JP2018015817A - Robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten a preparation time for work by a robot 10 while securing safety of an operator 3.SOLUTION: A robot system 1 includes a determination part 21/31 which is structured so as to determine whether a condition for starting execution of a program is satisfied or not in response to input of a program execution start instruction. A program generation device 30 includes a user interface 32, a generation part 33 structured so as to generate a predetermined program, and a transfer part 34 structured so as to transfer the predetermined program to a robot controller 20 in response to input of a transfer start instruction through the user interface 32. The robot controller 20 includes a control part 32 structured so as to control a robot 10 by starting execution of the predetermined program when the determination part 21/31 determines that the condition for starting execution of the program is satisfied.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a robot system.

  2. Description of the Related Art Conventionally, in a robot system including a robot, a technique for generating a program for each operation to be performed by a robot by a program generation device such as a PC (Personal Computer) and transferring the program to a robot controller (RC) is known. (For example, refer to Patent Document 1).

JP 2012-228736 A

  Generally, it is necessary to start transfer of the program generated by the program generation device after the placement work of the workpieces and tools by the robot is completed and the door of the cell is closed in the cell. Therefore, there is a problem that it takes a long time to start the work by the robot.

  Therefore, the present disclosure has been made in view of the above-described problems, and an object thereof is to provide a robot system that can shorten the preparation time for work by the robot while ensuring the safety of the worker.

  A first feature of the present disclosure is a robot system that includes a robot controller configured to control a robot and a program generation device, and satisfies a program execution start condition in response to an input of a program execution start instruction. A determination unit configured to determine whether or not the program is generated, and the program generation device includes a user interface, a generation unit configured to generate a predetermined program, and the user interface And a transfer unit configured to transfer the predetermined program to the robot controller in response to an input of a transfer start instruction via the robot controller. If it is determined that the program execution start condition is satisfied, Serial and a control unit that starts the execution of the predetermined program is configured to control the robot, and gist in that it comprises a.

  According to the present disclosure, it is possible to provide a robot system that can shorten the preparation time for work by the robot while ensuring the safety of the worker.

1 is a diagram illustrating an example of an overall schematic configuration of a robot system according to an embodiment. It is a figure for demonstrating an example of the hardware constitutions of the program production | generation apparatus of the robot system which concerns on embodiment. It is a figure for demonstrating an example of a functional structure of the program generation apparatus of the robot system which concerns on embodiment. It is a figure for demonstrating an example of the hardware constitutions of the robot controller of the robot system which concerns on embodiment. It is a figure for demonstrating an example of a functional structure of the robot controller of the robot system which concerns on embodiment. It is a sequence diagram which shows an example of operation | movement of the robot system which concerns on embodiment.

  Hereinafter, an embodiment will be described with reference to FIGS.

<Robot system configuration>
Initially, with reference to FIGS. 1-5, an example of a structure of the robot system 1 which concerns on this embodiment is demonstrated. As shown in FIG. 1, the robot system 1 according to the present embodiment includes a robot 10, a robot controller 20, a program generation device 30, a teaching device 40, and a PLC (Programmable Logic Controller) 50. .

  Hereinafter, the robot system 1 according to the present embodiment will be described by taking a case configured to perform a biological experiment as an example, but may be configured to be used for other purposes. .

  The robot 10 is configured to have an arm 10 </ b> A having a hand 10 </ b> B that can hold and operate a container or instrument containing a sample or a reagent at the tip. On the work table 4, specimens, reagents, operating instruments, experimental work devices (incubators and centrifuges) and the like are arranged in advance at predetermined positions by the operator 3.

  In the example of FIG. 1, the robot 10 is described as a single-arm robot having an articulated arm as the arm 10A. However, the robot 10 is not limited to this configuration. For example, the arm 10A has two articulated arms. It may be a double-armed robot having an arm.

  As shown in FIG. 2, the program generation device 30 includes a processor 30A, a memory 30B, an input / output unit (I / O) 30C, a storage 30D, and a bus 30E that connects these components to each other. . The processor 30A executes a program in cooperation with at least one of the memory 30B and the storage 30D, and inputs / outputs data via the input / output unit 30C according to the execution result. The generated program or transferred from the outside is stored in the storage 30D. As a result, various functions of the program generation device 30 are realized. FIG. 3 shows those functions expressed as virtual blocks (hereinafter, function blocks).

  As illustrated in FIG. 3, the program generation device 30 includes a determination unit 31, a user interface 32, a generation unit 33, and a transfer unit 34 as functional blocks.

  The determination unit 31 is configured to determine whether or not a condition for starting program execution is satisfied in response to an input of a program execution start instruction.

  Such a program execution start instruction is input by the operator 3 to instruct the robot controller 20 to start execution of the predetermined program. Such a program execution start instruction may be input to the teaching device 40, input to the robot controller 20, or input to the program generation device 30. The predetermined program is a program that can be executed by the robot controller 20.

  For example, the determination unit 31 may be configured to determine that the program execution start condition is satisfied when the transfer of the predetermined program from the program generation device 30 to the robot controller 20 is completed.

  In the robot system 1 according to the present embodiment, the determination unit 31 is provided in the program generation device 30, but may be provided in the robot controller 20 without being provided in the program generation device 30. .

  The user interface 32 is configured to serve as an interface for a user such as the worker 3. For example, the user interface 32 includes an input / output unit 30C.

  The generation unit 33 is configured to generate the predetermined program described above based on the operation content input via the user interface 32 and the like. The generation unit 33 is configured to generate not only a predetermined program that can be executed by the robot controller 20 but also a predetermined program that can be executed by the PLC 50.

  The transfer unit 34 is configured to transfer a predetermined program to the robot controller 20 in response to an input of a transfer start instruction via the user interface 32.

  The robot controller 20 is configured to control the robot 10 and, as shown in FIG. 4, a processor 20A, a memory 20B, an input / output unit (I / O) 20C, a storage 20D, and these are mutually connected. And a bus 20E to be connected. The processor 20A executes a program in cooperation with at least one of the memory 20B and the storage 20D, and inputs and outputs data via the input / output unit 20C according to the execution result. As a result, various functions of the robot controller 20 are realized. FIG. 5 shows these functions expressed as virtual blocks (hereinafter, function blocks).

  As shown in FIG. 5, the robot controller 20 includes a control unit 22 as a functional block. Here, when the above-described determination unit 31 is not provided in the program generation device 30, the robot controller 20 is configured to include the determination unit 21 having the same function as the above-described determination unit 31. May be.

  The control unit 22 is configured to start the execution of the predetermined program and control the robot 10 when the determination unit 21 determines that the program execution start condition is satisfied.

  Biological experimental work is more complicated and longer than the mainstream use in industrial robots such as welding and simple transfer work, and is executed by the robot controller 20. Program capacity tends to increase. For this reason, when transferring a program stored in a control device other than the robot controller 20 (here, the memory 30B or the storage 30D of the program generation device 30 but not limited thereto) to the robot controller 20, The transfer time becomes long (several minutes to several tens of minutes).

  According to the configuration of the present embodiment, the transfer of the predetermined program can be started before the placement work of the specimen or the instrument is completed as preparation for starting the biological experiment work by the robot 10, In parallel with the transfer of the program, the operator can perform the work of adjusting the state on the work table 4, and the time required to complete the preparation can be shortened. On the other hand, since the execution of the predetermined program by the robot controller 20 is not started before the program execution start enabling condition is satisfied, the safety of the worker 3 can be ensured.

  In the robot system 1 according to the present embodiment, the transfer unit 34 of the program generation device 30 may be configured to divide and transfer a predetermined program.

  According to such a configuration, by determining the contents of preparation necessary for executing each divided program and the conditions for starting the program execution, for example, during the execution of the divided program without the movement of the robot 10, Since the next divided program can be transferred while making the necessary preparations for executing the divided program, the preparation time for the work by the robot can be shortened, simplified, and error prevention can be realized. It is possible to reduce the load on the person when the robot 10 and the person coexist.

  In addition, by executing the divided program among the divided programs that have been transferred and transferring the remaining divided programs in parallel, the time from the start of the program transfer until the robot 10 actually starts the operation can be reduced. It can be shortened.

  In particular, in the case of biological laboratory work, pause time is often included to wait for the reaction of the sample and reagent, and only the program corresponding to the work up to the pause is divided and transferred. The program transfer time can be secured.

  In the robot system 1 according to the present embodiment, the determination unit 31 of the program generation device 30 determines that the condition for starting program execution is satisfied when the transfer amount of the predetermined program to the robot controller 20 reaches a predetermined amount. It may be configured to determine.

  According to such a configuration, before the entire predetermined program is transferred to the robot controller 20, the robot controller 20 can prepare for starting the predetermined program (usually not involving the operation of the robot 10), thus ensuring security. However, the preparation time for the robot work can be shortened.

  In the robot system 1 according to the present embodiment, a cell 2 for prohibiting the intrusion of the worker 3 may be provided around the place where the robot 10 is installed. According to such a configuration, it is possible to avoid a situation in which the worker 3 or the like approaches the operating robot 10 and an accident occurs. Therefore, the security of the robot 10 and the human coexistence is ensured. Can be realized.

  Here, in the robot system 1 according to the present embodiment, the cell 2 includes an opening / closing port 2A that can be opened and closed, and a sensor 2B that detects the intrusion of the operator 3 into the cell 2 through the port 2A. Also good.

  In such a case, the controller 22 of the robot controller 20 may be configured to stop the operation of the robot 10 when the sensor 2B detects that the worker 3 is in the cell 2.

  According to such a configuration, it is possible to avoid a situation in which the worker 3 or the like approaches the operating robot 10 and an accident occurs. Therefore, the security of the robot 10 and the human coexistence is ensured. Can be realized.

  In the robot system 1 according to the present embodiment, the determination unit 31 of the program generation device 30 has an entrance / exit 2A (described later) of the cell 2 after the transfer of the predetermined program from the program generation device 30 to the robot controller 20 is completed. When closed, it may be configured to determine that the program execution startable condition is satisfied.

  The teaching device 40 is configured to be able to communicate with a wireless device (not shown) connected to the robot controller 20. The operator 3 can hold and operate the teaching device 40. Here, the teaching device 40 is configured to control the robot 10 via the robot controller 20 according to the operation of the worker 3. The teaching device 40 is also referred to as “Teaching Pendant”, “Programming Pendant”, or the like.

  Specifically, the teaching device 40 includes a plurality of operation keys, a display screen, an enabling switch, and the like, and further includes an emergency stop switch as with the robot controller 20. Here, the display screen may be used as a touch panel, and the display screen may have a function equivalent to that of the operation keys by touching a software key displayed on the screen.

  The teaching device 40 may include a mechanism called a deadman switch. The deadman switch is provided at a location where the worker 3 grips the teaching device 40 during teaching work or the like, and the operation of the teaching device 40 is effective only while the worker 3 is gripping the deadman switch. It has the characteristics. That is, even when the operator 3 unintentionally presses the operation key, the operation based on the pressing of the operation key is invalidated to avoid the danger of the robot 10 suddenly moving. Can do.

  The PLC 50 is a microcomputer configured to be able to control the robot 10 by performing sequence control. The operation of the robot 10 controlled by each of the robot controller 20 and the PLC 50 can be arbitrarily determined.

<Robot system operation>
Next, an example of the operation of the robot system 1 according to the present embodiment will be described with reference to FIG.

  As shown in FIG. 6, the operator 3 operates the program generation device 30 in step S1001, and in step S1002, the program generation device 30 generates a predetermined program.

  When the operator 3 inputs a transfer instruction to the program generation device 30 in step S1003, the program generation device 30 transfers a predetermined program to the robot controller 20 in step S1004.

  In step S1005, the robot controller 20 determines whether or not the program execution startable condition is satisfied in response to the input of the program execution start instruction by the operator 3, and determines whether or not the program execution startable condition is satisfied. If it is determined, in step S1006, the robot 10 is controlled by executing a predetermined program.

  According to the robot system 1 according to the present embodiment, it is possible to shorten the preparation time for work (for example, biological experiment work or drug mixture preparation work) by the robot 10 while ensuring the safety of the worker 3. it can.

DESCRIPTION OF SYMBOLS 1 ... Robot system 2 ... Cell 2A ... Entrance / exit 2B ... Sensor 3 ... Worker 4 ... Worktable 10 ... Robot 20 ... Robot controller 21 ... Judgment part 22 ... Control part 30 ... Program generation apparatus 31 ... Judgment part 32 ... User interface 33 ... Generating unit 34 ... Transfer unit 40 ... Teaching device 50 ... PLC

Claims (5)

A robot system having a robot controller and a program generator configured to control a robot,
A determination unit configured to determine whether or not a condition for starting program execution is satisfied in response to an input of a program execution start instruction;
The program generation device includes:
A user interface;
A generator configured to generate a predetermined program;
A transfer unit configured to transfer the predetermined program to the robot controller in response to an input of a transfer start instruction via the user interface;
The robot controller is
A controller configured to start the execution of the predetermined program and control the robot when the determination unit determines that the condition for starting the program execution is satisfied; Robot system.   The robot system according to claim 1, wherein the transfer unit is configured to divide and transfer the predetermined program.   The robot system according to claim 1, wherein a cell for prohibiting an operator from entering is provided around a place where the robot is installed. The cell is
A doorway that can be opened and closed;
A sensor for detecting the operator's entry into the cell through the doorway;
The controller of the robot controller is
The robot system according to claim 3, wherein the robot system is configured to stop the operation of the robot when the sensor detects that the worker is in the cell.   The determination unit is provided in the program generation device, and determines that the condition for starting the program execution is satisfied when a transfer amount of the predetermined program to the robot controller reaches a predetermined amount. The robot system according to any one of claims 1 to 4, wherein the robot system is configured.

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