JP2003071764A - Production system, control method therefor, and recording medium readable by computer for recording program making computer execute control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately and efficiently control the movements of each arm of a duplex arm robot having a single arm and double arms or more and change the number of arms in accordance with a production process easily to improve the productivity. SOLUTION: A plurality of single arm robots 102 are connected with a robot controller 300, and their movements are controlled. The robot controller 300 can switch a pair of arbitrarily adjacent single arm robots 102 as a double arm robot 106 and control their movements. By installing a plurality of robot controllers 300, a production system in which a plurality of single arm robots 102 and the double arm robot 106 by means of a pair of single arm robots 102 are arranged can be constituted to change a configuration of robots in accordance with the production process flexibly.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a production system in which a plurality of single-arm robots operate to perform automatic assembly, and more specifically, a plurality of single-arm robots as single-arm robots or double-arm or more The present invention relates to a production system that operates in cooperation as a robot, and particularly to a production system capable of flexibly coping with changes in production processes, a control method therefor, and a computer-readable recording medium recording a program for causing a computer to execute the control method.

[0002]

2. Description of the Related Art Conventionally, a single-arm robot is often used in the automation of a production line (Japanese Patent Laid-Open No. 14195/1996).
Disclosed in Japanese Patent Publication No. 7). Such a production line has a long cycle due to mass production, and is configured by arranging a single-arm robot having necessary functions in each process based on efficiency and productivity.

In recent years, dual-arm robots have begun to be used due to complication and efficiency of assembly, and a production line system in which single-arm robots and dual-arm robots are mixed is being constructed. However, the dual-arm robot has many complicated problems such as interference and synchronization of both arms, and it is difficult to control. Therefore, the wiring and the control are naturally complicated as compared with the single-arm robot. As mentioned above, in a production system that emphasizes efficiency and productivity, the simplest wiring and control are required as much as possible even in consideration of reduction of failure rate and maintenance, so a double-arm robot is required on the production line. It was placed only in the process.

A conventional robot controller is provided for each single-arm robot and dual-arm robot and controls each robot. The technique disclosed in Japanese Unexamined Patent Publication No. 10-207517 has a configuration in which one robot control device controls two or more robots when performing cooperative operation of a plurality of robots.

Further, the technique disclosed in Japanese Patent Application Laid-Open No. 8-141957 causes each robot control device to store motion information of a robot performing a cooperative operation, and the robot control devices are connected to each other by a communication line or a network, This is a configuration in which a flexible production line is constructed by performing cooperative work between arbitrary combinations of robots by communicating.

[0006]

However, in recent years,
Since the production line is changed in a short period of time in order to cope with small-lot, high-mix production, it is required to easily change the production line and to shorten the time required to change the production line. Conventionally, a dual-arm robot has been controlled by maintaining one-arm operation control in real time and controlling one robot by providing one robot controller for the control.

Therefore, in the case of a production line in which a single-arm robot as described above and a double-arm robot or a multi-arm cooperative robot coexist, the robots required for that process are arranged and configured according to the process. It is not easy to change the layout each time according to multi-product production. Relocation such as switching the single-arm robot and the dual-arm robot according to the process requires labor and time, and the required number of single-arm robots and dual-arm robots may become insufficient or insufficient. It is not desirable because it leads to idleness and excessive functions, which leads to a decrease in productivity.

The above-mentioned Japanese Patent Laid-Open No. 10-207517
According to the technique of the publication, when performing a cooperative operation of a plurality of robots, one robot control device can control two or more robots. However, in such a robot controller, the robot to be controlled is fixed. Therefore, there are problems such as the limitation of the performance of the arithmetic unit, the fixed combination of robots that perform cooperative operation, and the inability to improve productivity due to operating speed and waiting time. It is necessary to relocate them together, which requires labor and time, and it is difficult to respond flexibly to the production line.

On the other hand, the technique disclosed in Japanese Unexamined Patent Application Publication No. 8-141957 is such that each robot controller stores motion information of a robot performing a cooperative operation, and each robot controller is connected by a communication line or network to communicate with each other. Collaborate between arbitrary robot combinations with
We are building a flexible production line.

However, when the robot control devices are connected by a communication line or network and the operation information of the robots are communicated to perform cooperative control, wiring becomes complicated and communication speed becomes a problem. In particular, there are many problems that occur at communication speed for cooperative control such as grasping one object with both hands, not cooperative operation such as mutual work of multiple robots. There is a limit to the speed and it is difficult to improve productivity.

In order to solve the above-mentioned problems of the prior art, the present invention can accurately and efficiently control the operation of each arm of a single-arm or a multi-arm robot having two or more arms, and the number of arms can be adjusted according to the production process. It is an object of the present invention to provide a computer-readable recording medium in which a production system which can be easily changed and whose productivity can be improved, a control method therefor, and a program for causing a computer to execute the control method are recorded.

[0012]

[Means for Solving the Problems]
In order to achieve the object, the production system according to the invention of claim 1 is a production system in which a plurality of robots operate to perform automatic assembly, and the plurality of single-arm robots and the plurality of single-arm robots are provided. A robot that can be controlled by switching between a first state in which it operates as an independent single-arm robot and a second state in which a part or all of the plurality of robots are combined to operate as a multi-arm robot. And a control device.

According to the invention of claim 1, the single-arm robot can be changed to a single-arm or a multi-arm robot having two or more arms, and it is possible to flexibly cope with a change in the production process and to improve productivity. Can be improved.

Further, in the production system according to the invention of claim 2, in the invention of claim 1, a plurality of the robot control devices are arranged, and each of the plurality of robot control devices is the second robot control device. In the state, each single-arm robot is controlled in units of the combined multi-arm robot.

According to the invention of claim 2, the robot controller can smoothly control the operation of the multi-arm robot in accordance with the change of the production process.

The production system according to a third aspect of the present invention is the production system according to any one of the first and second aspects, wherein each of the single-arm robots and each of the robot control devices are provided along a production line. A plurality of units are provided and are connected to each robot controller in units of a pair of single-arm robots, and each robot controller operates as a single-arm robot in a first state, and a pair of single-arm robots operates as a double-arm robot. The two-arm robot is configured to be switchable and controllable in the second state, and the pair of single-arm robots can be configured by any adjacent pair of the single-arm robots. It is characterized in that it is connected to the same robot control device, and another single-arm robot is connected to another robot control device so that they can be controlled respectively.

According to the third aspect of the present invention, a pair of single-arm robots are connected to one robot control device, and the operation is controlled by switching to a single-arm or dual-arm robot. Therefore, the control operation of each single-arm robot and the combined multi-arm robot can be smoothly executed.

The production system according to a fourth aspect of the present invention is the production system according to any one of the first to third aspects, wherein each of the plurality of single-arm robots is provided with another adjacent single-arm. It is characterized in that it is provided with a gantry having a reference surface of a predetermined shape capable of ensuring the accuracy of combination with the robot.

According to the fourth aspect of the present invention, the axis accuracy of each single-arm robot can be ensured, and a multi-arm robot can be constructed in which the axis accuracy is ensured when a plurality of single-arm robots are combined.

A production system according to a fifth aspect of the present invention is the production system according to any one of the first to fourth aspects, wherein the plurality of single-arm robots and the plurality of robot controllers are provided. Is characterized in that an optical connector is used for a transmission line for control, and each arbitrary single-arm robot and each robot controller can be connected.

According to the invention of claim 5, when the combination of the plurality of single-arm robots and the robot controller is changed, the mutual transmission paths can be easily switched.

The production system according to a sixth aspect of the present invention is the production system according to any one of the first to fifth aspects, wherein the robot controller is for controlling each connected single-arm robot. Arithmetic means for executing robot control arithmetic operation, servo control means for controlling each axis motor of each single-arm robot, first storage means for storing parameters peculiar to each single-arm robot, and each single-arm robot. A second storage means for storing information necessary for robot control of the arm robot and a teaching means for controlling the single-arm robot are provided, and the first storage means has parameters unique to the plurality of single-arm robots. Is stored, and parameters corresponding to the connected single-arm robot to be controlled can be selected and set.

According to the sixth aspect of the present invention, each robot controller can select and set parameters unique to the connected single-arm robot, and can control any single-arm robot by any robot controller. As a result, the combination can be easily changed.

Further, in the production system according to the invention of claim 7, in the invention according to claim 6, when a plurality of the robot control devices are arranged, a production system control for centrally controlling each robot control device is performed. An apparatus is provided, and the production system controller has a storage unit for storing parameters unique to each of the single-arm robots and a communication unit for communicating with each of the robot controllers, and is adapted to a planned production system. Corresponding to the combination of each single-arm robot and each robot control device set by the above, information about the single-arm robot to be connected to each robot control device, and parameters unique to the single-arm robot are provided to the communication means. It is characterized in that it is sent out and set through.

According to the seventh aspect of the present invention, the production system control device centrally controls the plurality of robot control devices, and is required in the robot control device when combining the plurality of single-arm robots and the plurality of robot control devices. Since the information of the single-arm robot and the parameter unique to the single-arm robot are transmitted, it is possible to combine an arbitrary single-arm robot and an arbitrary robot control device, and it is possible to easily change the combination.

The production system according to an eighth aspect of the present invention is the production system according to the seventh aspect, wherein the production system control device has communication means for communicating with each robot control device. When a third state in which more than the number of robot arms of a single-arm robot that can be controlled by the control device is coordinated occurs, the operation of the corresponding robot control device is controlled via the communication means.

According to the eighth aspect of the present invention, the production system control device is used when cooperative control of more than the number of controllable robot arms of a single arm and a multi-arm executed by a plurality of robot control devices is required. Since the robot control device controls the robot control system, it is possible to flexibly respond to changes in the production process, and it is possible to configure a production system that is more in line with the demand.

Further, in the production system according to the invention of claim 9, in the invention according to any one of claims 1 to 8, parts are automatically assembled on a production line by operating the plurality of one-arm robots. , Or that it can be automatically disassembled.

According to the invention of claim 9, it is not necessary to construct a robot system for disassembling, and automatic assembling and disassembling of parts can be performed by using a single-arm or a multi-arm robot having two or more arms. Therefore, it is possible to construct an assembling and disassembling line that can reduce equipment costs and save space.

According to a tenth aspect of the present invention, there is provided a method of controlling a production system, comprising a plurality of single-arm robots for automatic assembly, wherein each of the plurality of single-arm robots is independent. It is controlled by switching between a first state in which it operates as a single-arm robot and a second state in which a part or all of the plurality of robots are combined to operate as a multi-arm robot. And

According to the tenth aspect of the present invention, the single-arm robot can be changed to a single-arm or a multi-arm robot having two or more arms, and it is possible to flexibly cope with changes in the production process and to improve productivity. Can be improved.

The control method of the production system according to the invention of claim 11 is the same as that of the invention of claim 10,
There is a step of connecting a plurality of paired single-arm robots to each robot controller, and each robot controller has a first state of operating as a single-arm robot and a pair of single-arm robots. It is characterized in that it can be switched and controlled in the second state of operating as an arm robot.

According to the eleventh aspect of the present invention, a pair of single-arm robots are connected to one robot controller, and the operation is controlled by switching to a single-arm or dual-arm robot, so that it is possible to flexibly cope with changes in the production process. Therefore, the control operation of each single-arm robot and the combined multi-arm robot can be smoothly executed.

The control method for the production system according to the twelfth aspect of the invention is the method according to the eleventh aspect of the invention.
A step of storing parameters unique to each of the plurality of single-arm robots in the robot control device in advance, and a step of selecting and setting parameters corresponding to the control target single-arm robots connected to the robot control devices. It is characterized by including.

According to the twelfth aspect of the present invention, an arbitrary single-arm robot can be controlled by an arbitrary robot controller, and the combination can be easily changed.

The control method for the production system according to the thirteenth aspect of the invention is the method according to the twelfth aspect of the invention.
When a plurality of the robot control devices are arranged, a step of arranging a production system control device that supervises and controls each robot control device, and each of the production system control devices set according to a planned production system. Corresponding to the combination of the single-arm robot and each robot control device, for each robot control device, information of the single-arm robot to be connected, and a step of transmitting and setting the parameters specific to the single-arm robot by communication, It is characterized by including.

According to the thirteenth aspect of the present invention, the information of the single-arm robot required by the robot controller when the plurality of single-arm robots and the plurality of robot controllers are combined, and the parameters unique to the single-arm robot are: Since it can be sent from the production system controller that controls the control,
An arbitrary single-arm robot and an arbitrary robot controller can be combined, and the combination can be easily changed.

The control method of the production system according to the fourteenth aspect of the present invention is the method according to the thirteenth aspect of the present invention.
The production system control device includes a step of controlling the robot control device by communication when a third state in which more than the number of robot arms of a single-arm robot that can be controlled by the robot control device occurs is coordinated. It is characterized by

According to the fourteenth aspect of the present invention, the production process can be performed even if there is a case where the coordinated control of the number of controllable robot arms of the single arm and the multiple arms executed by the plurality of robot control devices is required. It becomes possible to flexibly respond to changes in the above, and a production system can be configured to meet more demands.

A recording medium according to a fifteenth aspect of the present invention records a program for causing a computer to execute the method according to any one of the tenth to fourteenth aspects. Can be read by a computer, whereby the operation according to any one of claims 10 to 14 can be realized by the computer.

[0041]

BEST MODE FOR CARRYING OUT THE INVENTION With reference to the accompanying drawings, preferred embodiments of a computer-readable recording medium in which a production system according to the present invention, a control method therefor, and a program for causing a computer to execute the control method are recorded are described. The form will be described in detail.

FIG. 1 is a schematic diagram showing the arrangement of lines and robots in the production system of the present invention. FIG. 1A shows an example of an automatic assembly system using a plurality of robots. In the automatic assembly production system 100, a plurality of robots 102 (102a to 102n) are provided along the line 101.
Are placed. Although a six-axis robot will be described here, the robot may be a vertical type, an orthogonal type, or a horizontal type,
The number of axes is also not particularly limited. Further, each of the plurality of robots 102 does not necessarily have to be a line that is lined up in a line, and may be a cell type and does not limit the system configuration. In the following description, an example in which two single-arm robots are combined to form a double-arm robot will be described, but the present invention is not limited to double-arm robots, and a multi-arm robot having three or more arms is also configured. can do.

Each robot 102 mounted on a mount (not shown)
In the assembly space 105 (105a to 105n), the components provided in the corresponding component supply units (not shown) are assembled and placed in the component supply unit for the next process. The place for placing the components after assembly may be either the same as that of the component supply unit in the next process or a different place. Further, as the peripheral equipment for supplying components, AGV (unmanned transportation system) or the like can be used.

FIG. 1B shows an example of the configuration of the dual-arm robot 106. Among the single-arm robots 102 shown in FIG. 1A, the robots 102b and 102c are adapted to the manufacturing process.
Are combined as shown in the figure to perform a cooperative operation as a dual-arm robot 106. When the manufacturing process is changed, the combination of the dual-arm robot 106 is changed corresponding to the fixed change. For example, as shown in FIG. 1C, the dual-arm robot 106 is returned to the single-arm robots 102b and 102c, and the single-arm robots 102c and 102d are combined to form the dual-arm robot 106.

As described above, the plurality of single-arm robots 10 are provided.
2 is the single-arm robot 102b, 102c,
Not only 102d but all single-arm robots 102a-1
02n can operate independently, and can also operate as a dual-arm robot 106 in combination with adjacent single-arm robots.

Next, the procedure for changing the production system configuration will be described. FIG. 2 is a flowchart showing a procedure for determining a combination of dual-arm robots when the production system configuration is changed. First, the line configuration of the production system 100 is determined according to the production process (step S201), and then each robot 102 arranged in the production system 100 is operated by a single-arm robot or the double-arm robot 106.
Or the combination of dual-arm robots is determined (step S202). Next, the robot connection controller, that is, the robot control device 300 (described in FIG. 3) connected to each robot 102 corresponding to the determined combination of the double-arm robots is determined (step S20).
3). A method of determining the control device that connects each robot will be described later.

Next, parameters (robot parameters) specific to the robot 102 to be controlled are selected (set) (step S204), and a robot control program is created (step S205). It is also possible to write constants and numbers for selecting robot parameters in the control program and read the robot parameters when the program is started. In this embodiment, since the robot parameters are changed only when the configuration of the production system 100 is changed, the robot parameters are selected and read and controlled when the control program is created.

FIG. 3 is a block diagram showing the internal structure of the robot control device for controlling the robot 102. Less than,
The robot 102 will be described with a configuration example of a 6-axis robot. The single-arm robots 102a and 102b shown in FIG. 3 have a robot arm (not shown) and a robot hand that is attached to and detached from the tip of the robot arm, and grips parts by the robot hand. The two single-arm robots 102a and 102b are connected to one robot control device 300.

The robot controller 300 comprises a servo controller 301, an arithmetic unit 304, a storage unit 305, and a teaching unit (not shown). The storage unit 305 includes two storage units 305a and 305b for different information.
Parameters unique to each single-arm robot 102 are stored in the storage unit 305a. The storage unit 305b stores information such as position and speed regarding robot control.

The servo control unit 301 and the arithmetic unit 304 are supplied with the motor position signals of the respective axes of the robots 102a and 102b, and the arithmetic unit 304 stores the storage units 305a and 305b.
Necessary information is read from, the operation command of the robot is calculated, and output to the servo control unit 301.

The servo control unit 301 is used by the robot 102.
The axis motors a and 102b are servo-controlled to make the robot hand perform a target operation. Since the servo control unit 301 controls each axis motor, it is configured to be able to control twice the number of axes (6 × 2 = 12 axes) of the single-arm robot 102. Therefore, the arithmetic unit 304 separates the two single-arm robots 102a and 102b from each other.
It is possible to arbitrarily determine whether to control as a or 102b or the dual-arm robot 106 by an output command. Further, the arithmetic unit 304 has a multitasking function that can execute two or more programs at the same time.

Two robots 102a and 102b are provided.
In the case of independent control as a single-arm robot, the programs for each single-arm robot operation pre-programmed using this multitask function are executed simultaneously.

FIG. 4 is a flow chart showing the control contents when the robot 102 is operated as a single-arm robot. FIG. 4A shows operation control contents on the robot 102a side when the robots 102a and 102b are each operated as a single-arm robot, and FIG.
This is the content of operation control on the robot 102b side. Here, the robot arm of the robot 102a is connected to the 1 to 6 axes of the robot controller 300, and the robot arm of the robot 102b is connected to the 7 to 12 axes of the robot controller 300.

As shown in FIG. 4 (a), one program outputs a command to the robot 102a composed of 1 to 6 axes, and as shown in FIG. 4 (b), the other program is Robot 1 consisting of 7 to 12 axes
The command for 02b is output. These two programs are executed independently of each other and have no relationship between their operation controls.

The control contents for the robot 102a shown in FIG. 4A will be described. The computing unit 304 reads the current axis position of the robot arm (end effector) based on the input axis motor position signal (step S4).
01), the target position is determined (step S402). After that, the calculation unit 304 calculates the control amount for each motor of the 1st to 6th axes based on the difference between the current position and the target position (step S403). Next, the servo control unit 301
Starts driving control of each motor of the 1st to 6th axes (step S404), and when the current position of the 1st to 6th axes reaches the target position by the motor position signal of each axis, the driving is completed (step S405: Yes). The operation control of the robot 102a ends.

FIG. 4B shows the control contents of the 7th to 12th axes for the robot 102b, and includes steps S406 to S410 similar to the contents of steps S401 to S405 shown in FIG. 4A. Control operation.

Next, FIG. 5 shows two single-arm robots 1.
12 is a flowchart showing the control contents when 02 is controlled as one dual-arm robot 106. Here, it is assumed that one single-arm robot 102a is connected as a right arm to axes 1 to 6 of the robot controller 300, and the other single-arm robot 102b is connected as a left arm to axes 7 to 12.

The computing unit 304 preprograms the dual-arm robot 10 so as to perform cooperative operation.
6 to execute the operation program. Either one of the two single-arm robots 102 forming the dual-arm robot 106 may be the first one, but like the single-arm robot 102 described in FIG. 4, each axis motor control amount based on the current position and target position of each axis motor. (Drive amount) is calculated, each axis motor is driven, and each axis moves to the target position.

In the process shown in the flowchart of FIG. 5, the arithmetic unit 304 first reads the axis position of the robot arm of the robot 102a from the axis motor position signal input to the robot 102a of the right arm (step S501). ), The target position is determined (step S502). After that, the calculation unit 304 calculates the control amount for each motor of the 1st to 6th axes of the robot 102a of the right arm based on the difference between the current position and the target position (step S503).

Next, according to each axis motor position signal input in the left arm robot 102b, this robot 1
Each axis position of the robot arm 02b is read (step S504), and the target position is determined (step S50).
5). After that, the calculation unit 304, based on the difference between the current position and the target position, outputs 7-1 of the left arm robot 102b.
The control amount for each motor of the two axes is calculated (step S
506).

Next, the servo control unit 301 starts the drive control of each motor of the 1st to 6th axes of the robot 102a for the right arm (step S507), and the robot 102a for the left arm 7b.
Start drive control of each motor for 12 axes (step S
508). After the current position of the first to sixth axes of the right arm robot 102a reaches the target position by each axis motor position signal (step S509: Yes), the left arm robot 102
It is determined whether or not the current position of the 7th to 12th axes of b has reached the target position (step S510), and if the target value is reached, the driving is completed (step S510: Yes), and the robot 102a
End the operation control of.

As described above, in the processing of FIG. 5, the robots 102a and 102b for the right arm and the left arm are not independent, but one of the robots is sequentially executed after the other is executed. That is, the right arm and the left arm are not controlled by independent programs, and the left arm is executed with a delay of one line of program processing with respect to the right arm. However, compared with the communication speed, this delay is very short and has little effect on the synchronous operation of the two arms.

Next, FIG. 6 is a flow chart showing the processing contents when a master and a slave are respectively set for a pair of single-arm robots forming a double arm. FIG. 6A shows the processing contents on the master side, and FIG. 6B shows the processing contents on the slave side. Here, it is assumed that the right arm robot 102a is set on the master side and the left arm robot 102b is set on the slave side. On the master side shown in FIG. 6A, first, the state of the slave side is confirmed, and if the state can be confirmed (step S
(601: Yes), and the operation on the slave side (FIG. 6B) is started (step S602).

Next, the arithmetic unit 304 first reads each axis position of the robot arm of the robot 102a by the axis motor position signal input to the robot 102a of the right arm (step S603), and determines the target position. (Step S604). After that, the calculation unit 304
Based on the difference between the current position and the target position, the control amount for each motor of the 1st to 6th axes of the robot 102a of the right arm is calculated (step S605). Next, the servo control unit 3
01 starts drive control of each motor of the 1st to 6th axes of the robot 102a of the right arm (step S606).

Next, the drive signal on the slave side is turned on (step S607). After that, it is determined whether or not the current positions of the 1st to 6th axes of the robot 102a of the right arm have reached the target positions, based on the respective axis motor position signals. If reached (step S
608: Yes), and then, it is determined whether the drive on the slave side has ended (end). If completed (step S
609: Yes), and as the driving is completed, the operation control on the master side (robot 102a) is ended.

On the slave side shown in FIG. 6 (b), the process is started when the slave side operation starts in step S602 on the master side. First, the calculation unit 304 first reads each axis position of the robot arm of the robot 102b according to the axis motor position signal input to the left arm robot 102b (step S610) and determines the target position (step S611). . After that, the calculation unit 304 calculates the control amount for each motor of the 7th to 12th axes of the robot 102b of the left arm based on the difference between the current position and the target position (step S612). Next, it is determined whether the drive signal on the slave side is ON (step S613).
Here, the state in step S607 is determined.

If the drive signal is ON (step S61)
3: Yes), the servo control unit 301 starts the drive control of each motor of the 7th to 12th axes of the robot 102b of the left arm (step S614). After that, it is determined whether or not the current position of the 7th to 12th axes of the robot 102b of the left arm has reached the target position based on each axis motor position signal. If reached (step S
615: Yes), the end signal is output to the master side to indicate that the drive on the slave side is completed as the completion of drive (step S616), and the operation control on the slave side (robot 102b) is completed.

On the master side, either the right arm or left arm robot 102a, 102b may be set. In this case, the control program side of the master confirms the state of the slave side, and the drive timing of the slave is also managed by the master side. Since processing between the master and slave is performed in the same robot control device 300 as compared to communication by a cable, there is little delay in communication speed and little influence on dual arm synchronous operation.

In the above control, during the motor control period of each axis until each arm is stopped at the target position, for example,
For each control sampling, a process of confirming the state (position) of the master and slaves or of the slave arm may be executed, and the control in which the slave arm position is calculated based on the master arm position can be executed. The control form of can be adopted.

FIG. 7 is a diagram showing a pedestal of the robot.
As shown in the figure, in the gantry 701 of the single-arm robots 102a and 102b, both sides 702 and 703 are used as reference planes to ensure plane accuracy. One side surface 702 has a recess 702.
a is formed, and a convex surface 703a that fits into the concave surface 702a is formed on the other side surface. By combining a pair of mounts 701, any robot 102 (102a-10a) can be formed.
It is possible to match the axis accuracy between 2n).

The present invention is not limited to the above configuration example, and it is also possible to configure all of the side surfaces as the reference surface or a part thereof as the reference surface, and the invention is not limited to the opposing side surfaces. A reference surface may be provided on the gantry 701 according to the line configuration of the production system 100.

FIG. 8 is a configuration diagram of wiring connection between the multi-arm robot using the plurality of single-arm robots 102 in the production system 100 and the robot controller 300. Figure 8
(A) is a connection configuration example when a pair of single-arm robots 102 are combined and controlled as a dual-arm robot 106.

The single-arm robot 102 is connected to the same robot controller 300a as a pair of left-arm single-arm robot 102a and right-arm single-arm robot 102b. Similarly, the single-arm robots 102c and 102d are connected to the same robot control device 300b, and the single-arm robot 102c
e and 102f are connected to the same robot controller 300c. Further, according to the above connection, each single-arm robot 102 can be controlled as an independent single-arm robot without changing the wiring connection.

Single-arm robot 102 and robot controller 3
Connection part 801 for each axis motor control line connecting 00, information signal line for each axis position, and other wiring such as interface
Are connected using optical fibers and optical connectors.

FIG. 8B shows single-arm robots 102b and 1b.
This is a connection configuration example when the 02c is configured as the dual-arm robot 106. In this case, the arbitrary robot controller 300
The pair of single-arm robots 102b and 102c is connected to b. Further, the single-arm robots 102a and 102d are connected to the other robot control device 300a, and the single-arm robots 102e and 102f are connected to the robot control device 300c.

FIG. 8C shows single-arm robots 102b and 1b.
This is a connection configuration example when the dual-arm robot 106a is configured with 02c and the dual-arm robot 106b is configured with the single-arm robots 102d and 102e. In this case, a pair of single-arm robots 102b and 102c are attached to an arbitrary robot controller 300b.
And a pair of single-arm robots 102d and 102e are connected to another robot control device 300c. Then, the robot control device 300a includes the single-arm robots 102a and 102a.
Connect f.

The configuration of the production system 100 is not limited to the above combination, and it is possible to combine any adjacent single-arm robots 102 to form a double-arm robot 106.
The parameters peculiar to each single-arm robot 102 are stored in the storage unit 305a of each robot control device 300, and a plurality of parameters (up to all the single-arm robots 1 at maximum) are stored as necessary.
The robot parameters of 02) are stored. In the above configuration example, the robot control device 300a includes at least the pair of single-arm robots 102 that are arranged to face each other and are connected by wiring.
The parameters a and 102b are stored.

Similarly, the robot controller 300b stores the parameters of the single-arm robots 102c and 102d,
The robot controller 300c includes a single-arm robot 102e,
Although the parameters of the single-arm robot 102 are stored, each robot control device 300 stores the parameters of all the single-arm robots 102, which are not limited to the parameters of the single-arm robots 102 arranged opposite to each other, and are connected by wiring. The parameters of the arm robot 102 can be read out.

FIG. 9 is a diagram showing an example of control by communication between the robot control devices 300. As shown in this figure, in the case of cooperative control by communication, the single-arm robot 102 is connected to each robot controller 300, and each robot controller 300 (300a, 300b, 300c) has a communication unit 900 (900a, 900b, 900c) and communication lines 901 (901a, 901b, 9) are provided to each other.
01c), and executes the coordinated operation of the single-arm robot 102.

The production system 100 described above includes the robot 1
02 and the robot control device 300 are connected by a connecting portion 801 using an optical fiber and an optical connector, and the combination between the robot 102 and the robot control device 300 can be easily changed. In addition, since the single-arm robots 102 performing cooperative operation (for example, the single-arm robots 102a and 102b forming the dual-arm robot 106) are connected to the same robot control device 300, communication between the robot control devices 300 is performed. It is possible to collaborate without them.

At this time, the parameters peculiar to each robot stored in the storage unit 305a are selected, read out, and set according to the combination of each single-arm robot 102 and the robot controller 300 determined from the configuration of the production system 100. .

An optical connector is used as the connecting portion 801, and a large number of combinations (for example, 256 × 256) can be connected between each single-arm robot 102 and the robot controller 300, and the connection can be easily made only by changing the software. It can be changed. Therefore, the combination of the single-arm robot 102 and the robot controller 300 can be changed without changing the hardware, and the configuration of the production system 100 can be easily changed.

FIG. 10 is a flowchart showing the procedure for changing the configuration of the production system 100. First, the configuration of the production system 100 is determined (step S100).
1). Next, the positions of the single-arm robot 102 and the dual-arm robot 106 that are compatible with this production system 100 are determined (step S1002). This arrangement includes, for example, the examples shown in FIGS. 8 (a) to 8 (c).

Next, the robot controller 300 to which each single-arm robot 102 (102a to 102n) is connected is determined based on the determined arrangement (step S100).
3). Next, each single-arm robot 102 is set (connected) with the corresponding robot control device 300 by the connecting unit 801 (step S1004). Next,
Robot controller 3 to which each single-arm robot 102 is connected
Select and set parameters with 00 (step S100
5). Then, a control program is created in each robot control device 300 (step S1006), and the robot can be operated.

FIG. 11 shows the robot controller 30 described above.
It is a figure which shows the production system control apparatus 1101 arrange | positioned above 0. Production system controller 1101 and FIG.
Each robot control device 300a, 300 shown in FIG.
b and 300c have communication functions with each other, and the production system controller 1101 and the robot controllers 300a and 300c are provided.
A communication line 1102 connects between b and 300c. A predetermined network can be used for the communication line 1102.

FIG. 12 shows the production system controller 1101.
3 is a block diagram showing the internal configuration of FIG. When the production system control device 1101 is arranged, the parameters unique to each single-arm robot 102 are stored in the highest-order production system control device 1101. As shown, the production system controller 1101 is
Sequence control unit 1202 for controlling the 00 sequence
A calculation unit 1203, a storage unit 1204, and a communication unit 12
05 and the combination determination unit 1 that determines the combination of the single-arm robots 102 according to the sequence of the production system 100.
It is composed of 206.

The storage unit 1204 is a first storage unit 1204a for storing parameters peculiar to the robot and a sequence control (sequence control unit 12) for controlling the entire production system.
02) second storage unit 1204b for storing necessary information
It is composed by. By combining the single-arm robots 102 determined based on the configuration of the production system 100, the robot control device 300 (for example, 300a to 3n) corresponding to each single-arm robot 102 (102a to 102n).
00c), the parameters of the single-arm robot 102 corresponding to each robot control device 300 are selected, and the communication unit 1205 transmits them to each robot control device 300.

As a result, each robot controller 300
Does not need to store parameters unique to each single-arm robot 102, and does not need to consider the single-arm robot 102 to be connected at the time of programming, so that the connection can be changed more easily.

Next, FIG. 13 shows a production system control device 1 arranged above the robot control device 300 described above.
It is a figure which shows the other example of arrangement structure of 101. The robot control devices 300a to 300c and the production system control device 1
Reference numeral 101 has a communication function, and each of them is connected by a communication line (including a network) 1102 using an optical connector or the like.

FIG. 13 shows three robot control devices 30.
The configurations of 0a to 300c (corresponding to FIG. 9) are shown. The present invention is not limited to this, and the required number of robot control devices 300 can be arranged and cooperated according to the configuration of the production system 100. Three robot control devices 300
Communication lines 901 (901a and 901) are provided between a to 300c.
b, 901c). This communication line 901
The connection can be easily changed by connecting the connector. Further, as described above, the connection can be changed by using the optical connector by optical communication.

In addition, each robot controller 300 (30
0a to 300c), the communication unit 1205 provided in the production system control device 1101 is a higher device, and the robot control devices 300 to be cooperated with each other via the communication line 1102 to the robot control devices 300 (300a to 300c). It can be selectively set to connect. That is,
The cooperative robot controller information is read from the storage unit 1204a, and the corresponding robot controller 300 (300a-3) is read.
00c), this cooperative robot controller information is set via the communication line 1102.

Then, two single-arm robots 102 are connected to one robot controller 300, and the two-arm robot 10 is connected.
By configuring as 6, it is possible to perform highly accurate cooperative operation by control without communication delay. Although this point has been described above, it is suitable for, for example, a coordinated work that requires high-precision control such that an object such as one part is gripped and operated by the dual-arm robot 106.

However, there are some tasks that do not require very high precision in the multi-arm coordinated task. For example, there is a case where multi-arm mutual work is performed, for example, a component held by a robot arm of one single-arm robot 102a is assembled with a component held by a robot arm of another single-arm robot 102b.
In this case, the robot arm of one single-arm robot 102a is fixed while holding the component, and only the robot arm of another single-arm robot 102b is operating.

Further, there is a case where an alternate work, for example, a component assembled by a robot arm of one single-arm robot 102a is assembled on the next component by a robot arm of another single-arm robot 102b. In this case, the other single-arm robot 102b may be operated in synchronization with the time when the robot arm of one single-arm robot 102a retracts.

In addition, for example, in the case of carrying heavy objects, accurate positioning is often not required, and it is possible to absorb an error due to communication delay due to compliance or the like. The system configuration shown in FIG. 13 is effective in the case of such work that does not require relatively high accuracy and when the cooperation of the number of robot arms having two or more arms is required, or in the case of cooperative work between the two arm robots 106. Becomes
In this case, the production system control device 1101 cooperatively controls the operation of the robot arms of the number of robot arms of the single-arm robot 102 that can be controlled by the robot control device 300 (for example, the above pair).

FIG. 14 shows the production system controller 11 described above.
13 is a flowchart showing a control process in 01. First, the higher-level production system control device 1101 determines the configuration of the production system 100 (step S140).
1). Accordingly, it is determined whether each single-arm robot 102 is controlled as the single-arm robot 102 or the dual-arm robot 106 (step S140).
2). Here, the combination of the dual-arm robot 106 is determined. Then, the production system control device 1101 determines the robot control device 300 that controls each single-arm robot 102 based on the determined combination of the single-arm robots 102 (dual-arm robot 106) (step S140).
3). In each robot control device 300, the connection section 8 is set based on the optical connector setting, that is, the set combination.
The connection combination of the corresponding single-arm robot 102 is performed with 01 (step S1404).

Next, the production system controller 1101
Selects the robot-specific parameters required for each robot control device 300 from the storage unit 1204a storing the robot-specific parameters, and selects each robot control device 3
Then, the robot parameters are set by transmitting the data to "00" (step S1405). Further, when cooperative work between the robot control devices is required, the robot control device 300 that performs the cooperative operation is determined (step S140).
6), communication line 11 to the target robot controller 300
The robot controller information to be collaborated is transmitted via 02 to set the robot controller information (step S1407). The robot control device information can be obtained by using the identification number assigned to each robot control device 300 in advance.

The robot control device 300 which has received the information of the robot control device to be cooperated with each other, the robot control device 300 and the communication lines 901 (901a to 901) to be mutually cooperated.
1c), information regarding automatic assembly is exchanged to determine a sequence, and cooperative control is performed (step S140).
8). For example, one robot controller 300a
From the robot controller 300b to be controlled by transmitting an operation command from the robot controller 300b.
It is also possible to adopt a configuration in which the control unit 02 is controlled to perform control by confirming the operation (confirming the state of the partner's single-arm robot 102) for a predetermined time or each operation.

The production system 1 of the embodiment described above
00 has described the assembling work for assembling the parts, but it can also be used for disassembling the parts with the same configuration, and in this case, the configurations and operations of the single-arm robots, robot controllers, production system controllers, etc. are the same. Can be done with configuration and control.

The control method of the production system according to the present embodiment may be a computer-readable program prepared in advance, or by executing the program on a computer such as a personal computer or a workstation. Will be realized.
This program is HD (hard disk), FD (floppy (registered trademark) disk), CD-ROM, M
It is recorded on a computer-readable recording medium such as O or DVD, and executed by being read from the recording medium by the computer. Further, this program may be a transmission medium that can be distributed via a network such as the Internet.

[0101]

As described above, according to the invention described in claim 1, in a production system in which a plurality of robots operate to perform automatic assembly, a plurality of single-arm robots and a plurality of the single-arm robots are provided. Switching between a first state in which the single-arm robots are operated as independent single-arm robots and a second state in which a part or all of the plurality of robots are combined to operate as a multi-arm robot. It is possible to change the single-arm robot as a single-arm or as a multi-arm robot with two or more arms, because it is equipped with a robot controller that can be controlled by Therefore, it is possible to improve productivity. In particular, even when the production system is changed due to multi-product production or the like, it is possible to eliminate the need for rearranging the single-arm robot and the multi-arm robot according to the process. In addition, the required number of single-arm robots and double-arm robots does not become excessive or insufficient, idle of expensive equipment and excessive functions are prevented, and productivity is improved.

According to the invention described in claim 2, in the invention described in claim 1, a plurality of the robot control devices are arranged, and each of the plurality of robot control devices is the second robot control device. In the state, since each single-arm robot is controlled in the unit of the combined multi-arm robot, the robot controller can smoothly control the operation of the multi-arm robot according to the change of the production process.

According to the invention described in claim 3, in the invention described in any one of claims 1 and 2, each of the single-arm robots and each of the robot control devices are arranged along a production line. A plurality of units are provided and are connected to each robot controller in units of a pair of single-arm robots, and each robot controller operates as a single-arm robot in a first state, and a pair of single-arm robots operates as a double-arm robot. The two-arm robot is configured to be switchable and controllable in the second state, and the pair of single-arm robots can be configured by any adjacent pair of the single-arm robots. Since the robots are connected to the same robot controller and other single-arm robots are connected to other robot controllers so that they can be controlled respectively, a pair of single-arm robots can be connected to one robot controller. Connected to each arm to switch between single-arm or dual-arm operation control, which can flexibly respond to changes in the production process, and smoothly execute control operation of each single-arm robot and combined multi-arm robot. There is an effect that can be.

Further, according to the invention described in claim 4, in the invention described in any one of claims 1 to 3, each of the plurality of single-arm robots is provided with another adjacent single-arm. A multi-arm robot that ensures the axial accuracy of each single-arm robot because it has a gantry with a reference surface of a predetermined shape that can ensure the accuracy of combination with the robot, and that ensures the axial accuracy when combining multiple single-arm robots. The effect that can be configured.

According to a fifth aspect of the present invention, in the invention according to any one of the first to fourth aspects, the plurality of single-arm robots and the plurality of robot control devices are provided. Since an optical connector is used in the transmission line for control and any arbitrary single-arm robot and each robot controller can be connected, it is easy to change the combination of multiple single-arm robots and robot controllers. The effect that the mutual transmission lines can be switched is obtained.

According to a sixth aspect of the invention, in the invention according to any one of the first to fifth aspects, the robot control device controls the connected single-arm robots. Arithmetic means for executing robot control arithmetic operation, servo control means for controlling each axis motor of each single-arm robot, first storage means for storing parameters peculiar to each single-arm robot, and each single-arm robot. A second storage means for storing information necessary for robot control of the arm robot and a teaching means for controlling the single-arm robot are provided, and the first storage means has parameters unique to the plurality of single-arm robots. Since the parameters corresponding to the connected single-arm robot to be controlled can be selected and set, each robot controller can set parameters unique to the connected single-arm robot. Selection, can be set, it will be able to control any single-arm robot in any robot controller,
The effect is that the combination can be easily changed. In particular, even if a single-arm robot controlled by the robot controller is changed, it is not necessary to reset the parameters peculiar to the robot, and the robot controller can easily control any robot and can control as a multi-arm robot. This has the effect of easily changing the combination of single-arm robots.

Further, according to the invention described in claim 7, in the invention described in claim 6, when a plurality of the robot control devices are arranged, a production system control for centrally controlling each robot control device is performed. An apparatus is provided, and the production system controller has a storage unit for storing parameters unique to each of the single-arm robots and a communication unit for communicating with each of the robot controllers, and is adapted to a planned production system. Corresponding to the combination of each single-arm robot and each robot control device set by the above, information about the single-arm robot to be connected to each robot control device, and parameters unique to the single-arm robot are provided to the communication means. Since it is configured to send out and set via the production system control device, the production system control device controls the multiple robot control devices in a centralized manner, and the multiple single-arm robots and the multiple robot control devices are controlled. Single-arm information of the robot required for the robot controller when the combination of the control device, and the single-arm robot can dispatch specific parameters, it is possible to combine any of the single-arm robot and any robot controller,
This has the effect that changes in combinations can be easily accommodated. In particular, it is not necessary for each robot control device to store parameters unique to each robot, and it is not necessary to consider the connected robot at the time of programming, so that the control programming in each robot control device can be simplified.
In addition, the production system control device, which is a higher-level device, can collectively manage the system control related to the production, and there is an effect that the maintainability can be improved.

According to the invention described in claim 8, in the invention described in claim 7, the production system controller has a communication means for communicating with each robot controller, When a third state in which more than the number of robot arms of a single-arm robot that can be controlled by the control device is coordinated occurs, the operation of the corresponding robot control device is controlled via the communication means. The robot controller can flexibly respond to changes in the production process, such as when coordinated control of more than the number of controllable robot arms for single-arm and multi-arm is required. The effect that can be configured. In particular, when high-precision cooperative operation is required, the same robot controller controls the multi-arms, and relatively high accuracy is not required, but the number of arms that can be controlled by the same robot controller is more than the number of arms that can be coordinated. When the operation is required, the production control system can be constructed in accordance with the required cooperative work by performing the cooperative control by the communication between the robot control devices. In addition, the production system control device, which is a higher-level device, can collectively manage the system control related to the production, and there is an effect that the maintainability can be improved.

According to a ninth aspect of the present invention, in the invention according to any one of the first to eighth aspects, parts are automatically assembled on a production line by operating the plurality of one-arm robots. Since it can be automatically disassembled, there is no need to construct a robot system for disassembling, and it is possible to automatically assemble and disassemble parts using a single-arm or double-arm or more multi-arm robot. There is an effect that it is possible to construct an assembling and disassembling line that can reduce the number of installations and save space.

According to the invention described in claim 10,
In a control method of a production system including a plurality of single-arm robots for automatic assembly, a first state in which the plurality of single-arm robots are operated as independent single-arm robots, and Since a process for controlling by switching between a second state in which some or all single-arm robots are combined to operate as a multi-arm robot is provided, the single-arm robot can be used as a single-arm or as a double-arm or more multi-arm robot. It is possible to make changes, and it is possible to flexibly respond to changes in the production process, and it is possible to improve productivity.

According to the invention described in claim 11,
In the invention according to claim 10, there is a step of connecting a pair of single-arm robots to each of a plurality of robot control devices provided as a unit, and each robot control device is operated as a single-arm robot in a first state. And a configuration in which a pair of single-arm robots can be switched and controlled in a second state in which the robot operates as a dual-arm robot. It is possible to flexibly respond to a change in the production process by controlling the operation by switching to, and it is possible to smoothly execute the control operation of each single-arm robot and the combined multi-arm robot.

Further, according to the invention of claim 12,
The invention according to claim 11, wherein the robot controller stores in advance parameters unique to each of the plurality of single-arm robots, and parameters corresponding to the controlled single-arm robots connected to the robot controllers. Since the step of selecting and setting is selected, the arbitrary single-arm robot can be controlled by the arbitrary robot control device, and the combination can be easily changed.

According to the invention described in claim 13,
In the invention according to claim 12, when a plurality of the robot control devices are arranged, a step of arranging a production system control device for controlling and controlling each robot control device, and a plan from the production system control device Corresponding to the combination of each single-arm robot and each robot controller set according to the production system, for each robot controller,
Since the information of the connected single-arm robot and the step of transmitting and setting the parameters unique to the single-arm robot by communication are included, the robot controller can combine the plurality of single-arm robots with the plurality of robot controllers. The necessary information about the single-arm robot and the parameters specific to the single-arm robot can be sent from the production system controller that controls the control, and it is possible to combine any single-arm robot with any robot controller. The effect that the change of the combination can be easily dealt with.

According to the invention described in claim 14,
14. The robot control device according to claim 13, wherein the production system control device is configured to, when a third state in which more than the number of robot arms of a single-arm robot that can be controlled by the robot control device is collaborated, occurs in a third state. Even if there is a case where coordinated control over the number of controllable robot arms of single arm and multiple arms executed by multiple robot controllers is required, the production process can be changed. With this, it is possible to flexibly cope with the situation, and it is possible to configure a production system that meets more demands.

Further, according to the invention of claim 15,
There is an effect that a computer-readable recording medium recording a program capable of causing a computer to execute the method according to any one of claims 10 to 14 is obtained.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing an arrangement of lines and robots in a production system according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a procedure for determining a combination of dual-arm robots when changing the robot configuration of the production system according to the present embodiment.

FIG. 3 is a block diagram showing an internal configuration of a robot controller used in the production system according to the present embodiment.

FIG. 4 is a flowchart showing the control contents when the robot used in the production system according to the present embodiment is operated as a single-arm robot.

FIG. 5 is a flowchart showing the control contents when controlling two single-arm robots used in the production system according to the present embodiment as one dual-arm robot.

FIG. 6 is a flowchart showing the processing contents when a master and a slave are set respectively for a pair of single-arm robots forming a double arm used in the production system according to the present embodiment.

FIG. 7 is a diagram showing a pedestal of a robot used in the production system according to the present embodiment.

FIG. 8 is a configuration diagram of wiring connection between a multi-arm robot using a plurality of single-arm robots used in the production system according to the present embodiment and a robot controller.

FIG. 9 is a diagram showing an example of control by communication between robot control devices used in the production system according to the present embodiment.

FIG. 10 is a flowchart showing a procedure for changing the configuration of the production system according to the present embodiment.

FIG. 11 is a diagram showing a production system control device arranged above the robot control device used in the production system according to the present embodiment.

FIG. 12 is a block diagram showing an internal configuration of a production system control device used in the production system according to the present embodiment.

FIG. 13 is a diagram showing another arrangement configuration example of the production system control device arranged above the robot control device used in the production system according to the present embodiment.

FIG. 14 is a flowchart showing a control process in the production system control device used in the production system according to the present embodiment.

[Explanation of symbols]

100 Production system 101 Line 102 (102a-102n) Robot (single-arm robot) 105 (105a-105n) Assembly space 106 Dual-arm robot 300 (300a-300c) Robot control device 301 Servo control unit 304 Arithmetic unit 305 (305a, 305b) ) Storage unit 701 Frame 702, 703 Side surface 702a Recess 703a Convex surface 801 Connection unit 900 Communication unit 901 (901a to 901c) Communication line 1101 Production system control device 1102 Communication line 1202 Sequence control unit 1203 Arithmetic unit 1204 (1204a, 1204b) Storage unit 1205 communication unit 1206 combination determination unit

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Tadakatsu Harada             1-3-3 Nakamagome, Ota-ku, Tokyo Stocks             Company Ricoh (72) Inventor Takuya Uchida             1-3-3 Nakamagome, Ota-ku, Tokyo Stocks             Company Ricoh (72) Inventor Kenichi Yoshimura             1-3-3 Nakamagome, Ota-ku, Tokyo Stocks             Company Ricoh F term (reference) 3C007 AS06 JS02 JS05 LV00 LV02                       MT06 MT08                 3C030 DA04 DA07 DA24 DA31                 3C100 AA43 BB01 BB12 BB13

Claims (15)

[Claims] 1. A production system in which a plurality of robots operate to perform automatic assembly, wherein a plurality of single-arm robots and a plurality of the single-arm robots operate as independent single-arm robots, respectively. A robot controller capable of controlling by switching between a state and a second state in which a single arm robot of some or all of the plurality of robots is combined to operate as a multi-arm robot. Production system. 2. A plurality of the robot control devices are arranged, and each of the plurality of robot control devices controls each single-arm robot in the unit of the combined multi-arm robot in the second state. The production system according to claim 1, wherein: 3. A plurality of each of the single-arm robots and each of the robot control devices are provided along a production line, each pair of single-arm robots is connected to each robot control device, and each robot control device is connected to each robot control device. It is configured to be controllable by switching between a first state in which it operates as a single-arm robot and a second state in which it operates as a dual-arm robot by a pair of single-arm robots. It is possible to configure the dual-arm robot, a pair of single-arm robots configuring the dual-arm robot are connected to the same robot control device, and another single-arm robot is connected to another robot control device, and each can be controlled. Claim 1, characterized in that
The production system according to any one of 2. 4. The plurality of single-arm robots are each provided with a gantry having a reference surface of a predetermined shape that can ensure the accuracy of combination with another adjacent single-arm robot. The production system according to any one of 1 to 3. 5. Each of the plurality of single-arm robots and each of the plurality of robot control devices uses an optical connector for a transmission path for control, and each arbitrary single-arm robot and each robot control device are connected to each other. It is connectable, Claims 1-4
The production system described in any one of. 6. The robot controller comprises a computing means for executing a robot control computation for controlling each connected single-arm robot, and a servo control means for controlling a robot axis motor of each single-arm robot. A first parameter for storing parameters unique to each single-arm robot
Storage means, second storage means for storing information necessary for robot control of each of the single-arm robots, and teaching means for controlling the single-arm robots, and the first storage means includes: 6. The production according to claim 1, wherein a plurality of parameters specific to the single-arm robot are stored, and parameters corresponding to the connected single-arm robot to be controlled can be selected and set. system. 7. When a plurality of the robot control devices are arranged, a production system control device for controlling and controlling each robot control device is provided, and the production system control device is unique to each of the single-arm robots. Having a storage means for storing parameters and a communication means for communicating with each of the robot control devices, corresponding to the combination of each single-arm robot and each robot control device set in accordance with the planned production system, 7. The production system according to claim 6, wherein the information of the single-arm robot to be connected and the parameter unique to the single-arm robot are sent to and set to each robot control device via the communication means. 8. The production system control device has a communication means for communicating with each robot control device, and makes the robot arms, which are controllable by the robot control device, more than the number of robot arms of a single-arm robot cooperate. 8. The operation of a corresponding robot controller is controlled via the communication means when the third state occurs.
The production system described in. 9. The production system according to claim 1, wherein components can be automatically assembled or disassembled on a production line by operating the plurality of one-arm robots. 10. A method of controlling a production system, comprising a plurality of single-arm robots for automatic assembly, comprising: a first state in which the plurality of single-arm robots are each operated as an independent single-arm robot; A control method for a production system, characterized by switching between a second state in which a part or all of a plurality of robots are combined to operate as a multi-arm robot and controlled. 11. A step of connecting a plurality of paired single-arm robots to each robot controller provided as a unit, wherein each robot controller is operated as a single-arm robot in a first state, and a pair of 11. The control method for a production system according to claim 10, wherein the control is possible by switching in a second state in which the single-arm robot operates as a dual-arm robot. 12. A step of storing parameters unique to each of the plurality of single-arm robots in the robot controller in advance, and selecting and setting parameters corresponding to the controlled single-arm robots connected to the robot controllers. The method of controlling a production system according to claim 11, further comprising: 13. A step of arranging a production system control device for controlling and controlling each robot control device when a plurality of the robot control devices are arranged, and adjusting the production system control device from the production system control device to a planned production system. Corresponding to the combination of each single-arm robot and each robot controller set by the above, information of the connected single-arm robot and the parameters unique to the single-arm robot are transmitted to each robot controller by communication. The method of controlling a production system according to claim 12, further comprising: a setting step. 14. The production system control device controls the robot control device by communication when a third state of coordinating more than the number of robot arms of a single-arm robot controllable by the robot control device occurs. The method of controlling a production system according to claim 13, further comprising a step of controlling. 15. A computer-readable recording medium having recorded thereon a program for causing a computer to execute the method according to any one of claims 10 to 14.