JP2018196908A - Control system and mounting device - Google Patents

Abstract

To construct an automated facility using a robot at a low cost without mastering a robot language.SOLUTION: A control system (30) includes: a robot (31) which is operated when a robot controller (37) interprets a robot language; and a control unit (41) connected to the robot controller. The control unit is provided with a display control section (43) which causes a display section (42) to display an input screen of a parameter with respect to the robot controller and a communication control section (44) which transmits the parameter input on the input screen to the robot controller. In the robot controller, an operation program to be executed on the basis of the parameter is set in the robot language.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a control system and a mounting apparatus that control the operation of a robot.

  In building automated equipment using robots, in addition to module construction, selection, and construction of automated equipment, learning the robot language for each manufacturer, creating robot operation programs, creating PLC (Programmable Logic Controller) programs, etc. Design cost is high. For this reason, some manufacturers have proposed to operate a robot by a coordinate input method without using a robot language (see, for example, Patent Document 1). In the controller described in Patent Document 1, instead of inputting a command statement in a robot language, various operations and position information are input to move the robot.

JP 2007-193846 A

  As described above, when an automated facility is constructed, it is necessary to learn a robot language and create a program after selecting a robot, which requires time and maintenance other than the work originally desired. As described in Patent Document 1, there is a maker that employs a program method that does not require learning of a robot language, but the robot cannot be operated unless the maker's robot. For this reason, when it was desired to replace the robot with another manufacturer, the program had to be recreated.

  SUMMARY OF THE INVENTION The present invention has been made in view of such a point, and an object of the present invention is to provide a control system and a mounting apparatus that can construct an automated facility using a robot at a low cost without learning a robot language. I will.

  A control system according to an aspect of the present invention is a control system including a robot that operates by interpreting a robot language by a robot controller, and a control unit connected to the robot controller, the control unit including the robot A display control unit that displays a parameter input screen for the controller on the display unit, and a communication control unit that transmits the parameter input on the input screen to the robot controller, the robot controller includes the parameter An operation program to be executed based on the above is set in the robot language.

  According to this configuration, by inputting a parameter on the input screen, the parameter is sent from the control unit to the robot controller, and the robot is operated with an operation program corresponding to the parameter. Since the robot can be moved by inputting parameters, the operator does not have to spend time learning difficult robot languages. Further, since the operation program is executed with parameters that do not depend on the robot language, a robot that operates in a different robot language can be controlled by the control unit. Even if the robot is replaced with another type of robot, the operator can move the robot using the same display screen, and there is no need to recreate the program.

  In the control system of one aspect of the present invention, the control unit is provided with a conversion unit that converts the parameters into a format that can be interpreted by the robot controller. According to this configuration, by converting the parameter format in accordance with how external data is captured by the robot controller, the robot can be moved according to the parameters regardless of the type of the robot.

  In the control system according to one aspect of the present invention, the robot is an industrial robot having a degree of freedom of three or more axes, and is provided with a hand unit for gripping parts. According to this configuration, an industrial robot having three or more degrees of freedom can be moved by inputting parameters.

  In the control system according to one aspect of the present invention, the parameter is a moving coordinate of the hand unit, and an operation program for moving the hand unit to the moving coordinate specified by the parameter is set in the robot controller. According to this configuration, the hand unit can be moved to the designated movement coordinate by the parameter input on the input screen.

  In the control system according to one aspect of the present invention, the parameter is an angle of the hand unit, and the robot controller is set with an operation program for directing the hand unit at an angle specified by the parameter. According to this configuration, the hand unit can be directed to a specified angle by a parameter specified on the input screen.

  In the control system according to one aspect of the present invention, the robot is a plurality of robots that operate by interpreting different robot languages with individual robot controllers, and the display control unit is configured to input parameters to the individual robot controllers. Is displayed on the display unit, and the communication control unit transmits the parameters input on the input screen to the individual robot controllers, and the individual robot controllers are input on the input screen. An operation program to be executed based on the parameters is set in the robot language. According to this configuration, parameters can be input on a common input screen even if the types of robots are different.

  In the control system of one aspect of the present invention, a processing device that performs specific processing is connected to the control unit, and the control unit transmits and receives a status signal to and from the processing device at the communication control unit, and The robot and the processing device are linked by transmitting and receiving status signals. According to this configuration, the robot and the processing device can be linked with a simple control configuration without creating a PLC program by controlling the control unit for the processing device to transmit and receive the status signal.

  A mounting apparatus according to an aspect of the present invention is a mounting apparatus to which the above-described control system is applied, in which the robot mounts a component on a substrate, the processing apparatus transports the substrate, and It is a feeder that supplies components, and the control unit receives status signals from the transport device and the feeder, and causes the robot to mount components on the substrate. Without learning the robot language, it is possible to construct an automated facility for mounting components on a substrate by linking a robot, a transfer device, and a feeder at a low cost.

  According to the present invention, by moving a robot by inputting parameters, it is possible to construct an automated facility using the robot at low cost without learning a robot language.

It is a perspective view of the mounting apparatus of this Embodiment. It is a schematic diagram of the control system of a comparative example. It is a schematic diagram of the control system of this Embodiment. It is a figure which shows an example of the input screen of this Embodiment. It is a flowchart of the parameter setting operation | movement of this Embodiment. It is a flowchart of the robot operation | movement of this Embodiment.

  Hereinafter, the present embodiment will be described with reference to the accompanying drawings. FIG. 1 is a perspective view of the mounting apparatus of the present embodiment. FIG. 2 is a schematic diagram of a control system of a comparative example. In the present embodiment, a configuration in which the control system is applied to a mounting apparatus that mounts components on a substrate will be described as an example, but the control system can be applied to automated equipment using a robot.

  As shown in FIG. 1, the mounting apparatus 1 is configured to mount a component supplied from a feeder 25 on a mounting position of a substrate W by a robot 31. On the base 10 of the mounting apparatus 1, a transport apparatus 20 that transports the substrate W toward the work area in front of the robot 31 is disposed. The transport device 20 forms a transport path by a pair of guide rails 21 that guide the transport of the substrate W and a pair of conveyor belts (not shown) that send the substrate W along the pair of guide rails 21. Further, a feeder 25 for supplying parts is disposed on the base 10 next to the robot 31.

  The feeder 25 is a so-called radial feeder, to which a carrier tape in which a large number of radial parts are connected in a row is mounted, and the radial parts are sent to the pickup position of the robot 31 by tape conveyance. The feeder 25 is not particularly limited as long as it is configured to send parts to the pickup position of the robot 31. For example, it may be constituted by a stick feeder that conveys a chip component that has slipped off from a magazine stick to a pickup position, or a ball feeder that vibrates and conveys a large number of loose components in a bowl to the pickup position.

  The robot 31 is a so-called vertical articulated robot, and is configured by attaching a hand unit 34 to the tip of a robot arm 33 provided on a turntable 32 on the base 10. The turntable 32 is installed to be rotatable about the vertical axis with respect to the base 10, and the robot arm 33 is connected to the turntable 32 so as to be swingable. The robot arm 33 connects a plurality of arm portions, and indirectly rotates each arm portion with a servo motor or the like. The hand unit 34 attached to the tip of the robot arm 33 is adjusted to a desired position and posture by the rotation of the turntable 32 about the vertical axis and the indirect rotation of each arm unit.

  A gripper nozzle 35 that grips a component with a pair of gripping claws is attached to the hand unit 34 via a rotating shaft. The gripper nozzle 35 is configured to rotate around the rotation axis of the hand portion 34 and to grip a component by opening and closing a pair of gripping claws. An imaging device 36 is attached to the hand unit 34, and a reference mark such as a BOC mark on the substrate W is imaged by the imaging device 36. In the robot 31 configured as described above, the component supplied from the feeder 25 is gripped by the hand unit 34, and the component gripped by the hand unit 34 is transported from the feeder 25 toward the mounting position of the substrate W.

  A recognition device 27 that recognizes the shape of the component during the conveyance of the component is provided in the middle of the conveyance path of the robot 31. The recognition device 27 causes the light emitting unit and the light receiving unit to face each other in the horizontal direction, and emits light from the light emitting unit to the light receiving unit with components interposed therebetween. At this time, the part is rotated between the light emitting part and the light receiving part by the robot 31 around the vertical axis, and the part shape is recognized from the change in the light shielding width in which the light from the light emitting part is shielded by the part. Note that the recognition device 27 may recognize the component shape from the light blocking width of the LED light emitted from the light emitting portion toward the light receiving portion, or the light blocking width of the laser light emitted from the light emitting portion toward the light receiving portion. From the above, the part shape may be recognized.

  By the way, as shown in the comparative example of FIG. 2, in an automated facility that normally uses the robot 51, a sequencer (PLC) 53 is connected to the robot controller 52 of the robot 51, and the transfer device 54 and the feeder 55 are connected via the sequencer 53. Each processing device is controlled. The sequencer 53 is connected to a transport device 54, drive systems 54a and 55a of a feeder 55, and sensors 54b and 55b. When constructing such an automated facility, it is necessary to learn the robot language for each manufacturer of the robot 51 and create an operation program. Furthermore, it is necessary to learn difficult ladder language and to control the drive systems 54a and 55a and the sensors 54b and 55b of the transport device 54 and the feeder 55 with the PLC program, and the debugging work of the PLC program is particularly difficult.

  Further, since the robot 51 employs a different robot language for each manufacturer, when the robot 51 is replaced with a robot 51 of another manufacturer, the operation program must be recreated in the robot language of the manufacturer. That is, a unique robot language is used for each manufacturer, and it is not considered that different manufacturer's robots are used in the same system. As described above, the design cost has increased due to the acquisition of the robot language for each manufacturer, the acquisition of the ladder language, the creation of the operation program and the PLC program for the construction and change of the automation equipment using the robot 51.

  Therefore, in this embodiment, paying attention to the fact that each manufacturer uses its own robot language, connect a control unit to the robot and input parameters independent of the robot language from the control unit. I try to make it work. It is not necessary to learn the language of the robot or create an operation program, and the robot can be moved by inputting parameters even if the robot is replaced with a robot of a different robot language. Therefore, it is possible to construct an automated facility without being aware of the difference between manufacturers, and it is possible to share an operation method between robots having different robot languages.

  Further, the control unit limits the control process for each processing apparatus to a part of the control process such as an operation timing instruction. Since a status signal (READY signal, BUSY signal) may be transmitted and received between the control unit and each processing device, unlike a sequencer, learning of a ladder language, creation of a PLC program, and troublesome debugging work are not required. Therefore, each processing apparatus can be easily connected to the control unit only by exchanging status signals. In this way, it is possible to construct an automated facility equipped with a robot and each processing apparatus at a low cost.

  A control system applied to the mounting apparatus of the present embodiment will be described with reference to FIGS. 3 and 4. FIG. 3 is a schematic diagram of the control system of the present embodiment. FIG. 4 is a diagram illustrating an example of the input screen according to the present embodiment.

  As shown in FIG. 3, the control system 30 includes a robot 31 that operates by interpreting a robot language by a robot controller 37, and a control unit 41 connected to the robot controller 37. In the control system 30, parameters are transmitted from the control unit 41 to the robot controller 37, and the operation of the robot 31 is controlled by the robot controller 37 in accordance with the parameters. In addition, the control system 30 is connected to a transport device 20 that performs a transport process for the substrate W (see FIG. 1), a feeder 25 that performs a component supply process for the robot 31, and the like as a processing device that performs a specific process. ing.

  The control unit 41 is provided with a display control unit 43 that displays a parameter input screen on the display unit 42 and a communication control unit 44 that controls transmission processing and reception processing of various signals. A display unit 42 is connected to the control unit 41, and an input screen for accepting input of parameters to the robot controller 37 is displayed on the display unit 42. In addition to movement coordinates such as pick-up coordinates and place coordinates of parts, operations such as opening and closing operations of the hand unit 34 are input to the input screen as parameters. The details of the parameter input operation on the input screen will be described later.

  The communication controller 44 is connected to the robot controller 37, the transport device 20, and the feeder 25 by wired connection or wireless connection. The communication control unit 44 performs transmission processing on the parameters input on the input screen and transmits the parameters to the robot controller 37, and receives status signals received from processing devices such as the transport device 20 and the feeder 25. Processing is performed. In the robot controller 37, an operation program to be executed based on the parameters is set in the robot language. By transmitting the parameter to the robot controller 37, the parameter is reflected to the operation program described in the robot language.

  In this case, in the robot controller 37, an operation program to be executed based on parameters for each operation is set in advance in the robot language. For example, an operation program for moving the hand unit 34 (see FIG. 1) to the movement coordinates specified by the parameter, an operation program for directing the hand unit 34 to the angle specified by the parameter, and an opening / closing operation specified by the parameter are executed by the hand unit 34. The operation program is described in robot language. Thus, by setting an operation program in the robot language in advance in the robot controller 37, the robot 31 is moved by the operation program corresponding to the parameter input on the input screen.

  The program method of the operation program is not particularly limited, but the movement of the robot 31 may be controlled by designating movement coordinates, angles, and opening / closing operations, or the operation order, coordinates, angles, etc. as shown in the flowchart. The movement of the robot 31 may be controlled by designating. Teaching may be performed by moving the robot 31 by inputting a parameter using the control unit 41 or by moving the robot 31 using a teaching device attached to the robot 31. When teaching is performed on the robot 31 side, the robot 31 is moved by the teaching device, and parameters such as the movement position are transmitted to the control unit 41.

  In addition, although the opening / closing operation of the hand unit 34 is controlled by the operation program of the robot controller 37, the present invention is not limited to this configuration. The hand unit 34 may be directly ON / OFF controlled by the control unit 41. In the present embodiment, a part pick-up operation and a place operation program are exemplified as the operation program. However, the present invention is not limited to this configuration. For example, as an operation program, a program such as a rotation operation for positioning a component between the light emitting unit and the light receiving unit of the recognition device 27 (see FIG. 1) and rotating the component around the vertical axis may be set.

  By the way, how to import external data differs depending on the type (manufacturer) of the robot 31, and there are robots that can import external data from an input terminal such as a host computer, and robots that cannot import external data from an input terminal. doing. If the robot can take in external data from the input terminal, it can take in parameters from the control unit 41. On the other hand, a robot that cannot take in external data from the input terminal cannot take in parameters from the control unit 41, but when using a camera or sensors connected to the robot, an output result from that Can be imported as external data.

  Therefore, the control unit 41 is provided with a conversion unit 45 that converts parameters into a format that can be interpreted by the robot controller 37. If the robot cannot take in external data from the input terminal, the conversion unit 45 converts the parameter format into the output result format of the camera or sensors that can be interpreted by the robot controller of the robot. Thus, by converting the parameter format according to the way the robot controller 37 captures external data, the control unit 41 can control the operation of the robot 31 regardless of the type (manufacturer) of the robot 31. It has become.

The control unit 41 transmits and receives status signals such as a READY signal and a BUSY signal between the transport device 20 and the feeder 25 by the communication control unit 44, thereby minimizing control processing for the transport device 20 and the feeder 25 by the control unit 41. It is suppressed. That is, the drive systems 20a and 25a and the sensors 20b and 25b of the transport device 20 and the feeder 25 are not controlled on the control unit 41 side, but are controlled on the transport device 20 side and the feeder 25 side. In this way, by suppressing the control processing of the control unit 41 with respect to the transport apparatus 20 and the feeder 25 to transmission / reception of the status signal, the robot 31, the transport apparatus 20, and the feeder 25 can be controlled with a simple control configuration without creating a PLC program. You can coordinate the actions.
However, if the standard (signal etc.) determined on the control unit side 41 is used, the control unit 41 can also control. The minimum status signal is used here because it is impossible to deal with any unknown device in the world.

  In this case, a status signal is transmitted and received between the control unit 41, the transport device 20 and the feeder 25, and the control unit 41 confirms the states of the transport device 20 and the feeder 25 and instructs the robot 31 to drive. As a result, the components are picked up from the feeder 25 by the robot 31 at an appropriate timing and mounted on the substrate W on the transport device 20 at a predetermined position. Further, when a completion signal is notified from the robot 31 to the control unit 41, a status signal is transmitted and received between the control unit 41, the transfer device 20 and the feeder 25, and the substrate is transferred at an appropriate timing by the transfer device 20 and the feeder 25. W transport operation and component supply operation are performed.

  Each unit of the control unit 41, the robot controller 37, and the control unit of each processing apparatus are configured by a processor, a memory, and the like that execute various processes. The memory is composed of one or a plurality of storage media such as a ROM (Read Only Memory) and a RAM (Random Access Memory) depending on the application. The memory of the control unit 41 stores an input screen display control program and a communication control program, the robot controller 37 stores a robot operation program, and the memory of each processing apparatus stores a control program for each part of the apparatus. Has been.

  As shown in FIG. 4, on the input screen for the pickup operation, for example, parameters such as part name, pickup location, movement coordinates (X, Y, Z) during pickup, and angles (A, B, C) during pickup are input. Is accepting. Similarly, on the input screen of the place operation, for example, input of parameters of a part name, a place place, a moving coordinate (X, Y, Z) at the time of placement, and an angle (A, B, C) at the time of place is accepted. . In addition, on the input screen for the pickup operation and the place operation, an operation such as an opening / closing operation of the hand unit 34 in the movement coordinates, or an input of a parameter for the movement speed may be accepted.

  Since the robot 31 is moved by inputting a parameter to the input screen, the operation of the robot 31 can be controlled by a simple operation of inputting the parameter without creating an operation program in the robot language. Since parameters that do not depend on the type of the robot 31, that is, the robot language, are input to the input screen, the parameters can be input on the common input screen regardless of the type of the robot 31. Therefore, even when the robot 31 is exchanged for a different robot language, the parameter input method does not change, and the burden on the operator can be reduced. In addition, even when moving multiple types of robots 31, parameters can be input on a common input screen regardless of differences in the robot language, and parameters can be input without being conscious of differences in the types of robots 31. can do.

  With reference to FIG. 5 and FIG. 6, the robot setting operation and the robot operation based on the operation program will be described. FIG. 5 is a flowchart of the parameter setting operation of the present embodiment. FIG. 6 is a flowchart of the robot operation according to the present embodiment. Here, for convenience of explanation, description will be made using the reference numerals in FIG. An example in which the movement coordinates of the hand unit and the opening / closing operation of the hand unit are designated as parameters will be described.

  As shown in FIG. 5, a parameter input screen is displayed by the display control unit 43, and input of parameters to the robot controller 37 is accepted (step S01). When parameters are input on the input screen, the parameters input on the input screen are transmitted to the robot controller 37 by the communication control unit 44 (step S02). At this time, the format of the parameter is appropriately converted according to how the robot controller 37 takes in external data. When the parameters are taken into the robot controller 37, the parameters are applied to the operation program described in the robot language (step S03).

  Subsequently, as shown in FIG. 6, when the robot controller 37 receives a command from the control unit 41 (step S11), the robot controller 37 determines whether or not the command from the control unit 41 is a coordinate movement command (step S11). S12). If it is determined that the command from the control unit 41 is a coordinate movement command (Yes in step S12), the hand unit 34 of the robot 31 is moved to the movement coordinate specified by the parameter (step S13), and control is performed from the robot controller 37. The completion signal and the current coordinates are notified to the unit 41 (step S14). The next command is instructed from the control unit 41 by the notification of the completion signal and the current coordinates.

  On the other hand, if it is determined that the command from the control unit 41 is not a coordinate movement command (No in step S12), the robot controller 37 determines whether the command from the control unit 41 is an operation command (step S15). ). When the command from the control unit 41 is determined to be an operation command (Yes in Step S15), the opening / closing operation designated by the parameter is executed by the hand unit 34 of the robot 31 (Step S16), and the robot controller 37 controls the control unit. 41 is notified of the completion signal and the current coordinates (step S14). The next command is instructed from the control unit 41 by the notification of the completion signal and the current coordinates.

  If it is determined that the command from the control unit 41 is not an operation command (No in step S15), the robot controller 37 determines whether the command from the control unit 41 is an end command (step S17). When the command from the control unit 41 is determined to be an end command (Yes in step S17), the robot operation is ended. If it is determined that the command from the control unit 41 is not an end command (No in step S17), the next command is instructed from the control unit 41, and the command processing from the control unit 41 is received. The process is repeated.

  As described above, in the control system 30 according to the present embodiment, by inputting parameters on the input screen, parameters are sent from the control unit 41 to the robot controller 37, and the robot 31 operates with an operation program corresponding to the parameters. Is done. Since the robot 31 can be moved by inputting parameters, it is not necessary for the operator to spend time learning a difficult robot language. In addition, since the operation program is executed with parameters that do not depend on the robot language, the robot 31 that operates in a different robot language can be controlled by the control unit 41. Even if the robot 31 is replaced with another type of robot 31, the operator can move the robot 31 using the same display screen, and a program reworking operation or the like does not occur.

  Further, by controlling the control unit 41 with respect to the processing device such as the transport device 20 and the feeder 25 to transmit and receive the status signal, the robot 31, the transport device 20 and the feeder 25 can be linked without creating a PLC program. it can. Therefore, it is possible to construct an automated facility that mounts components on a substrate by linking the robot 31, the transport device 20, and the feeder 25 with a simple configuration at a low cost.

  Although correction processing is not described in the present embodiment, a correction device such as a camera or laser recognition may be provided in the case where it is impossible to cope with only the coordinate position. For example, when a correction device is connected to the robot, the movement coordinates specified by the parameters are corrected by the robot controller, and the hand unit is moved to the corrected movement coordinates. When a correction device is connected to the control unit, the movement coordinates specified by the parameters are corrected by the control unit, and the corrected movement coordinates are transmitted as parameters to the robot controller.

  Moreover, in this Embodiment, although the structure which applied the control system to the mounting apparatus was illustrated, it is not limited to this structure. The control system can be applied to automation equipment using a robot, and can be applied to manufacturing equipment for metal industry, chemical industry, electronics industry, machine industry, food industry, textile industry, ceramic industry, and other industrial products.

  Moreover, in this Embodiment, although the conveying apparatus and the feeder were illustrated as a processing apparatus, it is not limited to this structure. The processing apparatus only needs to perform specific processing, and may perform screw tightening, labeling, soldering, and the like.

  Moreover, in this Embodiment, although it was set as the structure which suppresses control of the control unit with respect to a processing apparatus to transmission / reception of a status signal, it is not limited to this structure. If there is no delay in the processing of the processing device, the processing may be performed by measuring the time by the control system so as to eliminate the transmission / reception of the status signal. Alternatively, the control unit may create a PLC program so that the control unit side controls the drive system and sensors of the processing device, or the processing device side is controlled by the PLC and the final signal is read by READY / The unit may be only BUSY.

  In the present embodiment, a vertical articulated robot is exemplified as the robot, but the present invention is not limited to this configuration. The robot may be another industrial robot such as a horizontal articulated robot (scalar robot), an orthogonal robot, or a parallel ring robot. The robot is not limited to an industrial robot, and may be configured in any manner as long as it operates by interpreting a robot language by a robot controller.

  In this embodiment, a control system including a single robot has been described. However, the present invention is not limited to this configuration. The control system may be provided with a plurality of robots that operate by interpreting different robot languages with individual robot controllers. In this case, the display control unit displays a common input screen for each robot controller on the display unit, inputs parameters for each robot controller, and the communication control unit transmits the parameters to each robot controller. . In addition, an operation program to be executed based on parameters input on a common input screen is set in each robot controller in a robot language. Even if the types of robots are different, parameters can be entered on a common input screen.

  Moreover, although embodiment and modification of this invention were demonstrated, what combined the said embodiment and modification as the other embodiment of this invention entirely or partially may be sufficient.

  The embodiments of the present invention are not limited to the above-described embodiments and modifications, and various changes, substitutions, and modifications may be made without departing from the spirit of the technical idea of the present invention. Furthermore, if the technical idea of the present invention can be realized in another way by technological advancement or another derived technique, the method may be used. Accordingly, the claims cover all embodiments that can be included within the scope of the technical idea of the present invention.

  In the embodiment of the present invention, the configuration in which the present invention is applied to the control system of the mounting apparatus has been described. However, the present invention can be applied to a control system of another apparatus that assembles industrial products by a robot.

  Furthermore, in the above embodiment, the control system includes a robot that operates by interpreting the robot language by the robot controller, and a control unit connected to the robot controller. The control unit includes a parameter input screen for the robot controller. Is displayed on the display unit, and a communication control unit for transmitting the parameter input on the input screen to the robot controller. The robot controller is provided with an operation program executed based on the parameter. The language is set. According to this configuration, by inputting a parameter on the input screen, the parameter is sent from the control unit to the robot controller, and the robot is operated with an operation program corresponding to the parameter. Since the robot can be moved by inputting parameters, the operator does not have to spend time learning difficult robot languages. Further, since the operation program is executed with parameters that do not depend on the robot language, a robot that operates in a different robot language can be controlled by the control unit. Even if the robot is replaced with another type of robot, the operator can move the robot using the same display screen, and there is no need to recreate the program.

  As described above, the present invention has an effect that it is possible to construct an automated facility using a robot at a low cost without learning a robot language, and in particular, has a degree of freedom of three or more axes. This is useful for a control system and a mounting apparatus that control the operation of an industrial robot.

1 Mounting device 20 Transfer device (processing device)
25 Feeder (Processor)
DESCRIPTION OF SYMBOLS 30 Control system 31 Robot 34 Hand part 37 Robot controller 41 Control unit 42 Display part 43 Display control part 44 Communication control part 45 Conversion part W board | substrate

Claims (8)

A control system comprising a robot that operates by interpreting a robot language by a robot controller, and a control unit connected to the robot controller,
The control unit includes a display control unit that displays a parameter input screen for the robot controller on a display unit, and a communication control unit that transmits the parameters input on the input screen to the robot controller.
An operation program to be executed based on the parameters is set in the robot language in the robot controller.   The control system according to claim 1, wherein the control unit is provided with a conversion unit that converts the parameter into a format interpretable by the robot controller.   3. The control system according to claim 1, wherein the robot is an industrial robot having a degree of freedom of three or more axes, and is provided with a hand portion that grips a part. The parameter is a movement coordinate of the hand unit,
The control system according to claim 3, wherein an operation program for moving the hand unit to a movement coordinate designated by the parameter is set in the robot controller. The parameter is an angle of the hand part,
The control system according to claim 3 or 4, wherein an operation program for directing the hand unit to an angle specified by the parameter is set in the robot controller. The robot is a plurality of robots that operate by interpreting different robot languages with individual robot controllers,
The display control unit displays a parameter input screen for the individual robot controller on the display unit,
The communication control unit transmits parameters input on the input screen to the individual robot controllers,
The operation program to be executed based on the parameters input on the input screen is set in the robot language in each robot controller, according to any one of claims 1 to 5. Control system. A processing device that performs specific processing is connected to the control unit,
The said control unit transmits / receives a status signal with the said processing apparatus in the said communication control part, and makes the said robot and the said processing apparatus cooperate by transmission / reception of the said status signal. The control system described in. A mounting apparatus to which the control system according to claim 7 is applied,
The robot is a robot for mounting components on a substrate;
The processing device is a feeder for supplying a conveying device and a component for conveying a substrate,
The mounting apparatus, wherein the control unit receives a status signal from the transfer device and the feeder, and causes the robot to mount a component on the substrate.

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