JPH09167003A - Operation device for operation confirmation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To confirm the operation of an aggregate, operation by operation, and improve the convenience by providing the operation device which can operates a program, generated automatically by a control means, in operation units. SOLUTION: When a start switch 31 is pressed while an independent mode is selected with a mode selection switch 34, a unified operation device 20 is triggered and a specific program starts to recognize a robot, operation, and components selected with an operation unit selection switch 36; and an independent actuation indication including data on them is sent to a unified control unit through an interface. Then it is judged whether or not a stop switch 32 is pressed or whether or not the start switch 31 is still pressed and when the stop switch 32 is pressed or when the start switch 31 is turned off, a stop indication is sent to the unified control unit. Consequently, the operation of the aggregate consisting of many robots can be confirmed in operation units.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a production system capable of automatically generating a program for a plurality of work equipments installed in one line based on a work unit program. The present invention relates to an operation confirmation operation device that can be operated in each work unit to confirm an operation.

[0002]

2. Description of the Related Art Conventionally, robot teaching (teaching)
In many cases, work is performed by actually moving a robot using an operation panel called a teaching pendant and inputting required information. However, in this method, it takes a huge amount of time to teach a complicated motion, and moreover, the line has to be stopped during the teaching work.

In order to solve this problem, a teaching method called off-line teaching has recently been developed and put into practical use. Off-line teaching is a method of creating an operation program on a computer while simulating on a graphics screen based on the shape of a robot created by three-dimensional CAD. According to this off-line teaching, it is not necessary to use a robot on the line, and since teaching is performed on a computer, the efficiency of teaching work can be improved. However, even with this method, many robots are installed in the line,
When many of these robots perform different operations, it is necessary to teach all the robots, so there is a certain limit even if the efficiency of the teaching work is improved.

Therefore, it is now common to arrange a large number of robots that perform a large number of different works on one line, and in order to more efficiently perform teaching for moving a large number of robots in cooperation, a work unit A technique for automatically creating an operation program for each robot using the above program has been proposed (Japanese Patent Application No. 7-00 of the present applicant).
9149, 7-009150, 7-00915
No. 1). Here, each work unit is composed of one work and one work element (one operation is determined by this combination), and the work unit program is organized by assigning each such work unit to an appropriate robot. To be done.

[0005]

However, even in the conventional technique of automatically creating the motion program of each robot based on the program of the work unit in this way, the program is programmed based on the program of the work unit. When a large number of robots are viewed as an aggregate, an operating device for moving the aggregate, that is, an operating device capable of operating the aggregate in each work unit to confirm the operation of each work unit after programming is provided. Therefore, there is a problem in convenience in confirming the operation. With traditional teaching pendants,
Since only the operation of the corresponding individual robot can be executed, it is not possible to meet the demand for confirming the operation for each work unit.

The present invention has been made by paying attention to the above problem in a production system capable of automatically creating a program for a large number of robots installed on one line based on a program of a work unit. It is an object of the present invention to provide an operation confirmation operation device that can be operated in each work unit in order to confirm the operation of each programmed work unit.

[0007]

In order to achieve the above object, the invention according to claim 1 is a production system for performing a series of works for a plurality of works by using a plurality of work equipments.
A work facility that executes it is assigned to each work unit defined by one work and one work element, and a program for each work facility is automatically generated from this assignment result, and the operation of each work facility is comprehensively controlled. In a production system including control means for controlling, an operating device for confirming the operation of each work unit after programming, the display device displaying a program including one or a plurality of work units, and the display device. The present invention is characterized by having selection means for selecting a work unit whose operation is to be confirmed from the displayed program, and output means for outputting an operation confirmation command for the work unit selected by the selection means to the control means. .

In the present invention, the display means displays a program consisting of one or a plurality of work units. The displayed program has already been edited by the control means. The selecting means selects a work unit whose operation is desired to be confirmed from the programs displayed on the display means. The output means outputs an operation confirmation command for the work unit selected by the selection means to the control means. As a result, the control means outputs the program of the assigned work equipment already created in relation to the work unit to the controller of the work equipment.

According to a second aspect of the present invention, in the above-mentioned first aspect of the invention, the selecting means includes a changing means for changing a combination of a work, a work element, and work equipment whose operation is desired to be confirmed. To do.

In the present invention, the changing means changes the combination of the work, the work element, and the work equipment whose operation is desired to be confirmed. This allows the user to freely select a work unit whose operation is desired to be confirmed, in addition to the program displayed on the display means.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a device configuration diagram showing an embodiment of the present invention. Here, three robots 10a, 10b, 10c (# 1, #
2 and # 3), and these three robots 10a to 1 are arranged.
The case where a predetermined series of assembling work for a plurality of works (for example, a side vent grill (SVG), a duct, etc.) is performed by 0c is taken as an example. Each robot 10a-10
Dedicated robot controllers 11a and 1 are provided for c, respectively.
1b and 11c are connected, and this robot controller 1
1 controls the operation of the corresponding robot 10.
The operation program of each of the robots 10a to 10c is the corresponding robot controller 11 from the unified control device described later.
a, 11b, 11c. A teaching pendant (not shown) is connected to each of the robot controllers 11a to 11c.

The unified control device 12 functions as a control means, and each of the robot controllers 11a-11a.
An interface 13 for connecting with c, a startup sequence control unit 14 for controlling a startup sequence (which robot operates in what order), and a combination of each work, work element, and robot is edited to create a work unit. A work organization unit 15 that creates a program, and each robot 10 based on the work unit program created by the work organization unit 15
The program creation unit 16 that creates the operation programs a to 10c, the data input from various files and input devices (such as CAD described later) that stores predetermined information necessary for automatically creating the program, and the processing results of each unit. A storage unit 17 for storing data and the like, and an external CAD system 19
And an interface 18 for connecting to.

Since one work is determined by one work (side vent grill, duct, etc.) and one work element (grasping, inserting, etc.), the work knitting unit 15 makes such work units appropriate robots. A work unit program is created by allocating the work units to 10a to 10c. The operation program of each of the robots 10a to 10c is automatically generated by the program creation unit 16 from the work unit program created by the work organization unit 15 and the teaching data based on the simulation result on the CAD system 19 input from the CAD system 19. Be created. The programs of the robots 10a to 10c created by the program creation unit 16 are output to the robot controllers 11a to 11c via the interface 13 while being controlled by the startup sequence control unit 14 in the startup sequence.

A unified operation device 20 according to the present invention is connected to the unified control device 12. The unified operation device 20 enables an operation for each work unit, and an interface 21 for connecting to the unified control device 12 and an output means for creating instruction data of an operation to be output to the unified control device 12. And a display 23 as a display unit for displaying the program of the work unit created by the work organization unit 15 in the unified control device 12.
A display processing section 24 for displaying data on the display 23, various key switches 25 as selection means for operation, a key input processing section 26 for processing input data from the key switch 25, The storage unit 27 stores data of processing results of each unit.

FIG. 2 is an external view showing an example of the unified operating device 20. This unified operation device 20 has an emergency stop switch 30, a start switch 31, a stop switch 32, an override switch 33, etc., which are common to the conventional operation devices (teaching pendant, etc.), and also has a characteristic part of the present invention. A display 23 for displaying a unit program, a mode selection switch 34 for selecting a mode (single, step, cycle), a display selection switch 35 for selecting a program or step on the display 23, a robot constituting a work unit, a work element, A work unit selection switch 36 for selecting a part (work) is provided. The step mode is a mode for moving only the step selected on the display 23, the cycle mode is a mode for executing a series of movements of the program displayed on the display 23, and the single mode is the display 23. This is a mode for arbitrarily selecting and executing a combination of parts, work, and robots separately from the program displayed above. The changing means is composed of a mode selection switch 34 and a work unit selection switch 36.

Next, the operation of this system will be described with reference to the flow chart. FIG. 3 is a flowchart showing a processing procedure of the unified operation device 20 when the step / cycle mode is selected, and FIG. 4 is a flowchart showing a processing procedure of the unified control device 12 at that time.

In the step / cycle mode, processing for playing back a program already created by the unified control device 12 is performed, and the start switch 3
Triggered by pressing 1 (on).

That is, when the start switch 31 is pressed while the step / cycle mode is selected by the mode selection switch 34 (step S1), the unified operation device 20 uses this as a trigger to start a predetermined program and display it. The step / currently setting which is selected and displayed on the display 23 by the selection switch 35.
The program is recognized (step S2), and the instruction data creating unit 22 creates operation instruction data (step S2).
3). An example of the instruction data is as shown in FIG. 5, and is composed of various information such as the selected mode, program number, step number, and override. The instruction data created in step S3 is transmitted to the unified control device 12 via the interface 21 (step S4).
After that, it is determined whether or not the stop switch 32 is pressed and whether or not the start switch 31 is still pressed (steps S5 and S6), and when the stop switch 32 is pressed or the start switch 31 is turned off. Transmits a stop instruction to the unified control device 12 (step S7) and ends the series of processes.

At this time, on the other hand, the unified control device 12
Unified operation device 2 as the processing result of step S4 in FIG.
When the instruction data (see FIG. 5) is input from 0 (step S11), the program having the number indicated by the instruction data (in the step mode is further selected from the already set programs stored in the storage unit 17). The program of the step number) is read (step S12), and the read program is transmitted to the robot controller 11 of the robot 10 concerned (step S13). As a result, each robot 10 performs the operation of the designated work unit. Meanwhile, step S7 in FIG.
When a stop instruction is input from the unified operation device 20 as the processing result of (step S14), each robot controller 1
A stop command is output to 1 (step S15).

For example, taking the program displayed on the display 23 shown in FIG. 2 as an example, when step 3 of program 1 is selected in step mode,
When the start switch 31 is pressed, the operation of the work unit of gripping the side vent grill # 2 is performed by the robot #.
2 runs. Further, when the program 1 is selected in the cycle mode, the operation of step 1 (side vent grill # 1
Robot # 1 performs a gripping operation of the robot), step 2 operation (robot # 3 performs a gripping operation of the duct),
Each robot 1 performs the operation of step 3 (the robot # 2 performs the operation of gripping the side vent grill # 2) and the operation of step 4 (the robot 3 performs the operation of inserting the duct).
0a to 10c are sequentially performed.

Although the stop instruction is transmitted here even when the start switch 31 is turned off, the present invention is not limited to this. For example, when the start switch 31 is turned off, a temporary stop instruction is transmitted, and the start switch 3 is restarted.
When 1 is turned on, a continuation instruction is transmitted, that is, the robot 10 continues to move while the activation switch 31 is on, and when the activation switch 31 is turned off, the robot 10 may be temporarily stopped. Is. At this time, the stop switch 32 is pressed when it is desired to completely stop the operation of the robot 10.

FIG. 6 shows a unified operation device 2 when the single mode is selected.
7 is a flowchart showing the processing procedure of 0, and FIG. 7 is a flowchart showing the processing procedure of the unified control device 12 at that time. In the single mode, processing for playing back (reproducing) one work unit including the robot, work, and parts designated by the work unit selection switch 36 is performed. Therefore, if the single mode is selected, an operation can be confirmed by causing an arbitrary robot 10 to execute an arbitrary work unit, in addition to the currently set program. This single process is also triggered by pressing (turning on) the activation switch 31.

That is, in the unified operating device 20, when the start switch 31 is pressed in the state where the single mode is selected by the mode selection switch 34 (step S2).
1) With this as a trigger, a predetermined program is started, the robot, work, and parts selected by the work unit selection switch 36 are recognized (step S22), and a single start instruction including these data is issued via the interface 21. Send to the unified control device 12 (step S2
3). After that, whether the stop switch 32 is pressed,
It is determined whether the start switch 31 is still pressed (steps S24 and S25), and if the stop switch 32 is pressed or the start switch 31 is turned off, a stop instruction is transmitted to the unified control device 12. (Step 2
6) Then, a series of processing is ended.

At this time, on the other hand, the unified control device 12
When instruction data is input from the unified operation device 20 as the processing result of step S23 in FIG. 6 (step S31),
The program of the robot is read out from the programs stored in the storage unit 17 (step S3).
2) The read program is transmitted to the robot controller 11 of the designated robot 10 (step S33). Since the unified control device 12 is provided with programs for all work units for each robot, the program of the robot that executes the work unit can be easily extracted from the instruction data of the robot, work, and parts. In step S33, the designated robot 10 is activated and operates in the designated work unit. Meanwhile, when a stop instruction is input from the unified operation device 20 as the processing result of step S26 in FIG. 6 (step S34), the stop instruction is output to the corresponding robot controller 11 (step S35).

Here, similarly to the case of the step / cycle mode, the robot 10 can be kept moving while the start switch 31 is pressed, and the robot 10 can be temporarily stopped when the start switch 31 is turned off. is there.

Therefore, according to the present embodiment, since the unified operation device 20 that can operate the program automatically created by the unified control device 12 in each work unit is provided, the operation of the aggregate including the large number of robots 10a to 10c. Can be checked for each work unit, greatly improving convenience.

Further, when the single mode is selected, the operation can be confirmed by causing the arbitrary robot 10 to execute an arbitrary work unit in addition to the currently set program, so that the teaching is corrected. When performing, it is possible to easily confirm the correction operation for each work unit.

In the present embodiment, the case where only the robot is used as the working equipment has been described, but it goes without saying that the present invention is not limited to this.

[0029]

As described above, according to the first aspect of the present invention, since the operating device for operating the program automatically generated by the control means can be operated in the unit of work, a set of a plurality of working equipments is provided. It becomes possible to confirm the movements of the body in work units, which greatly improves convenience.

According to the second aspect of the invention, in addition to the effect of the first aspect of the invention, a change unit is provided to execute an arbitrary work unit on an arbitrary work facility separately from the currently set program. Since it is possible to confirm the operation by doing so, it is possible to easily confirm the correction operation for each work unit when the teaching is corrected.

[Brief description of the drawings]

FIG. 1 is a device configuration diagram showing an embodiment of the present invention.

FIG. 2 is an external view showing an example of the unified operation device shown in FIG.

FIG. 3 is a flowchart showing a processing procedure of the unified operation device when the step / cycle mode is selected.

FIG. 4 is a flowchart showing a processing procedure of the unified control device corresponding to FIG.

FIG. 5 is a diagram showing a configuration example of instruction data.

FIG. 6 is a flowchart showing a processing procedure of the unified operation device when the single mode is selected.

7 is a flowchart showing a processing procedure of the unified control device corresponding to FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Robot (production equipment) 11 ... Robot controller 12 ... Unified control device (control means) 20 ... Unified operation device 22 ... Instruction data creation part (output means) 23 ... Display (display means) 24 ... Key switch (selection means) 34 ... Mode selection switch (changing means) 36 ... Work unit selection switch (changing means)

Claims (2)

[Claims] 1. A production system for performing a series of operations for a plurality of works by using a plurality of work equipments, the work equipments performing the work for each work unit defined by one work and one work element. Assignment, an operation for automatically generating a program for each work facility from this assignment result, and confirming the action of each work unit after the program in a production system equipped with a control means for integrally controlling the action of each work facility The apparatus is a display unit for displaying a program including one or a plurality of work units, a selection unit for selecting a work unit whose operation is desired to be confirmed from the programs displayed on the display unit, and a selection unit for selecting the work unit. An operation unit for outputting an operation confirmation command for the selected work unit to the control unit, and an operation device for operation confirmation. 2. The selection means is a work whose operation is to be confirmed,
2. The operation confirming operation device according to claim 1, further comprising changing means for changing a combination of the work element and the work equipment.