JP2020091597A - Program creation device and article manufacturing method - Google Patents

Abstract

To facilitate creation of a program for making a production device automatically recover from a halted state caused by the presence of anomalies or the like.SOLUTION: A program creation device provided herein comprises a processing unit for crating a program for driving a plurality of production devices from a timing chart, the processing unit being configured to extract from the timing chart portions showing that the production devices are operating, and store in a storage unit a timing chart to be used when the production devices are halted, the timing chart covering a period in each extracted portion from the time a corresponding production device is halted till the production device recovers.SELECTED DRAWING: Figure 2

Description

The present invention relates to a program creation device for controlling a production line configured by an automatic machine such as an actuator and various peripheral devices, and a method for manufacturing an article manufactured using the program.

In a production line for assembling parts, several tens to several hundreds of production devices are operating at the same time because a plurality of parts are assembled at the same time. The production equipment is controlled asynchronously and the parts are assembled and operated. These production lines are becoming more intelligent and have the function of automatically returning from an abnormally stopped state.

In order to operate such a production line without interference, the designer examines the procedure and timing of the assembly operation and draws a timing chart. Further, the designer must create an assembly program and a program for automatically recovering from the abnormally stopped state from the timing chart in which the assembly operation is described in advance.

On the other hand, the production line is required to shorten the lead time from the start of production preparation to the start of production.

In order to meet such requirements, a method for automatically creating a sequence program from a timing chart has already been proposed in order to efficiently design a sequence program for controlling a production line. Further, Patent Document 1 discloses a method of executing a return operation of returning to an initial position preset in the time chart after performing the operation described in the time chart. In addition, a method is disclosed in which, after the completion of the return operation, a regression operation is performed in which the time chart is returned to the start time point and the time chart is repeatedly executed.

JP, 2014-157514, A

However, in order to create a program that automatically recovers from an abnormally stopped state, different programs are automatically recovered depending on the timing of the abnormal stop. Therefore, there is a problem in that the number of timing charts to be created becomes enormous and the lead time from the start of production preparation to the start of production cannot be shortened easily. That is, in the conventional technique, a program for sequentially executing the operation at each timing when an abnormality may occur must be created from a timing chart that depicts a series of operations from the start time to the end time. Therefore, the designer must draw not only the timing chart of the assembling operation, but also the timing chart from the abnormally stopped state to the automatic restoration. As a result, it takes time to draw the timing chart required for program creation, and it is difficult to improve the efficiency of program creation.

Therefore, the present invention is intended to solve a problem that cannot be solved by such a conventional method, and is a program for automatically returning from a state in which a production apparatus has stopped due to an abnormality or the like. It is intended to facilitate the creation of.

A program creating apparatus of the present invention is a program creating apparatus having a processing unit that creates a program for driving a plurality of production devices from a timing chart, wherein the processing unit is being processed by the production apparatus from the timing chart. And storing a timing chart from the stopped state of the production apparatus to the return of the production apparatus in the storage unit when the production apparatus is stopped at the extracted portion. Is characterized by.

An article manufacturing method according to the present invention is a method for manufacturing an article by driving a plurality of production apparatuses, wherein the plurality of production apparatuses are for driving the production apparatus created from a timing chart. Driven by a program, the program extracts a part indicating that the production device is processing from the timing chart, and when the production device stops in the extracted part, the production device stops. It is characterized by including a program created from a timing chart from the state until the production apparatus is returned.

By using the present invention, it is easy to create a program for automatically returning from a state in which a production apparatus has stopped due to an abnormality or the like in a production line configured by a plurality of production apparatuses. You can

Configuration diagram of a sequence program creation device in the present embodiment The figure which shows an example of the timing chart used for the sequence program creation device in this embodiment. The figure which shows an example of the production line in this embodiment. The figure which shows an example of the timing chart for creating the program for returning the production line in this embodiment. The figure which shows an example of the timing chart for creating the program for returning the production line in this embodiment. The figure which shows an example of the timing chart for creating the program for returning the production line in this embodiment. The figure which shows an example of the timing chart for creating the program for returning the production line in this embodiment.

The sequence program creating device of the present invention can automatically create a program from the abnormally stopped state to the automatic recovery from the timing chart. Hereinafter, a sequence program creating method and a sequence program creating apparatus of the present invention will be described with reference to the drawings.

FIG. 1 shows an example of the sequence program creating apparatus of the present invention. The sequence program automatically created from the timing chart is created by the processing unit 101 including a CPU and the like. The processing unit 101 is, for example, a personal computer. The display unit 103 is, for example, a display. The input unit 102 is, for example, a keyboard, a mouse, or a touch panel. The storage unit 105 is, for example, a memory or a hard disk. The sequence program created by the present invention is registered in the controller 104. The controller 104 operates a plurality of production devices or the like that compose the production line in accordance with the sequence program procedure to perform an assembly operation or an automatic return operation from an abnormally stopped state.

The timing chart can be created or modified by operating the input unit 102 according to the screen displayed on the display unit 103. Alternatively, the timing chart may be acquired in advance by a data acquisition unit (not shown) through an interface (not shown) and stored in the storage unit 105 in advance.

FIG. 2 specifically shows an example of the timing chart 301 according to the present invention.

The operation of the drive unit of each production apparatus described in the timing chart 301 shown in FIG. 2 is converted into a sequence program by a known method in, for example, the processing unit 101 and registered in the controller 104. The controller 104 drives the production line and manufactures the article according to the procedure of the sequence program.

FIG. 3 is an example of a production line for manufacturing the article of the present embodiment, and is a schematic diagram of a production line for applying an adhesive. The loading device 702 includes a Z-axis drive unit 7021 that moves the loading chuck up and down, an A-axis drive unit 7022 that moves the loading chuck back and forth, and a loading chuck drive unit 7023 that grips a work. The loading chuck drive unit 7023 has a work presence/absence output unit, and outputs a signal indicating a state without a work when the chuck is released and a signal indicating a state with the work when the chuck is gripped. Output. The A-axis drive unit 7022 is for raising the Z-axis drive unit 7021 when retracting the loading chuck (positioning it on the pallet) and for moving the A-axis drive unit 7022 forward (positioning it on the carriage of the transport device). The raising of the Z-axis drive unit 7021 is the same operation.

The adhesive application device 704 shows an example using a robot arm 7042. The robot arm 7042 holds a dispenser 7041 for ON/OFF controlling the adhesive syringe, and drives the robot arm 7042 so that the dispenser 7041 moves as shown by H, for example, to apply the adhesive to the work W.

The transport device 703 transports the carriage 7031 loaded with the workpiece loaded by the loading device 702 in the X(+) direction (X-axis drive unit) and transports it to the adhesive application device 704. Further, the carriage 7031 on which the work on which the adhesive has been applied is placed is moved to the discharge position (not shown) in the X(+) direction to carry the work.

Specifically, the movement of the production line shown in FIG. 3 is as follows. First,
A: The Z-axis drive unit 7021 of the loading device 702 is lowered, and at the same time, the loading chuck is closed and the work on the pallet is gripped.

B: The Z-axis drive unit 7021 is raised at the same time when the chuck is closed, and at the same time when the raising is completed, the X-axis is rotated to move the chuck from above the pallet to above the loading position.

C: When the rotation is completed, the Z-axis is lowered, and at the same time, the chuck is opened and the work is placed on the carriage of the transfer device.

D1: The Z-axis drive unit 7021 rises at the same time when the chuck is opened, and when the Z-axis drive unit 7021 is completely raised, the carriage of the transfer device is moved in the X(+) direction to transfer the work to the adhesive application device.

D2: When the Z-axis drive unit 7021 is completely lifted, the A-axis drive unit 7022 of the loading device rotates to move the chuck from the loading position onto the pallet.

E: When the movement to the adhesive applying device is completed, the adhesive applying device is driven to apply the adhesive to the work.

F: When coating is completed, the carriage of the transfer device moves in the X(+) direction, and when the work reaches the discharge position, the work is discharged by a discharge device (not shown). G: At the same time when the work is discharged, the carriage of the transfer device moves in the X(-) direction and returns to the loading position. When it is returned, the processes are sequentially performed from the above A, and by repeating this, the article can be automatically manufactured.

FIG. 2 is a timing chart before conversion into the sequence program for moving the production line in FIG.

The timing chart 301 includes a setting unit 302, a time display unit 303, and a graphic drawing unit 304.

In the timing chart of FIG. 2, for example, the setting unit 302 describes a production device name, a driving unit name, a driving method, an output signal as an IO number, a completion signal, a point number, and an operation direction. The production device name describes the name of the production device that constitutes the production line. The name of the drive unit that constitutes the production apparatus is described in the drive unit name. The driving method can be selected depending on whether the driving method of the driving unit is an actuator or a cylinder, for example. Alternatively, it is possible to select only the template for converting to a program. The output signal describes a signal indicating an output command for driving the drive unit. The completion signal describes a signal indicating that the movement of the drive unit is completed. The point signal describes an address indicating that the movement of the drive unit is completed. The point number is a number for each production apparatus, and even if it is the same P1, P1 of the transfer apparatus and P1 of the input apparatus indicate different points, not the same point. The direction of the operation completion position of the drive unit is described in the operation direction.

The time display unit 303 includes time information. In the example of the timing chart 301 in FIG. 3, the left end is the origin, and the origin is set to 0 seconds, and the movement of each drive unit of the production apparatus every 0.1 seconds from the origin is written in the graphic drawing unit 304 described later. It has become.

The graphic drawing unit 304 represents an oblique line 3041 indicating that the drive unit of the production apparatus is in process, a horizontal line 3042 indicating that the drive unit of the production apparatus is in a standby state, and ON or OFF of a signal of a sensor or the like. Includes vertical line 3043. Further, it further includes information on the arc line 3044 indicating the dependency relationship between different operations. The transition state of each drive unit is shown in the graphic drawing unit 304 by a single line by combining the diagonal lines 3041, horizontal lines 3042, and vertical lines 3043. In this specification, this line may be referred to as an operating state transition line. The arc line 3044 indicating the subordination relationship between different operations includes a synchronization permission trigger line 321 indicating the timing to start the asynchronous operation of the production apparatus and a synchronization completion trigger line 322 indicating the timing to complete the asynchronous operation of the production apparatus. Have. The synchronization permission trigger line 321 has, for example, a rhombus-shaped tip symbol. The synchronization completion trigger line 322 has, for example, a tip symbol in the shape of an arrow. The start point and the end point of the operation state transition line, the synchronization permission trigger line 321, and the synchronization completion trigger line 322 are arranged in the graphic drawing unit 304.

As described above, the timing chart necessary for the present invention may be acquired in advance by a data acquisition unit (not shown) through an interface (not shown) and stored in the storage unit 105, or newly input from the input unit 102. It may be created by inputting information. By operating the input unit 102 according to the screen displayed on the display unit 103, the information for creating the timing chart can be input or modified. Here, a method of inputting information from the input unit 102 to create a timing chart will be specifically described.

First, the operation information of the timing chart is input via the input unit 102. As the operation information, for example, the item of the setting unit 302 (see FIG. 2) is input. In the example of the timing chart shown in FIG. 2, the production device name, the drive unit name, the drive method, the completion signal, the output signal, and the operation direction are input. When performing this input, the operation is performed from the input unit 102 according to the screen displayed on the display unit 103. When the figure to be edited is specified from the input unit 102, the processing unit 101 starts the drawing process.

Next, the operating state transition line is drawn. Through the input unit 102, the production device name, operation name, driving method, completion signal, output signal, point number, and operation direction at the operation start time (time (seconds) from the origin) are specified. Next, the production device name, operation name, driving method, completion signal, output signal, and operation direction at the operation end time are specified. Thereby, the operating state displacement line can be drawn on the timing chart.

Next, the synchronous trigger line is drawn. The synchronization information is designated via the input unit 102. Specify the production device name, operation name, operation direction, and timing (time (seconds) from the origin) of the synchronization trigger start side. Next, the production device name, the drive unit name, the operation direction, and the timing (time (seconds) from the origin) on the synchronization trigger end side are designated. Thereby, the synchronization trigger line can be drawn on the timing chart based on the designated synchronization information.

Next, a method of creating a program for automatically returning from the timing chart described in this way and stored in the storage unit 105 will be described. Specifically, a method of creating a program for automatically returning from a state where an abnormality has occurred and the production line has stopped in the production line, after removing the cause of the abnormality, will be described.

It is necessary to create all the programs for the recovery at the place (time) where the production device may stop on the way. A method of creating the program will be described. In the production apparatus, a place (time) at which the production apparatus may be stopped halfway is a hatched portion 3041 that indicates that the drive unit of the production apparatus is performing processing. First, the processing unit 101 extracts, from the timing chart, a place where the production apparatus may stop. In the example of the timing chart of FIG. 2, (1) to (11) are extracted. This extraction may be performed by setting a flag at a possible place when the timing chart is input, or by selecting the input section while displaying the timing chart. Then, for each of (1) to (11), the processing unit creates a program for restoration. First, the processing unit 101 determines whether or not the stopped production apparatus holds the work for each of (1) to (11). The presence or absence of the work may be set in advance in association with the shaded portion 3041, or may be selected by the input unit while displaying the timing chart. Then, the processing unit 101 determines a position to be returned (return position) depending on the presence or absence of the work, and stores the timing chart for returning to the return position in the storage unit 105. If the work is stopped without a work, the timing chart for returning to the origin of the timing chart (time 0.0 in FIG. 2) is stored in the storage unit 105. A storage unit 105 stores a timing chart for performing an operation opposite to the timing chart up to the position of time 0.0 in FIG. That is, when the work is not held, the storage unit 105 stores a timing chart for executing the operation of returning along the timing chart from the portion (hatched portion) indicating that the processing is extracted in the timing chart. Let

On the other hand, if there is a work, the timing chart that advances the operation that the drive unit stopped halfway until the drive unit enters the standby state (from the shaded portion to the horizontal portion of the timing chart) is stored in the storage unit. Let In other words, when the work is held, the timing chart for executing the operation of advancing along the timing chart from the portion (hatched portion) indicating that the processing is extracted in the timing chart is stored.

Then, the timing chart for executing the normal operation is stored from the return position. At the return position, it may be confirmed whether or not the other production apparatuses are in the predetermined state. If the other production apparatus is in the predetermined state, the normal operation is restored, and if not, the error may be output.

FIG. 4 is a timing chart for creating a program for returning the production line in the case of stopping at (1). In the case of (1), after the work device receives the work from the input device, the work device drives the X-axis drive unit of the work device to stop the work while carrying the work to the coating device. First, the presence or absence of the work is selected. For the presence/absence of a work when the work is stopped in (1), the presence is selected because the work is placed on the carriage. Since there is a work, the position (return position) to be returned is the position (time) at which the drive unit goes to the standby state (the timing chart becomes horizontal) after the operation that the drive unit stopped halfway. Is. The presence or absence of the work on the carriage may be detected by a sensor (not shown), or may be stored in association with the timing chart in advance. The processing unit 101 stores in the storage unit 105 a timing chart for advancing the operation in which the drive unit has stopped halfway and advancing to the position where the drive unit enters the standby state (the timing chart becomes horizontal). Then, a timing chart for executing the normal operation is stored in the storage unit 105 from the return position.

FIG. 5 is a timing chart for creating a program for returning the production line in the case of stopping at (2). First, the presence or absence of the work is selected. At the location of (2), since the work is placed on the carriage of the transfer device, "Yes" is selected. Since there is a work, since there is a work, the position to be returned (return position) advances the operation where the drive unit stopped midway, and the drive unit enters the standby state (the timing chart is horizontal. It is a position (time). The processing unit 101 stores in the storage unit 105 a timing chart for advancing the same operation as the timing chart to the position where the drive unit is in the standby state (the timing chart is horizontal). Then, a timing chart for executing the normal operation is stored in the storage 105 from the return position.

FIG. 6 is a timing chart for creating a program for returning the production line in the case of stopping at (3). First, the presence or absence of the work is selected. In (3), the chuck has not yet gripped the work, and no work is selected. The processing unit 101 causes the storage unit 105 to store a timing chart for performing an operation reverse to the timing chart up to the origin of the timing chart (time 0.0 in FIG. 2) and subsequently executing a normal program. To be done.

FIG. 7 is a timing chart for creating a program for returning the production line in the case of stopping at (4). First, the presence or absence of the work is selected. In (4), since the chuck grips the work, the work presence is selected. The processing unit 101 is a position (time) at which the drive unit advances the operation that has stopped halfway and the drive unit enters the standby state (the timing chart becomes horizontal). The processing unit 101 stores in the storage unit 105 a timing chart for advancing the same operation as the timing chart to the position where the drive unit is in the standby state (the timing chart is horizontal). Then, a timing chart for executing the normal operation is stored in the storage unit 105 from the return position.

Similarly, a timing chart for creating a program for returning the production line in the case of stopping at (5) to (11) is created. (Drawing omitted)
Based on the timing chart created in this way, it is converted into a sequence program by a known method in the processing unit 101 and registered in the controller 104. The controller 104 drives the production line shown in FIG. 3 according to the procedure of the sequence program to manufacture an article.

The configurations of the embodiments described above are shown as specific examples, and are not limited to the configurations of these specific examples.

101 processing unit 102 input unit 103 display unit 104 controller

Claims (8)

A program creation device having a processing unit for creating a program for driving a plurality of production devices from a timing chart,
The processing unit extracts a part indicating that the production device is in process from the timing chart, and when the production device is stopped in the extracted part, the production is performed from the stopped state of the production device. A program creation device, wherein a timing chart until the device is restored is stored in a storage unit. The timing chart from the state in which the production apparatus is stopped until the production apparatus is returned differs depending on whether or not the production apparatus holds the work in the portion indicating that the process extracted in the timing chart is in process. The program creation device according to claim 1, wherein When the work is not held, a timing chart for executing an operation of returning along the timing chart from a portion indicating that the processing is extracted in the timing chart is stored in the storage unit. The program creation device according to claim 2. When the work is held, a timing chart is stored in the storage unit that causes an operation of advancing along the timing chart from a portion indicating that the process is extracted in the timing chart. The program creation device according to claim 2 or 3. A method for manufacturing an article, which comprises driving a plurality of production devices to produce an article,
The plurality of production devices are driven by a program for driving the production device created from a timing chart,
The program extracts a portion indicating that the production device is processing from the timing chart, and when the production device is stopped in the extracted portion, the production device is stopped from the stopped state. A method for manufacturing an article, comprising a program created from a timing chart until restoration of the article. The timing chart from the state in which the production apparatus is stopped until the production apparatus is returned differs depending on whether or not the production apparatus holds the work in the portion indicating that the process extracted in the timing chart is in process. The method for manufacturing an article according to claim 5, wherein: When the work is not held, a timing chart for executing an operation of returning along the timing chart from a portion indicating that the processing is extracted in the timing chart is stored in the storage unit. The method for manufacturing the article according to claim 6. When the work is held, a timing chart is stored in the storage unit for executing an operation of proceeding along the timing chart from a portion indicating that the process is extracted in the timing chart. The method for manufacturing the article according to claim 6 or 7.

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