robot coordinate values are defined in a robot coordinate system different from the machine tool coordinate system as described above. The robot coordinate values obtained from the robot control device 5 are successively updated in the memory unit 44 by a process not shown in the figure, so as to store the latest values of the robot coordinate values that are successively changed under the numerical control program.

又，記憶部44記憶例如由操作者所輸入之協同合作機器人3的起點及終點等教示位置。具體而言，記憶部44記憶從教導器等輸入之協同合作機器人3的教示位置、從鍵盤等輸入之教示位置等。於協同合作機器人3的教示位置，包含表示協同合作機器人3的各控制軸的位置之機器人座標值，這些機器人座標值是在與工具機座標系統不同的機器人座標系統下定義。The memory unit 44 stores the teaching positions of the cooperation robot 3, such as the starting point and the end point, input by the operator. Specifically, the memory unit 44 stores the teaching positions of the cooperation robot 3 input from a teaching device, etc., the teaching positions input from a keyboard, etc. The teaching positions of the cooperation robot 3 include robot coordinate values indicating the positions of the control axes of the cooperation robot 3, and these robot coordinate values are defined in a robot coordinate system different from the machine tool coordinate system.

機器人指令訊號生成部45根據從解析部42輸入的每個機器人指令區塊的解析結果，就每個機器人指令區塊生成機器人指令訊號，並將所生成的機器人指令訊號寫入於資料收發部46。The robot command signal generating unit 45 generates a robot command signal for each robot command block based on the analysis result of each robot command block input from the analyzing unit 42, and writes the generated robot command signal into the data transceiver unit 46.

具體而言，機器人指令訊號生成部45根據從解析部42輸入的作為解析結果的機器人用數值控制指令，就每個機器人指令區塊生成機器人指令訊號，並將所生成的機器人指令訊號寫入於資料收發部46。Specifically, the robot command signal generating unit 45 generates a robot command signal for each robot command block based on the robot numerical control command input as the analysis result from the analyzing unit 42, and writes the generated robot command signal into the data transceiver unit 46.

資料收發部46是在與機器人控制裝置5的資料收發部60之間，收發指令及機器人座標值等各種資料。具體而言，資料收發部46將藉由機器人指令訊號生成部45生成的機器人指令訊號，發送至機器人控制裝置5的資料收發部60。The data transceiver 46 transmits and receives various data such as commands and robot coordinate values with the data transceiver 60 of the robot control device 5. Specifically, the data transceiver 46 transmits the robot command signal generated by the robot command signal generating unit 45 to the data transceiver 60 of the robot control device 5.

接觸動作指令部47因應藉由解析部42所解析的機器人控制指令，來生成用以使機器人控制裝置5執行接觸跳過動作的接觸跳過動作訊號。接觸動作指令部47將所生成的接觸跳過動作訊號通知機器人指令訊號生成部45。The contact motion instruction unit 47 generates a contact skip motion signal for causing the robot control device 5 to execute a contact skip motion in response to the robot control command analyzed by the analyzing unit 42. The contact motion instruction unit 47 notifies the robot command signal generating unit 45 of the generated contact skip motion signal.

具體而言，當從數值控制程式擷取到接觸跳過動作指令時，解析部42將指令通知接觸動作指令部47。接觸動作指令部47因應來自解析部42的指令的通知，來生成接觸跳過動作訊號，並通知機器人指令訊號生成部45。Specifically, when the contact skip action command is captured from the numerical control program, the analysis unit 42 notifies the contact action command unit 47 of the command. The contact action command unit 47 generates a contact skip action signal in response to the notification of the command from the analysis unit 42, and notifies the robot command signal generation unit 45.

機器人指令訊號生成部45生成包含接觸跳過動作訊號的機器人指令訊號，並透過資料收發部46發送至機器人控制裝置5。藉此，機器人控制裝置5因應接觸跳過動作訊號而執行接觸跳過動作。The robot command signal generating unit 45 generates a robot command signal including a contact skip action signal, and transmits the signal to the robot control device 5 via the data transceiver unit 46. Thus, the robot control device 5 performs the contact skip action in response to the contact skip action signal.

於此，接觸跳過動作是表示：協同合作機器人3在協同合作機器人3的移動中，藉由如接觸到對象物等之接觸動作而檢測到外力的情況下，使協同合作機器人3的移動停止，並執行下一個指令區塊。Here, the contact skip action means that when the cooperative robot 3 detects an external force through a contact action such as contacting an object during the movement of the cooperative robot 3, the movement of the cooperative robot 3 is stopped and the next instruction block is executed.

接觸跳過動作訊號對機器人控制裝置5命令：在協同合作機器人3檢測到外力的情況下用以使協同合作機器人3停止的外力閾值、協同合作機器人3的動作類別、協同合作機器人3的目標位置、協同合作機器人3的移動速度、協同合作機器人3接觸到對象物的接觸位置等。The contact skip action signal instructs the robot control device 5: the external force threshold used to stop the cooperative robot 3 when the cooperative robot 3 detects external force, the action type of the cooperative robot 3, the target position of the cooperative robot 3, the moving speed of the cooperative robot 3, the contact position of the cooperative robot 3 when it contacts the object, etc.

接觸跳過動作訊號亦可包含：因應協同合作機器人3的移動方向或移動速度，來指定協同合作機器人3的外力檢測部31檢測外力時之力的分量或扭矩的分量。接觸跳過動作訊號亦可例如在協同合作機器人3往+X方向移動的情況下，在外力檢測部31檢測外力時，指定+X方向的力的分量或扭矩的分量。The touch skip action signal may also include: specifying the force component or torque component when the external force detection unit 31 of the cooperative robot 3 detects the external force according to the moving direction or moving speed of the cooperative robot 3. For example, when the cooperative robot 3 moves in the +X direction, the touch skip action signal may specify the force component or torque component in the +X direction when the external force detection unit 31 detects the external force.

又，接觸跳過動作訊號亦可包含：相較於協同合作機器人3因為與外部的接觸而停止動作的接觸停止動作的外力檢測閾值，將接觸跳過動作的外力閾值設定得更小。Furthermore, the contact skip action signal may also include: setting the external force threshold of the contact skip action to be smaller than the external force detection threshold of the contact stop action in which the cooperative robot 3 stops the action due to contact with the outside.

機器人控制裝置5因應接觸跳過動作訊號，在協同合作機器人3的移動中，在協同合作機器人3檢測到的外力超過外力閾值的情況下，使協同合作機器人3的移動停止。然後，機器人控制裝置5將協同合作機器人3已停止移動之情形通知數值控制裝置4。當被機器人控制裝置5通知協同合作機器人3已停止移動之情形時，接觸動作指令部47執行機器人控制指令的下一個指令區塊。In response to the contact skip action signal, the robot control device 5 stops the movement of the cooperative robot 3 when the external force detected by the cooperative robot 3 exceeds the external force threshold during the movement of the cooperative robot 3. Then, the robot control device 5 notifies the numerical control device 4 that the cooperative robot 3 has stopped moving. When the robot control device 5 notifies that the cooperative robot 3 has stopped moving, the contact action instruction unit 47 executes the next instruction block of the robot control instruction.

機器人控制指令的下一指令區塊亦可包含例如：從機器人控制裝置5取得協同合作機器人3在接觸跳過動作時偵測到接觸的位置，並因應所取得的位置來測定對象物的尺寸。The next instruction block of the robot control instruction may also include, for example: obtaining from the robot control device 5 the contact position detected by the cooperative robot 3 during the contact jump action, and measuring the size of the object according to the obtained position.

具體而言，機器人控制指令的下一個指令區塊亦可包含：從機器人控制裝置5取得關於協同合作機器人3在接觸跳過動作時偵測到接觸之二處位置的位置資訊，並因應所取得的二處位置的位置資訊來測定對象物的尺寸。於此，二處位置亦可為例如協同合作機器人3往+X方向移動中檢測到接觸之第1位置、及協同合作機器人3在往-X方向移動中檢測到接觸之第2位置。藉此，機器人控制裝置5可從二處位置測定對象物在X方向上的尺寸。Specifically, the next instruction block of the robot control instruction may also include: obtaining position information about two positions where the cooperative robot 3 detects contact during the contact jump action from the robot control device 5, and measuring the size of the object according to the position information of the two positions obtained. Here, the two positions may also be, for example, the first position where the cooperative robot 3 detects contact when moving in the +X direction, and the second position where the cooperative robot 3 detects contact when moving in the -X direction. In this way, the robot control device 5 can measure the size of the object in the X direction from the two positions.

又，機器人控制指令的下一個指令區塊亦可包含例如協同合作機器人3把持尺寸不明的工件、或一面探尋工件的位置一面在協同合作機器人3接觸到工件的位置把持工件。Furthermore, the next instruction block of the robot control instruction may also include, for example, cooperating with the cooperative robot 3 to grasp a workpiece of unknown size, or grasping the workpiece while searching for the position of the workpiece at the position where the cooperative robot 3 touches the workpiece.

接著，詳細說明機器人控制裝置5的構成。如圖2所示，於機器人控制裝置5，藉由上述硬體構成來實現記憶部51、解析部52、機器人命令生成部53、程式管理部54、軌跡控制部55、運動學控制部56、伺服控制部57、負載設定選擇部58、動力學控制部59、資料收發部60、接觸動作執行部61及接觸控制部62等之各種功能。機器人控制裝置5藉由使用此等功能部，根據從數值控制裝置4發送的指令，來控制協同合作機器人3的動作。Next, the configuration of the robot control device 5 is described in detail. As shown in FIG2 , in the robot control device 5, various functions such as a memory unit 51, an analysis unit 52, a robot command generation unit 53, a program management unit 54, a trajectory control unit 55, a kinematic control unit 56, a servo control unit 57, a load setting selection unit 58, a dynamics control unit 59, a data transmission and reception unit 60, a contact action execution unit 61, and a contact control unit 62 are realized by the above-mentioned hardware configuration. The robot control device 5 controls the actions of the cooperative robot 3 according to the instructions sent from the numerical control device 4 by using these functional units.

記憶部51記憶用以控制協同合作機器人3的機器人程式以及各種資訊。又，記憶部51記憶協同合作機器人3的負載設定。再者，於本實施形態，記憶部51雖然是設置於機器人控制裝置5，但記憶部51亦可設置於數值控制裝置4，或亦可設置於數值控制裝置4及機器人控制裝置5外部的電子機器或外部伺服器等。The memory unit 51 stores the robot program and various information for controlling the cooperative robot 3. In addition, the memory unit 51 stores the load setting of the cooperative robot 3. Furthermore, in this embodiment, although the memory unit 51 is provided in the robot control device 5, the memory unit 51 may also be provided in the numerical control device 4, or may also be provided in an electronic device or an external server outside the numerical control device 4 and the robot control device 5.

資料收發部60接收從數值控制裝置4的資料收發部46發送的機器人指令訊號。又，資料收發部60將接收到的機器人指令訊號逐次輸出至解析部52。The data transceiver 60 receives the robot command signal transmitted from the data transceiver 46 of the numerical control device 4. Furthermore, the data transceiver 60 outputs the received robot command signal to the analysis unit 52 one by one.

解析部52解析從資料收發部60輸入之機器人指令訊號。又，解析部52將其解析結果輸出至機器人命令生成部53。The analyzing unit 52 analyzes the robot command signal input from the data transceiver unit 60. The analyzing unit 52 outputs the analysis result to the robot command generator 53.

機器人命令生成部53根據從解析部52輸入的機器人指令訊號的解析結果，來生成與機器人指令訊號相應的機器人命令。機器人命令生成部53將所生成的機器人命令輸出至程式管理部54。The robot command generation unit 53 generates a robot command corresponding to the robot command signal based on the analysis result of the robot command signal input from the analysis unit 52. The robot command generation unit 53 outputs the generated robot command to the program management unit 54.

當從機器人命令生成部53輸入機器人命令時，程式管理部54逐次執行機器人命令，藉此生成與上述機器人指令訊號相應的協同合作機器人3的動作計畫，並輸出至軌跡控制部55。When a robot command is input from the robot command generation unit 53, the program management unit 54 executes the robot command sequentially, thereby generating an action plan of the collaborative robot 3 corresponding to the above-mentioned robot instruction signal, and outputs it to the trajectory control unit 55.

又，當從機器人命令生成部53輸入的機器人命令為區塊機器人命令時，程式管理部54對儲存於記憶部51的機器人程式追加所輸入的區塊機器人命令。藉此，於記憶部51，生成並記憶與從數值控制裝置4發送的機器人指令訊號相應的機器人程式。程式管理部54接受機器人程式啟動指令來作為機器人命令，藉此將已記憶的機器人程式啟動及再生。Furthermore, when the robot command input from the robot command generating unit 53 is a block robot command, the program management unit 54 adds the input block robot command to the robot program stored in the memory unit 51. Thus, a robot program corresponding to the robot command signal sent from the numerical control device 4 is generated and stored in the memory unit 51. The program management unit 54 receives a robot program activation command as a robot command, thereby activating and reproducing the stored robot program.

當從程式管理部54輸入動作計畫時，軌跡控制部55算出協同合作機器人3的控制點的時序資料，並輸出至運動學控制部56。When the action plan is input from the program management unit 54 , the trajectory control unit 55 calculates the timing data of the control points of the cooperative robot 3 and outputs it to the kinematic control unit 56 .

運動學控制部56從輸入的時序資料，算出協同合作機器人3的各關節的目標角度，並輸入至伺服控制部57。The kinematics control unit 56 calculates the target angle of each joint of the cooperative robot 3 from the input timing data, and inputs it to the servo control unit 57.

伺服控制部57為了實現從運動學控制部56輸入的目標角度，而將協同合作機器人3的各伺服馬達進行反饋控制，藉此生成針對協同合作機器人3的機器人控制訊號，並輸入至協同合作機器人3的伺服馬達。又，伺服控制部57生成反映了藉由後述的動力學控制部59所計算的扭矩之機器人控制訊號。藉此，機器人控制裝置5可根據負載設定來控制協同合作機器人3。The servo control unit 57 performs feedback control on each servo motor of the cooperative robot 3 in order to realize the target angle input from the kinematic control unit 56, thereby generating a robot control signal for the cooperative robot 3 and inputting it to the servo motor of the cooperative robot 3. In addition, the servo control unit 57 generates a robot control signal reflecting the torque calculated by the dynamic control unit 59 described later. In this way, the robot control device 5 can control the cooperative robot 3 according to the load setting.

負載設定選擇部58因應藉由解析部52所解析的機器人指令訊號，來選擇記憶於記憶部51的負載設定，並將所選擇的負載設定通知動力學控制部59。The load setting selection unit 58 selects the load setting stored in the memory unit 51 in response to the robot command signal analyzed by the analysis unit 52, and notifies the dynamics control unit 59 of the selected load setting.

動力學控制部59根據藉由負載設定選擇部58所選擇的負載設定，藉由逆動力學計算來計算輸入於協同合作機器人3的扭矩。動力學控制部59將藉由計算所取得的扭矩輸出至伺服控制部57。The dynamics control unit 59 calculates the torque input to the cooperative robot 3 by inverse dynamics calculation according to the load setting selected by the load setting selection unit 58. The dynamics control unit 59 outputs the torque obtained by the calculation to the servo control unit 57.

於此，協同合作機器人3的逆動力學計算是指：根據以協同合作機器人3的動作軌跡計畫來算出的期望的運動(各關節的位置、速度、加速度的時序資料)，來考慮施加於協同合作機器人3的指部負載或重力、自重，並計算用以實現該類響應之要給予各馬達的輸入扭矩的手法。關於此類逆動力學計算，揭示有例如計算扭矩法、或牛頓-歐拉法等數值計算方法(例如日本專利特開平8-118275號公報、日本專利特開2015-58520號公報)。Here, the inverse dynamics calculation of the cooperative robot 3 refers to a method of taking into account the load or gravity or deadweight applied to the fingers of the cooperative robot 3 and calculating the input torque to be given to each motor to achieve such a response based on the expected motion (time series data of the position, velocity, and acceleration of each joint) calculated by the motion trajectory plan of the cooperative robot 3. Regarding such inverse dynamics calculation, there are numerical calculation methods such as the torque calculation method or the Newton-Euler method (for example, Japanese Patent Laid-Open No. 8-118275 and Japanese Patent Laid-Open No. 2015-58520).

接觸動作執行部61因應藉由解析部52所解析的機器人指令訊號中之接觸跳過動作訊號，在協同合作機器人3的移動中，在協同合作機器人3檢測到的外力超過外力閾值的情況下，使協同合作機器人3的移動停止，並將協同合作機器人3已停止移動之情形通知數值控制裝置4。In response to the contact skip action signal in the robot command signal analyzed by the analyzing unit 52, the contact action execution unit 61 stops the movement of the cooperative robot 3 when the external force detected by the cooperative robot 3 exceeds the external force threshold during the movement of the cooperative robot 3, and notifies the numerical control device 4 that the cooperative robot 3 has stopped moving.

接觸控制部62因應藉由協同合作機器人3中之外力檢測部31所進行之外力的檢測結果，來控制接觸停止動作。於此，接觸停止動作表示：協同合作機器人3因應來自外部的接觸力而停止協同合作機器人3的動作。The contact control unit 62 controls the contact stop action in response to the external force detection result by the external force detection unit 31 in the cooperative robot 3. Here, the contact stop action means that the cooperative robot 3 stops the action of the cooperative robot 3 in response to the external contact force.

接著，就接觸跳過動作的具體處理加以說明。接觸動作執行部61因應藉由解析部52所解析的機器人指令訊號中之接觸跳過動作訊號，來將外力閾值通知接觸控制部62，而接觸控制部62開始超過外力閾值之外力的監視。Next, the specific processing of the contact skipping action will be described. The contact action execution unit 61 notifies the contact control unit 62 of the external force threshold in response to the contact skipping action signal in the robot command signal analyzed by the analysis unit 52, and the contact control unit 62 starts monitoring the external force exceeding the external force threshold.

又，接觸動作執行部61因應接觸跳過動作訊號，來將協同合作機器人3的動作類別、移動量以及移動速度通知機器人命令生成部53，而機器人命令生成部53生成與協同合作機器人3的動作類別、移動量以及移動速度相應的機器人命令。之後，機器人控制裝置5進行如上述的控制，而協同合作機器人3開始移動。Furthermore, the contact action execution unit 61 notifies the action type, movement amount, and movement speed of the cooperative robot 3 to the robot command generation unit 53 in response to the contact skip action signal, and the robot command generation unit 53 generates a robot command corresponding to the action type, movement amount, and movement speed of the cooperative robot 3. Thereafter, the robot control device 5 performs the control as described above, and the cooperative robot 3 starts to move.

接觸控制部62在外力檢測部31檢測到的外力超過外力閾值的情況下，將停止移動之情形通知伺服控制部57，而取得關於外力檢測部31檢測到超過外力閾值之外力的位置的位置資訊。When the external force detected by the external force detection unit 31 exceeds the external force threshold, the contact control unit 62 notifies the servo control unit 57 of stopping the movement, and obtains position information about the position where the external force detection unit 31 detects the external force exceeding the external force threshold.

接觸控制部62將所取得的位置資訊及協同合作機器人3已停止之情形通知接觸動作執行部61。接觸動作執行部61將所取得的位置資訊及協同合作機器人3已停止之情形透過資料收發部60通知數值控制裝置4。The contact control unit 62 notifies the contact action execution unit 61 of the acquired position information and the fact that the cooperative robot 3 has stopped. The contact action execution unit 61 notifies the numerical control device 4 of the acquired position information and the fact that the cooperative robot 3 has stopped through the data transceiver unit 60.

然後，如上述，當被數值控制裝置4通知協同合作機器人3已停止移動之情形時，接觸動作指令部47執行機器人控制指令的下一個指令區塊。又，數值控制裝置4執行例如下一個指令區塊，根據所取得的對象物的位置資訊，來測定對象物的尺寸。Then, as described above, when the cooperative robot 3 stops moving, the contact motion instruction unit 47 executes the next instruction block of the robot control instruction. In addition, the numerical control device 4 executes the next instruction block, for example, to measure the size of the object based on the acquired position information of the object.

圖3及圖4是表示接觸跳過指令之例的圖。圖3所示之接觸跳過指令是協同合作機器人3在直線動作中進行接觸跳過動作時的指令。圖4所示之接觸跳過指令是協同合作機器人3在各軸的動作中進行接觸跳過動作時的指令。Fig. 3 and Fig. 4 are diagrams showing examples of contact skip instructions. The contact skip instruction shown in Fig. 3 is an instruction when the cooperative robot 3 performs a contact skip action in a linear motion. The contact skip instruction shown in Fig. 4 is an instruction when the cooperative robot 3 performs a contact skip action in the motion of each axis.

圖3所示之接觸跳過指令包含複數個對應指令、及對應於對應指令的停止位置儲存處。各對應指令是G100.1到G100.9的G代碼。停止位置儲存處是對應於X、Y、Z、A、B、及C的各軸的直線動作的6個巨集變數。例如，對應於對應指令G100.1的停止位置儲存處是6個巨集變數#100000至#100005。The touch jump instruction shown in Figure 3 includes a plurality of corresponding instructions and stop position storage locations corresponding to the corresponding instructions. Each corresponding instruction is a G code from G100.1 to G100.9. The stop position storage location is 6 macro variables corresponding to the linear motion of each axis of X, Y, Z, A, B, and C. For example, the stop position storage location corresponding to the corresponding instruction G100.1 is 6 macro variables #100000 to #100005.

圖4所示之接觸跳過指令包含複數個對應指令、及對應於對應指令的停止位置儲存處。各對應指令是G200.1到G200.9的G代碼。 停止位置儲存處是對應於J1、J2、J3、J4、J5及J6的各軸的動作的6個巨集變數。例如，對應於對應指令G200.1的停止位置儲存處是6個巨集變數#100060至#100065。 The contact jump instruction shown in Figure 4 includes multiple corresponding instructions and stop position storage locations corresponding to the corresponding instructions. Each corresponding instruction is a G code from G200.1 to G200.9. The stop position storage location is 6 macro variables corresponding to the actions of each axis of J1, J2, J3, J4, J5 and J6. For example, the stop position storage location corresponding to the corresponding instruction G200.1 is 6 macro variables #100060 to #100065.

圖5是表示本實施形態的數值控制程式之例的圖。圖6是表示執行圖5所示之數值控制程式時，數值控制裝置4與機器人控制裝置5之間的訊號及資訊的流程的循序圖。於圖5及圖6所示之例，數值控制裝置4執行包含接觸跳過動作指令的數值控制程式，藉由協同合作機器人3來測定作為對象物的加工完畢的工件的尺寸。FIG. 5 is a diagram showing an example of a numerical control program of the present embodiment. FIG. 6 is a sequence diagram showing the flow of signals and information between the numerical control device 4 and the robot control device 5 when the numerical control program shown in FIG. 5 is executed. In the examples shown in FIG. 5 and FIG. 6, the numerical control device 4 executes the numerical control program including the contact skip action command, and measures the size of the workpiece that has been processed as the object by cooperating with the cooperative robot 3.

首先，被命令"M100"，機器人控制裝置5等候藉由工具機2的加工系統所加工的工件的加工完成。接著，被輸入"G68.8"，選擇各軸座標系統。當被命令"G7.3 J1=_J2=_J3=_J4=_J5=_J6=_"時，機器人控制裝置5將協同合作機器人3定位在各軸座標系統上的初始位置。再者，於命令中之底線部分，輸入有協同合作機器人3的指定位置的座標值。First, the robot control device 5 is commanded "M100" to wait for the workpiece processed by the processing system of the machine tool 2 to be completed. Then, "G68.8" is input to select the coordinate system of each axis. When the command "G7.3 J1=_J2=_J3=_J4=_J5=_J6=_" is issued, the robot control device 5 positions the cooperative robot 3 at the initial position on the coordinate system of each axis. Furthermore, in the underlined part of the command, the coordinate value of the designated position of the cooperative robot 3 is input.

接著，被命令"G68.9"，選擇正交座標系統。當被命令"G01 X_Y_Z_A_B_C_P_"時，機器人控制裝置5使協同合作機器人3往正交座標系統上的指定位置(工具機2內的指定位置)直線移動並定位。再者，於命令中之底線部分，輸入有協同合作機器人3的指定位置的座標值。Next, the command "G68.9" is issued to select the orthogonal coordinate system. When the command "G01 X_Y_Z_A_B_C_P_" is issued, the robot control device 5 moves the cooperative robot 3 linearly to the designated position on the orthogonal coordinate system (the designated position in the machine tool 2) and positions it. Furthermore, the coordinate value of the designated position of the cooperative robot 3 is input in the underlined part of the command.

接著，被命令"G53.8 Q2"，協同合作機器人3選擇(變更)工具座標系統No.2(接觸用工具)。當被命令"G01 X_Y_Z_A_B_C_P_"時，機器人控制裝置5使協同合作機器人3往正交座標系統上的+X方向的工件尺寸測定開始位置直線移動並定位。Next, when commanded "G53.8 Q2", the cooperative robot 3 selects (changes) tool coordinate system No. 2 (contact tool). When commanded "G01 X_Y_Z_A_B_C_P_", the robot control device 5 moves the cooperative robot 3 linearly to the workpiece dimension measurement start position in the +X direction on the orthogonal coordinate system and positions it.

接著，被命令"G100.0　X100.0　Q1.0　F100；"，協同合作機器人3及機器人控制裝置5開始接觸跳過動作。此指令使協同合作機器人3往+X方向移動，在外力檢測部31檢測到外力時停止協同合作機器人3的移動。進而，此指令將檢測外力的外力閾值設定為1.0N，將協同合作機器人3的移動速度設定為100mm/min。Next, the cooperative robot 3 and the robot control device 5 are commanded "G100.0 X100.0 Q1.0 F100;", and they start the contact jump action. This instruction causes the cooperative robot 3 to move in the +X direction, and stops the movement of the cooperative robot 3 when the external force detection unit 31 detects an external force. Furthermore, this instruction sets the external force threshold for detecting external force to 1.0N, and sets the movement speed of the cooperative robot 3 to 100mm/min.

因應此指令，機器人控制裝置5使協同合作機器人3開始藉由直線動作以100mm/min的速度往+X方向移動。然後，機器人控制裝置5在檢測到超過1.0N之外力時，使協同合作機器人3的移動停止，並將檢測到外力的位置的位置資訊通知(發送至)數值控制裝置4。In response to this instruction, the robot control device 5 starts to move the cooperative robot 3 in the +X direction at a speed of 100 mm/min by linear motion. Then, when the robot control device 5 detects an external force exceeding 1.0 N, it stops the movement of the cooperative robot 3 and notifies (sends) the position information of the position where the external force is detected to the numerical control device 4.

當被機器人控制裝置5通知協同合作機器人3已停止移動之情形時，接觸動作指令部47執行機器人控制指令的下一個指令區塊，亦即"G01 X_Y_Z_A_B_C_P_"。當被命令"G01 X_Y_Z_A_B_C_P_"時，機器人控制裝置5使協同合作機器人3往正交座標系統上的-X方向的工件尺寸測定開始位置直線移動並定位。When the robot control device 5 notifies the cooperative robot 3 that it has stopped moving, the contact motion command unit 47 executes the next command block of the robot control command, i.e., "G01 X_Y_Z_A_B_C_P_". When the robot control device 5 is instructed to "G01 X_Y_Z_A_B_C_P_", the cooperative robot 3 moves linearly to the workpiece dimension measurement start position in the -X direction on the orthogonal coordinate system and positions itself.

接著，被命令"G100.1　X-100.0　Q1.0　F100；"，協同合作機器人3及機器人控制裝置5開始接觸跳過動作。此指令使協同合作機器人3往-X方向移動，在外力檢測部31檢測到外力時停止協同合作機器人3的移動。進而，此指令將檢測外力的外力閾值設定為1.0N，將協同合作機器人3的移動速度設定為100mm/min。Next, the cooperative robot 3 and the robot control device 5 are commanded "G100.1 X-100.0 Q1.0 F100;", and they start the contact jump action. This instruction causes the cooperative robot 3 to move in the -X direction, and stops the movement of the cooperative robot 3 when the external force detection unit 31 detects an external force. Furthermore, this instruction sets the external force threshold for detecting external force to 1.0N, and sets the movement speed of the cooperative robot 3 to 100mm/min.

因應此指令，機器人控制裝置5使協同合作機器人3開始藉由直線動作以100mm/min的速度往-X方向移動。然後，機器人控制裝置5在檢測到超過1.0N之外力時，使協同合作機器人3的移動停止，並將檢測到外力的位置的位置資訊通知(發送至)數值控制裝置4。In response to this instruction, the robot control device 5 starts to move the cooperative robot 3 in the -X direction at a speed of 100 mm/min by linear motion. Then, when the robot control device 5 detects an external force exceeding 1.0 N, it stops the movement of the cooperative robot 3 and notifies (sends) the position information of the position where the external force is detected to the numerical control device 4.

當被數值控制裝置4通知協同合作機器人3已停止移動之情形時，接觸動作指令部47被命令機器人控制指令的下一個指令區塊，亦即"#100=#100006 - #100000"。#100006是例如作為+X方向的位置資訊的儲存處之巨集變數，#100000是作為-X方向的位置資訊的儲存處之巨集變數。藉此，機器人控制裝置5可從檢測到外力的二處的位置資訊來算出工件的尺寸#100。When the numerical control device 4 notifies the cooperative robot 3 that it has stopped moving, the contact motion instruction unit 47 is instructed to execute the next instruction block of the robot control instruction, that is, "#100=#100006 - #100000". #100006 is a macro variable for storing position information in the +X direction, and #100000 is a macro variable for storing position information in the -X direction. In this way, the robot control device 5 can calculate the size #100 of the workpiece from the position information of the two places where the external force is detected.

接著，當被命令"G01 X_Y_Z_A_B_C_P_"時，機器人控制裝置5使協同合作機器人3往正交座標系統上的工具機2外的指定位置直線移動並定位。藉此，協同合作機器人3往工具機2外退開。Next, when the command "G01 X_Y_Z_A_B_C_P_" is received, the robot control device 5 makes the cooperative robot 3 move linearly to a designated position outside the machine tool 2 on the orthogonal coordinate system and positions it. In this way, the cooperative robot 3 retreats outside the machine tool 2.

接著，被命令"M101"，機器人控制裝置5與加工系統等候工件尺寸測定完成。接著，被命令"M30"，數值控制程式結束。Then, the command "M101" is issued, and the robot control device 5 and the processing system wait for the workpiece size measurement to be completed. Then, the command "M30" is issued, and the numerical control program ends.

如以上所說明，若依據本實施形態，數值控制裝置4具備：解析部42，解析數值控制程式中之機器人控制指令；接觸動作指令部47，因應藉由解析部42所解析的接觸跳過動作指令，來生成用以使機器人控制裝置5執行接觸跳過動作的接觸跳過動作訊號；及機器人指令訊號生成部45，生成包含接觸跳過動作訊號的機器人指令訊號，並發送至機器人控制裝置5。接觸跳過動作指令包含外力閾值，前述外力閾值是用以在協同合作機器人3檢測到外力的情況下使協同合作機器人3停止。機器人控制裝置5因應接觸跳過動作訊號，在協同合作機器人3的移動中，在協同合作機器人3檢測到的外力超過外力閾值的情況下，使協同合作機器人3的移動停止，並將協同合作機器人3已停止移動之情形通知數值控制裝置4。當被機器人控制裝置5通知協同合作機器人3已停止移動之情形時，接觸動作指令部47執行機器人控制指令的下一個指令區塊。As described above, according to this embodiment, the numerical control device 4 includes: an analysis unit 42 that analyzes the robot control command in the numerical control program; a contact action instruction unit 47 that generates a contact skip action signal for causing the robot control device 5 to execute a contact skip action in response to the contact skip action command analyzed by the analysis unit 42; and a robot instruction signal generation unit 45 that generates a robot instruction signal including the contact skip action signal and sends it to the robot control device 5. The contact skip action command includes an external force threshold, and the external force threshold is used to stop the cooperative robot 3 when the cooperative robot 3 detects an external force. In response to the contact skip action signal, the robot control device 5 stops the movement of the cooperative robot 3 when the external force detected by the cooperative robot 3 exceeds the external force threshold during the movement of the cooperative robot 3, and notifies the numerical control device 4 that the cooperative robot 3 has stopped moving. When the robot control device 5 notifies that the cooperative robot 3 has stopped moving, the contact action instruction unit 47 executes the next instruction block of the robot control instruction.

藉由此類構成，數值控制裝置4藉由數值控制程式中之指令，來設定施加於協同合作機器人3的外力的閾值，使協同合作機器人3移動，並在檢測到外力時停止協同合作機器人3的移動。藉此，數值控制裝置4可對對象物進行接觸檢測，藉由在檢測到接觸後執行下一個區塊的指令，可執行連續的數值控制程式。進而，由於數值控制裝置4可藉由數值控制程式中之指令，來進行協同合作機器人3的接觸跳過，因此工具機2的使用者可容易地使用協同合作機器人3的功能。With this configuration, the numerical control device 4 sets the threshold of the external force applied to the cooperative robot 3 through the instructions in the numerical control program, so that the cooperative robot 3 moves, and stops the movement of the cooperative robot 3 when the external force is detected. In this way, the numerical control device 4 can detect contact with the object, and can execute the continuous numerical control program by executing the instructions of the next block after the contact is detected. Furthermore, since the numerical control device 4 can skip the contact of the cooperative robot 3 through the instructions in the numerical control program, the user of the machine tool 2 can easily use the functions of the cooperative robot 3.

又，機器人控制指令的下一指令區塊亦可包含：從機器人控制裝置5取得協同合作機器人3在接觸跳過動作時偵測到接觸的位置，並因應所取得的位置來測定對象物的尺寸。藉由此類構成，數值控制裝置4可測定藉由工具機2所加工完畢的工件等對象物的尺寸。Furthermore, the next instruction block of the robot control instruction may also include: obtaining the contact position detected by the cooperative robot 3 during the contact jump action from the robot control device 5, and measuring the size of the object according to the obtained position. With this configuration, the numerical control device 4 can measure the size of the object such as the workpiece processed by the machine tool 2.

又，接觸跳過動作訊號亦可包含：因應協同合作機器人3的移動方向或移動速度，來指定協同合作機器人3的外力檢測部31檢測外力時之力的分量或扭矩的分量。藉由此類構成，數值控制裝置4可測定關於已指定的分量之對象物的尺寸。Furthermore, the contact skipping action signal may also include specifying the force component or torque component when the external force detection unit 31 of the cooperative robot 3 detects the external force according to the moving direction or moving speed of the cooperative robot 3. With such a configuration, the numerical control device 4 can measure the size of the object with respect to the specified component.

又，接觸跳過動作訊號亦可包含：相較於協同合作機器人3因為與外部的接觸而停止動作的接觸停止動作的外力檢測閾值，將接觸跳過動作的外力閾值設定得更小。藉由此類構成，數值控制裝置4可在協同合作機器人3接觸到對象物時不停止動作，測定對象物的尺寸。Furthermore, the contact skipping action signal may also include: setting the external force threshold of the contact skipping action smaller than the external force detection threshold of the contact stop action in which the cooperative robot 3 stops the action due to contact with the outside. With such a configuration, the numerical control device 4 can measure the size of the object without stopping the action when the cooperative robot 3 contacts the object.

又，數值控制系統1具備：數值控制裝置4，具備上述構成；及機器人控制裝置5，具備接觸動作執行部61，前述接觸動作執行部61因應接觸跳過動作訊號，在協同合作機器人3移動中，在協同合作機器人3檢測到的外力超過外力閾值的情況下，使協同合作機器人3的移動停止，並將協同合作機器人3已停止移動之情形通知數值控制裝置4。當被機器人控制裝置5通知協同合作機器人3已停止移動之情形時，接觸動作指令部47執行機器人控制指令的下一個指令區塊。藉此，數值控制系統1可對對象物進行接觸檢測，藉由在檢測到接觸後執行下一個區塊的指令，可執行連續的數值控制程式。進而，由於數值控制系統1可藉由數值控制程式中之指令，來進行協同合作機器人3的接觸跳過，因此工具機2的使用者可容易地使用協同合作機器人3的功能。Furthermore, the numerical control system 1 comprises: a numerical control device 4 having the above-mentioned structure; and a robot control device 5 having a contact action execution unit 61. The contact action execution unit 61, in response to the contact skip action signal, stops the movement of the cooperative robot 3 when the external force detected by the cooperative robot 3 exceeds the external force threshold value during the movement of the cooperative robot 3, and notifies the numerical control device 4 that the cooperative robot 3 has stopped moving. When the robot control device 5 notifies that the cooperative robot 3 has stopped moving, the contact action instruction unit 47 executes the next instruction block of the robot control instruction. Thus, the numerical control system 1 can detect contact with the object, and can execute the continuous numerical control program by executing the instruction of the next block after the contact is detected. Furthermore, since the numerical control system 1 can skip the contact of the cooperative robot 3 through the instruction in the numerical control program, the user of the machine tool 2 can easily use the function of the cooperative robot 3.

以上，就本發明的實施形態加以說明，而上述數值控制系統1可藉由硬體、軟體或該等的組合來實現。又，藉由上述數值控制系統1所進行的控制方法亦可藉由硬體、軟體或該等的組合來實現。於此，所謂藉由軟體來實現是指藉由電腦讀取程式後執行而實現。The above is an explanation of the implementation form of the present invention, and the numerical control system 1 can be implemented by hardware, software or a combination thereof. In addition, the control method performed by the numerical control system 1 can also be implemented by hardware, software or a combination thereof. Here, the so-called implementation by software means that the computer reads the program and executes it.

程式可使用各種類型的非暫時性電腦可讀取媒體(non-transitory computer readable medium(非暫態電腦可讀取媒體))來記憶並提供給電腦。非暫時性電腦可讀取媒體包含各種類型的具實體的記錄媒體(tangible storage medium(有形儲存媒體))。非暫時性電腦可讀取媒體之例包含：磁性記錄媒體(例如硬碟)、光磁性記錄媒體(例如磁光碟)、CD-ROM(Read Only Memory(唯讀記憶體))、CD-R、CD-R/W、半導體記憶體(例如遮罩唯讀記憶體、PROM(Programmable ROM，可程式唯讀記憶體)、EPROM(Erasable PROM，可抹除可程式唯讀記憶體)、快閃唯讀記憶體、RAM(random access memory(隨機存取記憶體)))。The program can be stored and provided to a computer using various types of non-transitory computer readable media (non-transitory computer readable media). Non-transitory computer readable media include various types of tangible storage media (tangible storage media). Examples of non-transitory computer-readable media include: magnetic recording media (e.g., hard disks), magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R/W, semiconductor memory (e.g., mask read-only memory, PROM (Programmable ROM), EPROM (Erasable PROM), flash read-only memory, RAM (random access memory)).

雖詳述了本揭示，但本揭示不限定於上述的各個實施形態。這些實施形態可在不脫離本揭示的要旨的範圍內，或可在不脫離由申請專利範圍所記載的內容及其均等物所導出的本揭示的旨趣的範圍內，進行各種追加、替換、變更、部分刪除等。又，這些實施形態也可以組合實施。例如，於上述的實施形態中，各動作的順序或各處理的順序是作為一例來表示，並不限定於該等順序。又，在上述的實施形態的說明中使用數值或數式的情況亦同。Although the present disclosure is described in detail, the present disclosure is not limited to the above-mentioned embodiments. These embodiments may be subject to various additions, replacements, changes, partial deletions, etc., without departing from the gist of the present disclosure, or without departing from the intent of the present disclosure derived from the contents described in the patent application and its equivalents. Furthermore, these embodiments may also be implemented in combination. For example, in the above-mentioned embodiments, the order of each action or the order of each processing is represented as an example and is not limited to such order. Furthermore, the same applies to the use of numerical values or formulas in the description of the above-mentioned embodiments.

關於上述實施形態及變形例，進一步揭示以下附記。 (附記1) 一種數值控制裝置(4)，是使用數值控制程式，透過機器人控制裝置(5)來控制機器人(3)的數值控制裝置，具備： 解析部(42)，解析前述數值控制程式中之機器人控制指令； 接觸動作指令部(47)，因應藉由前述解析部所解析的前述機器人控制指令，來生成用以使前述機器人控制裝置執行接觸跳過動作的接觸跳過動作訊號；及 機器人指令訊號生成部(45)，生成包含前述接觸跳過動作訊號的機器人指令訊號，並發送至前述機器人控制裝置， 前述機器人控制指令包含外力閾值，前述外力閾值是用以在前述機器人檢測到外力的情況下使前述機器人停止， 前述機器人控制裝置因應前述接觸跳過動作訊號，在前述機器人的移動中，在前述機器人檢測到的外力超過前述外力閾值的情況下，使前述機器人的移動停止，並將前述機器人已停止移動之情形通知前述數值控制裝置， 當被前述機器人控制裝置通知前述機器人已停止移動之情形時，前述接觸動作指令部執行前述機器人控制指令的下一個指令區塊。 (附記2) 如附記1之數值控制裝置，其中前述機器人控制指令的下一個指令區塊包含：從前述機器人控制裝置取得前述機器人在前述接觸跳過動作時偵測到接觸的位置，並因應所取得的前述位置來測定對象物的尺寸。 (附記3) 如附記1之數值控制裝置，其中前述接觸跳過動作訊號包含：因應前述機器人的移動方向或移動速度，來指定前述機器人檢測外力時之力或扭矩的分量。 (附記4) 如附記1之數值控制裝置，其中前述機器人是偵測與人的接觸並停止動作的協同合作機器人， 前述接觸跳過動作訊號包含：相較於前述協同合作機器人因為與外部的接觸而停止動作的接觸停止動作的外力檢測閾值，將前述接觸跳過動作的前述外力閾值設定得更小。 (附記5) 一種數值控制系統(1)，是使用數值控制裝置(4)的數值控制程式，透過機器人控制裝置(5)來控制機器人(3)的數值控制系統， 前述數值控制裝置具備： 解析部(42)，解析前述數值控制程式中之機器人控制指令； 接觸動作指令部(47)，因應藉由前述解析部所解析的前述機器人控制指令，來生成用以使前述機器人控制裝置執行接觸跳過動作的接觸跳過動作訊號；及 機器人指令訊號生成部(45)，生成包含前述接觸跳過動作訊號的機器人指令訊號，並發送至前述機器人控制裝置， 前述機器人控制指令包含外力閾值，前述外力閾值是用以在前述機器人檢測到外力的情況下使前述機器人停止， 前述機器人控制裝置具備接觸動作執行部，前述接觸動作執行部因應前述接觸跳過動作訊號，在前述機器人移動中，在前述機器人檢測到的外力超過前述外力閾值的情況下，使前述機器人的移動停止，並將前述機器人已停止移動之情形通知前述數值控制裝置， 當被前述機器人控制裝置通知前述機器人已停止移動之情形時，前述接觸動作指令部執行前述機器人控制指令的下一個指令區塊。 (附記6) 如附記5之數值控制系統，其中前述機器人控制指令的下一個指令區塊包含：從前述機器人控制裝置取得前述機器人在前述接觸跳過動作時偵測到接觸的位置，並因應所取得的前述位置來測定對象物的尺寸。 (附記7) 如附記5之數值控制系統，其中前述接觸跳過動作訊號包含：因應前述機器人的移動方向或移動速度，來指定前述機器人檢測外力時之力或扭矩的分量。 (附記8) 如附記5之數值控制系統，其中前述機器人是偵測與人的接觸並停止動作的協同合作機器人， 前述接觸跳過動作訊號包含：相較於前述協同合作機器人因為與外部的接觸而停止動作的接觸停止動作的外力檢測閾值，將前述接觸跳過動作的前述外力閾值設定得更小。 Regarding the above-mentioned implementation forms and variations, the following notes are further disclosed. (Note 1) A numerical control device (4) is a numerical control device that uses a numerical control program to control a robot (3) through a robot control device (5), comprising: an analysis unit (42) for analyzing the robot control instruction in the numerical control program; a contact action instruction unit (47) for generating a contact skip action signal for causing the robot control device to perform a contact skip action in response to the robot control instruction analyzed by the analysis unit; and a robot instruction signal generation unit (45) for generating a robot instruction signal including the contact skip action signal and sending it to the robot control device, the robot control instruction including an external force threshold, the external force threshold being used to stop the robot when the robot detects an external force, In response to the contact jump action signal, the robot control device stops the movement of the robot when the external force detected by the robot exceeds the external force threshold value during the movement of the robot, and notifies the numerical control device of the fact that the robot has stopped moving. When the robot control device notifies the robot that the robot has stopped moving, the contact action instruction unit executes the next instruction block of the robot control instruction. (Note 2) The numerical control device as in Note 1, wherein the next instruction block of the robot control instruction includes: obtaining the position of the robot detected by the robot during the contact jump action from the robot control device, and measuring the size of the object according to the obtained position. (Note 3) As in the numerical control device of Note 1, wherein the contact skipping motion signal includes: specifying the force or torque component of the robot when detecting the external force in response to the movement direction or movement speed of the robot. (Note 4) As in the numerical control device of Note 1, wherein the robot is a cooperative robot that detects contact with a person and stops the action, The contact skipping motion signal includes: setting the external force threshold of the contact skipping motion smaller than the external force detection threshold of the contact stop action in which the cooperative robot stops the action due to contact with the outside. (Note 5) A numerical control system (1) is a numerical control system that uses a numerical control program of a numerical control device (4) to control a robot (3) through a robot control device (5), The numerical control device comprises: an analysis unit (42) for analyzing the robot control instruction in the numerical control program; a contact action instruction unit (47) for generating a contact skip action signal for causing the robot control device to perform a contact skip action in response to the robot control instruction analyzed by the analysis unit; and a robot instruction signal generation unit (45) for generating a robot instruction signal including the contact skip action signal and sending it to the robot control device, The robot control instruction includes an external force threshold, and the external force threshold is used to stop the robot when the robot detects an external force. The robot control device is provided with a contact action execution unit, and the contact action execution unit responds to the contact skip action signal. When the robot moves, if the external force detected by the robot exceeds the external force threshold, the robot stops moving and notifies the numerical control device that the robot has stopped moving. When the robot control device notifies the robot that it has stopped moving, the contact action instruction unit executes the next instruction block of the robot control instruction. (Supplementary Note 6) As in the numerical control system of Supplementary Note 5, the next instruction block of the robot control instruction includes: obtaining the position of the robot detected by the robot during the contact jump action from the robot control device, and measuring the size of the object according to the obtained position. (Supplementary Note 7) As in the numerical control system of Supplementary Note 5, the contact jump action signal includes: specifying the force or torque component of the robot when detecting the external force according to the movement direction or movement speed of the robot. (Note 8) In the numerical control system of Note 5, the robot is a cooperative robot that detects contact with a person and stops the action, the contact skip action signal includes: compared with the external force detection threshold of the contact stop action in which the cooperative robot stops the action due to contact with the outside, the external force threshold of the contact skip action is set smaller.

1:數值控制系統 2:工具機 3:協同合作機器人 4:數值控制裝置(CNC) 5:機器人控制裝置 31:外力檢測部 41:程式輸入部 42,52:解析部 43:動作控制部 44,51:記憶部 45:機器人指令訊號生成部 46,60:資料收發部 47:接觸動作指令部 53:機器人命令生成部 54:程式管理部 55:軌跡控制部 56:運動學控制部 57:伺服控制部 58:負載設定選擇部 59:動力學控制部 61:接觸動作執行部 62:接觸控制部 3a:臂前端部 3b:工具 1: Numerical control system 2: Machine tool 3: Collaborative robot 4: Numerical control device (CNC) 5: Robot control device 31: External force detection unit 41: Program input unit 42,52: Analysis unit 43: Motion control unit 44,51: Memory unit 45: Robot command signal generation unit 46,60: Data transmission and reception unit 47: Contact action command unit 53: Robot command generation unit 54: Program management unit 55: Trajectory control unit 56: Kinematics control unit 57: Servo control unit 58: Load setting selection unit 59: Dynamics control unit 61: Contact action execution unit 62: Contact control unit 3a: Front end of arm 3b: Tool

圖1是本實施形態的數值控制系統的功能方塊圖。 圖2是本實施形態的數值控制裝置及機器人控制裝置的功能方塊圖。 圖3是表示接觸跳過指令之例的圖。 圖4是表示接觸跳過指令之例的圖。 圖5是表示本實施形態的數值控制程式之例的圖。 圖6是表示執行圖5所示之數值控制程式時，數值控制裝置與機器人控制裝置之間的訊號及資訊的流程的循序圖。 FIG. 1 is a functional block diagram of a numerical control system of the present embodiment. FIG. 2 is a functional block diagram of a numerical control device and a robot control device of the present embodiment. FIG. 3 is a diagram showing an example of a contact skip instruction. FIG. 4 is a diagram showing an example of a contact skip instruction. FIG. 5 is a diagram showing an example of a numerical control program of the present embodiment. FIG. 6 is a sequence diagram showing the flow of signals and information between the numerical control device and the robot control device when executing the numerical control program shown in FIG. 5.

1:數值控制系統 1: Digital control system

2:工具機 2: Machine tools

3:協同合作機器人 3: Collaborative robots

4:數值控制裝置(CNC) 4: Numerical control device (CNC)

5:機器人控制裝置 5:Robot control device

31:外力檢測部 31: External force detection unit

41:程式輸入部 41: Program input section

42,52:解析部 42,52:Analysis Department

43:動作控制部 43: Motion control unit

44,51:記憶部 44,51: Memory Department

45:機器人指令訊號生成部 45: Robot command signal generation unit

46,60:資料收發部 46,60: Data receiving and sending department

47:接觸動作指令部 47: Contact action command unit

53:機器人命令生成部 53:Robot command generation department

54:程式管理部 54: Program Management Department

55:軌跡控制部 55:Trajectory Control Unit

56:運動學控制部 56: Kinematics Control Department

57:伺服控制部 57: Servo control unit

58:負載設定選擇部 58: Load setting selection section

59:動力學控制部 59: Dynamics Control Department

61:接觸動作執行部 61: Contact action execution unit

62:接觸控制部 62: Contact control unit

Claims (8)

一種數值控制裝置，是使用數值控制程式，透過機器人控制裝置來控制機器人的數值控制裝置，具備： 解析部，解析前述數值控制程式中之機器人控制指令； 接觸動作指令部，因應藉由前述解析部所解析的前述機器人控制指令，來生成用以使前述機器人控制裝置執行接觸跳過動作的接觸跳過動作訊號；及 機器人指令訊號生成部，生成包含前述接觸跳過動作訊號的機器人指令訊號，並發送至前述機器人控制裝置， 前述機器人控制指令包含外力閾值，前述外力閾值是用以在前述機器人檢測到外力的情況下使前述機器人停止， 前述機器人控制裝置因應前述接觸跳過動作訊號，在前述機器人的移動中，在前述機器人檢測到的外力超過前述外力閾值的情況下，使前述機器人的移動停止，並將前述機器人已停止移動之情形通知前述數值控制裝置， 當被前述機器人控制裝置通知前述機器人已停止移動之情形時，前述接觸動作指令部執行前述機器人控制指令的下一個指令區塊。 A numerical control device is a numerical control device that uses a numerical control program to control a robot through a robot control device, and comprises: an analysis unit that analyzes the robot control instruction in the numerical control program; a contact action instruction unit that generates a contact skip action signal for causing the robot control device to perform a contact skip action in response to the robot control instruction analyzed by the analysis unit; and a robot instruction signal generation unit that generates a robot instruction signal including the contact skip action signal and sends it to the robot control device, the robot control instruction includes an external force threshold, and the external force threshold is used to stop the robot when the robot detects an external force, In response to the contact skip action signal, the robot control device stops the movement of the robot when the external force detected by the robot exceeds the external force threshold value during the movement of the robot, and notifies the numerical control device of the fact that the robot has stopped moving. When the robot control device notifies the robot of the fact that the robot has stopped moving, the contact action instruction unit executes the next instruction block of the robot control instruction. 如請求項1之數值控制裝置，其中前述機器人控制指令的下一個指令區塊包含：從前述機器人控制裝置取得前述機器人在前述接觸跳過動作時偵測到接觸的位置，並因應所取得的前述位置來測定對象物的尺寸。As in the numerical control device of claim 1, the next instruction block of the aforementioned robot control instruction includes: obtaining from the aforementioned robot control device the position where the aforementioned robot detects contact during the aforementioned contact jump action, and measuring the size of the object based on the aforementioned position obtained. 如請求項1之數值控制裝置，其中前述接觸跳過動作訊號包含：因應前述機器人的移動方向或移動速度，來指定前述機器人檢測外力時之力或扭矩的分量。As in the numerical control device of claim 1, the aforementioned contact jump action signal includes: specifying the component of force or torque when the aforementioned robot detects external force in response to the movement direction or movement speed of the aforementioned robot. 如請求項1之數值控制裝置，其中前述機器人是偵測與人的接觸並停止動作的協同合作機器人， 前述接觸跳過動作訊號包含：相較於前述協同合作機器人因為與外部的接觸而停止動作的接觸停止動作的外力檢測閾值，將前述接觸跳過動作的前述外力閾值設定得更小。 As in the numerical control device of claim 1, wherein the aforementioned robot is a cooperative robot that detects contact with a person and stops the action, The aforementioned contact skip action signal includes: compared with the external force detection threshold of the contact stop action in which the aforementioned cooperative robot stops the action due to contact with the outside, the aforementioned external force threshold of the aforementioned contact skip action is set smaller. 一種數值控制系統，是使用數值控制裝置的數值控制程式，透過機器人控制裝置來控制機器人的數值控制系統， 前述數值控制裝置具備： 解析部，解析前述數值控制程式中之機器人控制指令； 接觸動作指令部，因應藉由前述解析部所解析的前述機器人控制指令，來生成用以使前述機器人控制裝置執行接觸跳過動作的接觸跳過動作訊號；及 機器人指令訊號生成部，生成包含前述接觸跳過動作訊號的機器人指令訊號，並發送至前述機器人控制裝置， 前述機器人控制指令包含外力閾值，前述外力閾值是用以在前述機器人檢測到外力的情況下使前述機器人停止， 前述機器人控制裝置具備接觸動作執行部，前述接觸動作執行部因應前述接觸跳過動作訊號，在前述機器人的移動中，在前述機器人檢測到的外力超過前述外力閾值的情況下，使前述機器人的移動停止，並將前述機器人已停止移動之情形通知前述數值控制裝置， 當被前述機器人控制裝置通知前述機器人已停止移動之情形時，前述接觸動作指令部執行前述機器人控制指令的下一個指令區塊。 A numerical control system is a numerical control system that uses a numerical control program of a numerical control device to control a robot through a robot control device. The numerical control device comprises: an analysis unit that analyzes the robot control instruction in the numerical control program; a contact action instruction unit that generates a contact skip action signal for causing the robot control device to perform a contact skip action in response to the robot control instruction analyzed by the analysis unit; and a robot instruction signal generation unit that generates a robot instruction signal including the contact skip action signal and sends it to the robot control device. The robot control instruction includes an external force threshold, and the external force threshold is used to stop the robot when the robot detects an external force. The robot control device is provided with a contact action execution unit. The contact action execution unit, in response to the contact skip action signal, stops the movement of the robot when the external force detected by the robot exceeds the external force threshold value during the movement of the robot, and notifies the numerical control device of the fact that the robot has stopped moving. When the robot control device notifies the robot of the fact that the robot has stopped moving, the contact action instruction unit executes the next instruction block of the robot control instruction. 如請求項5之數值控制系統，其中前述機器人控制指令的下一個指令區塊包含：從前述機器人控制裝置取得前述機器人在前述接觸跳過動作時偵測到接觸的位置，並因應所取得的前述位置來測定對象物的尺寸。As in the numerical control system of claim 5, the next instruction block of the aforementioned robot control instruction includes: obtaining the position of the aforementioned robot detected during the aforementioned contact jump action from the aforementioned robot control device, and measuring the size of the object based on the aforementioned position obtained. 如請求項5之數值控制系統，其中前述接觸跳過動作訊號包含：因應前述機器人的移動方向或移動速度，來指定前述機器人檢測外力時之力或扭矩的分量。As in the numerical control system of claim 5, the aforementioned contact jump action signal includes: specifying the component of force or torque when the aforementioned robot detects external force in response to the movement direction or movement speed of the aforementioned robot. 如請求項5之數值控制系統，其中前述機器人是偵測與人的接觸並停止動作的協同合作機器人， 前述接觸跳過動作訊號包含：相較於前述協同合作機器人因為與外部的接觸而停止動作的接觸停止動作的外力檢測閾值，將前述接觸跳過動作的前述外力閾值設定得更小。 As in the numerical control system of claim 5, wherein the aforementioned robot is a cooperative robot that detects contact with a person and stops the action, The aforementioned contact skip action signal includes: compared with the external force detection threshold of the contact stop action in which the aforementioned cooperative robot stops the action due to contact with the outside, the aforementioned external force threshold of the aforementioned contact skip action is set smaller.

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