JP2022015933A - Cooperation system - Google Patents

Abstract

To cause a robot to operate an operated part provided on an operation panel of an industrial machine even if a stop position of an unmanned transport vehicle varies in a cooperation system comprising the industrial machine and the unmanned transport vehicle on which the robot is mounted.SOLUTION: A position identification mark T1 is provided at a prescribed part of an operation panel 16 of an industrial machine, an unmanned transport vehicle or a robot 25 has a camera 31 which images the prescribed part of the operation panel 16 in the state that the unmanned transport vehicle 25 stops at a prescribed stop position. A control device for controlling the robot 25 and the unmanned transport vehicle executes: picking-up processing for causing the camera 31 to pick up an image of the prescribed part of the operation panel 16 in the state the unmanned transport vehicle is stopped at a work station; and operation processing for recognizing a positional relationship between operated parts 166 to 168 and the robot 25 on the basis of an image of the position identification mark T1 included in the picked-up image obtained by the picking-up processing, and for causing the robot 25 to operate the operated parts 166 to 168 of the operation panel 16 on the basis of the recognized positional relationship.SELECTED DRAWING: Figure 11

Description

An industrial machine having an operation panel provided with an operated unit, a robot that performs work on the industrial machine, and an automatic guided vehicle that is equipped with the robot and travels to a work position preset for the industrial machine. The present invention relates to a collaborative system including a vehicle and a control device for controlling the robot and the automatic guided vehicle.

Conventionally, as an example of the above-mentioned collaborative system, the collaborative system disclosed in International Publication No. 2018/092222 (Patent Document 1 below) is known. In this collaborative system, an automatic guided vehicle equipped with a robot moves to a work position set for a machine tool (an example of an industrial machine), and at that work position, the robot moves the work to the machine tool. Work such as attachment / detachment is executed.

In this collaborative system, the control device of the machine tool and the control device of the robot and the automatic guided vehicle transmit and receive signals via the communication device, so that the robot can work on the machine tool at an appropriate timing. It has become like.

International Publication No. 2018/092222

By the way, for example, in old-fashioned machine tools (industrial machines), models that do not have communication equipment for communicating with automatic guided vehicles and robots, and even if they have communication equipment, the communication standards are different. There are models that cannot communicate.

Even if an attempt is made to apply a collaborative system using an automatic guided vehicle and a robot shown in Patent Document 1 to such an industrial machine, the control device for controlling the automatic guided vehicle and the robot and the industrial machine are controlled. Since it is not possible to communicate with the control device, the operation of the robot and the operation of the industrial machine cannot be linked in a predetermined order, and it cannot be established as a collaborative system.

On the other hand, for example, if the robot can operate the operation panel performed by the operator, the operation of the machine tool and the operation of the robot are executed in a predetermined order, and a collaborative system between the robot and the machine tool is established. The possibility of achieving it increases.

However, the positional relationship between the robot mounted on the automatic guided vehicle and the operation button (operated part) provided on the operation panel changes each time due to variations in the stop position of the automatic guided vehicle, so the robot It is difficult to make the operated part operate accurately.

The present invention has been made in view of the above circumstances, and even if the stop position of the automatic guided vehicle varies, the robot can accurately operate the operated portion provided on the operation panel of the industrial machine. The purpose is to provide a collaborative system that can be made to work.

The present invention for solving the above problems
An industrial machine having an operation panel provided with an operated unit, a robot that performs work on the industrial machine, and an automatic guided vehicle that is equipped with the robot and travels to a work position preset for the industrial machine. A collaborative system including a vehicle and a control device for controlling the robot and the automatic guided vehicle.
A position identification mark is provided at a predetermined position on the operation panel of the industrial machine.
The automatic guided vehicle or the robot has a camera capable of taking an image of the predetermined position on the operation panel while the automatic guided vehicle is stopped at the work position.
The control device is included in an image pickup process for causing the camera to take an image of the predetermined portion of the operation panel while the automatic guided vehicle is stopped at the work position, and an image captured image obtained by the image pickup process. The positional relationship between the operated unit and the robot is recognized based on the image of the position identification sign, and the robot is made to operate the operated unit of the operation panel based on the recognized positional relationship. It relates to a collaborative system that is configured to be able to execute operation processing.

According to this collaborative system, the control device can execute the imaging process and the operation process while the automatic guided vehicle is stopped at the working position of the industrial machine. In this imaging process, the camera operates under the control of the control device, and an image of a predetermined position on the operation panel is captured by the camera. Since the position identification mark is provided at the predetermined position, the image captured by the camera includes the image of the position identification mark. In the operation process, the control unit recognizes the positional relationship between the operated unit and the robot based on the image of the position identification mark. Then, the control unit causes the robot to operate the operated unit of the operation panel based on the recognized positional relationship. Examples of the operation unit include a start button provided on an operation panel of a machine tool (an example of an industrial machine).

Thus, according to the collaborative system of the present invention, when the control device causes the robot to operate the operated portion of the operation panel, the operated unit is based on the image of the position identification sign provided on the operation panel. Since it is configured to recognize the positional relationship between the robot and the robot, even if the stop position of the unmanned carrier varies, the robot can accurately operate the operated portion.

Further, in the collaborative system, the industrial machine determines whether or not it is in an operation waiting state waiting for an operation on the operated portion, and if it is determined that it is in the operation waiting state, the position identification is performed. It has an identification switching unit that switches the position identification marker to an image-capable state that cannot be imaged by the camera when it is determined that the marker is not in the operation waiting state while the image is enabled to be imaged by the camera. The control device executes a process of continuously imaging the predetermined position of the operation panel by the camera as the image pickup process in a state where the automatic guided vehicle is stopped at the work position, and the image pickup process is performed. When the image of the position identification marker is detected in the obtained captured image, the operation process is executed, and when the image of the position identification marker is not detected in the captured image, the operation process is executed. It is possible to adopt an embodiment configured to continue the image pickup by the camera without doing so.

According to this aspect, in the identification switching unit, it is determined whether or not the industrial machine is in an operation waiting state waiting for an operation on the operated unit. Then, when the identification unit determines that the industrial machine is in the operation waiting state, the position identification mark is set to the image capable state that can be imaged by the camera, while it is determined that the industrial machine is not in the operation waiting state. , The position identification mark is switched to a non-capable state in which image cannot be captured by the camera. Then, when the automatic guided vehicle stops at the working position of the industrial machine under the control of the control device, the camera continuously captures the predetermined portion of the operation panel, and the image of the position identification marker is detected in the captured image. If this is done, the robot operates the operated portion (operation processing is executed), and if the image of the position identification sign is not detected, the operation by the robot is not executed and the industrial machine is in an operation waiting state. To continue. The continuous image pickup by the camera referred to here is not limited to the image pickup process performed substantially continuously, for example, as in moving image shooting, but includes, for example, a process of capturing a still image every few seconds.

According to this, the robot operates the operated part of the operation panel triggered by the detection of the position identification mark in the image captured by the camera, so that the robot and the industrial machine cooperate without relying on communication. Can be made to. Therefore, for example, when the industrial machine is a relatively old model that does not have a communication device with the robot, it is possible to construct a collaborative system between the robot and the industrial machine without installing a new communication device. .. Therefore, it is possible to reduce the cost burden on the user because it is not necessary to newly install a communication device. Further, since the position identification mark can be imaged by the camera only when the industrial machine is in the operation waiting state for the operated part, the operated part is erroneously operated even though it is not in the operation waiting state. Can be prevented.

Here, in the collaborative system, the operation panel has a monitor for displaying information, the predetermined location is a predetermined area on the screen of the monitor, and the identification switching unit is operated by the industrial machine. When it is determined that the position identification sign is in the waiting state, the position identification sign is displayed in the predetermined area on the screen of the monitor so that the position identification sign can be imaged, while the industrial machine waits for the operation. When it is determined that the position is not in the state, the position identification sign is not displayed in the predetermined area on the screen of the monitor, so that the position identification sign is configured to be in the uncapable state. be able to.

According to this aspect, the identification switching unit is configured to switch the display / non-display of the position identification mark on the screen of the monitor provided on the operation panel. Therefore, for example, the function of the identification switching unit can be easily realized by using an existing monitor provided on the operation panel.

The identification switching unit is not limited to electronic means using a monitor in this way. For example, a movable member made of a sliding shutter or the like is covered with a cover position covering the position identification mark and the position identification mark is externally attached. It may be configured to switch to the exposure position to be exposed to.

Further, the robot mounted on the automatic guided vehicle is configured to operate the operated portion by bringing a part of the hand included in the robot into contact with the operated portion of the operation panel. Can be adopted.

According to this aspect, since the operated portion can be operated by using a part of the existing hand provided in the robot, the parts can be operated as compared with the case where the operating member for operating the operated portion is separately provided. The points can be reduced and the cost can be reduced.

Further, the robot mounted on the automatic guided vehicle is configured to operate the operated portion by bringing an operating member attached to a hand included in the robot into contact with the operated portion of the operation panel. Therefore, it is possible to adopt an embodiment having a cushioning portion that cushions the impact when the operating member comes into contact with the operated portion.

According to this aspect, the impact when the robot brings the operating member into contact with the operated portion can be alleviated by the cushioning portion. Therefore, the operated portion can be safely operated by the operating member without damaging the equipment.

Further, in the collaborative system, the camera is provided on the robot mounted on the automatic guided vehicle, and the control device is a posture of the robot with the automatic guided vehicle stopped at the work position. An imaging posture in which the camera can image the predetermined location of the operation panel, an operation posture in which the operated portion of the operation panel can be operated, and a working posture for performing work on the industrial machine. The imaging posture, the operating posture, and the working posture of the robot are stored in advance in the control device by performing a teaching operation on the robot, respectively. At the time of the teaching operation, the image of the position identification marker captured by the camera with the robot taking the imaging posture is stored in advance as a reference image, and the automatic guided vehicle is automatically operated based on the automatic driving program. At times, when the image pickup process is executed, the predetermined location of the operation panel is imaged by the camera with the robot in the image pickup posture, and when the operation process is executed, the image pickup process is obtained. By comparing the image of the position identification marker included in the captured image with the reference image, the amount of error between the current imaging posture of the robot and the imaging posture during the teaching operation is calculated and calculated. Based on the error amount, the positional relationship between the operated portion and the robot was recognized, and the operation posture stored in advance was corrected based on the recognized positional relationship, and the robot was corrected. It is possible to adopt an embodiment configured to operate the operated portion of the operation panel by taking the operating posture.

According to this aspect, the camera is attached to the robot, and the posture of the robot is an imaging posture in which the camera can image the predetermined position of the operation panel and an operation in which the operated portion of the operation panel can be operated. The posture and the working posture for performing work on the industrial machine are stored in advance in the control device by the teaching operation to the robot. When the robot performs the teaching operation of the imaging posture, the image of the position identification mark is captured by the camera in addition to the teaching operation, and is stored in advance in the control device as a reference image.

Then, when the control device causes the camera to execute the image pickup process during the automatic operation of the automatic guided vehicle based on the automatic driving program, the control device uses the camera to perform the image pickup process on the operation panel while the robot is in the image pickup position. The image is taken at a predetermined location. Then, the control device compares the image of the position identification mark provided at the predetermined position with the reference image which is the image of the position identification mark captured during the teaching operation, thereby performing the current image pickup posture of the robot and the teaching operation. The amount of error between the image and the imaging posture is calculated. The control device recognizes the positional relationship between the operated portion and the robot based on the calculated error amount, corrects the operation posture stored in advance based on the recognized positional relationship, and causes the operation posture to be corrected. By causing the robot to take the corrected operation posture, the operated portion of the operation panel is operated.

Thus, based on the comparison between the image of the position identification marker captured by the camera during automatic operation and the reference image which is the image of the position identification marker captured by the camera during the teaching operation, the robot's current imaging posture and teaching are performed. By calculating the amount of error between the image pickup posture during operation, the positional relationship between the robot and the operated portion can be easily recognized.

Further, in the collaborative system, the industrial machine can adopt an aspect of being a machine tool that performs a predetermined processing on a work. According to this, by applying the collaborative system of the present invention to a production system including a machine tool, it is possible to improve production efficiency while promoting labor saving.

As described above, according to the collaborative system according to the present invention, an image of a position identification marker provided on an operation panel of an industrial machine is captured by a camera, and the operation panel is based on the image of the image of the position identification tag captured. By recognizing the positional relationship between the operated unit and the robot and allowing the robot to operate the operated unit based on the recognized positional relationship, even if the stop position of the automatic guided vehicle varies. The robot can be made to operate the operated part accurately.

It is a top view which shows an example of the collaboration system which concerns on embodiment of this invention. It is a perspective view which shows the robot and the automatic guided vehicle used in the collaborative system. It is a perspective view which shows the machine tool (an example of an industrial machine) used in a collaborative system. It is a control block diagram in a machine tool. It is a perspective view seen from the front side of the machine tool which shows the state which supported the work by the work receiving member for loading, and was positioned the lower tool post in a standby position. It is a perspective view seen from the front side of the machine tool which shows the state which supported the work by the work receiving member for loading, and was positioned the lower blade base at the work attachment / detachment position. It is an enlarged perspective view which shows the NC operation panel attached to a machine tool in an enlarged manner. It is a schematic diagram which shows an example of the display screen of the main touch panel provided in the NC operation panel of a machine tool. (A) is an explanatory diagram showing an example of a position identification mark, and (b) is an example of an image of a position identification mark included in an image captured by a camera when the robot takes an imaging posture during automatic driving. It is explanatory drawing which showed. It is a control block diagram of a robot and an automatic guided vehicle. It is a perspective view which shows the state which a robot is in an image pickup posture. It is a schematic side view which shows a mode that a part of a hand touches an operation button displayed on the main touch panel by taking the operation posture by a robot. It is a flowchart which shows an example of the control process executed by the control device (AGV control device) which controls a robot and an automatic guided vehicle. FIG. 3 is a schematic view showing an example of a display screen displayed on the main touch panel after the robot operates the door open button in the first modification. FIG. 2 is a schematic view showing an example of a display screen displayed on the main touch panel when the processing of all the workpieces is completed in the second modification. FIG. 12 is a diagram corresponding to FIG. 12 showing a modification 3.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.

(Embodiment)
As shown in FIG. 1, the collaborative system 1 of this example includes a machine machine 10 as an industrial machine, an automatic guided vehicle 35, a robot 25 mounted on the automatic guided vehicle 35, and a camera 31 mounted on the robot 25. It is composed of a control device 17 (hereinafter referred to as a machine tool control device 17) for controlling the machine tool 10, a control device 40 (hereinafter referred to as an AGV control device 40) for controlling the robot 25 and the automatic guided vehicle 35, and the like. The machine tool control device 17 (see FIG. 4 described later) does not have a communication device for communicating with the AGV control device 40 (see FIG. 10 described later). Therefore, the AGV control device 40 causes the robot 25 to operate the NC operation panel 16 of the machine tool 10 based on the image captured by the camera 31 without relying on the communication with the machine tool control device 17, and the robot 25 and the robot 25. Cooperate with machine tool 10.

As shown in FIG. 2, the automatic guided vehicle 35 is equipped with the robot 25 mounted on a mounting surface 36 which is the upper surface thereof, and an AGV operation panel 37 (see FIG. 1) which can be carried by an operator. ing. The AGV operation panel 37 includes an input / output unit for inputting / outputting data, an operation unit for manually operating the automatic guided vehicle 35 and the robot 25, a display capable of displaying a screen, and the like.

Further, the automatic guided vehicle 35 is equipped with a position sensor (for example, a distance measurement sensor using a laser beam) capable of recognizing its own position in the factory, and can move inside the factory under the control of the AGV control device 40. It is configured to travel on a non-track, and in this example, it goes through a working position set for the machine tool 10. The AGV control device 40 is housed in the housing of the automatic guided vehicle 35.

The robot 25 is an articulated robot having three arms, a first arm 26, a second arm 27, and a third arm 28, and a hand 29 as an end effector is attached to the tip of the third arm 28. It is mounted and two cameras 31 are mounted via the support bar 30. The hand 29 has a body 291 and a pair of gripping members 292 facing each other. The hand 29 is configured to sandwich and grip the work 100 by a pair of gripping members 292.

A bucket 38 for accommodating the work 100 is mounted on the rear side of the robot 25 on the mounting surface 36 of the automatic guided vehicle 35. The bucket 38 is divided into a pre-processing storage unit 38a (see FIG. 1) for storing the pre-processed work 100 and a post-processing storage unit 38b for accommodating the post-processing work 100. The robot 25 takes out the unmachined work 100 stored in the pre-machining storage unit 38a and puts it into the machine tool 10 while the automatic guided vehicle 35 is stopped at the work position of the machine tool 10. The machine tool 100 after processing is taken out and stored in the storage unit 38b after processing.

The machine tool 10 is a composite NC (numerical control) machine tool having a turning function using a fixed tool and a milling function using a rotary tool.

Specifically, as shown in FIGS. 3 to 6, the machine tool 10 includes a machining operation mechanism unit 20, an NC operation panel 16, and a machine tool control device 17.

As shown in FIG. 3, the machining operation mechanism unit 20 includes a work spindle 12 on which a chuck 11 for gripping the work 100 is mounted, a tool spindle 13 on which a rotary tool is held, and a fixing tool for turning (not shown). It has a lower tool post 14 to which (omitted) is attached. The work spindle 12 is configured to be rotatable around an axis parallel to the Z axis while the work 100 is held by the chuck 11. The tool spindle 13 is configured to be movable in the X-axis direction, the Y-axis direction, and the Z-axis direction by a feeding device while rotationally driving a rotary tool (not shown) around an axis parallel to the X-axis. The lower tool post 14 has a swivel portion 141 (see FIG. 5) that can swivel around an axis extending parallel to the Z axis, and is configured to be movable in the Z-axis direction and the X-axis direction by a feeding device. .. Holders for holding the fixing tool are arranged radially around the Z axis at intervals in the circumferential direction on the outer peripheral portion of the swivel portion 141.

The machining operation mechanism unit 20 is driven by a servo mechanism 23 (see FIG. 4) that receives a position command and a speed command from the numerical control unit 172 of the machine tool control device 17, which will be described later. The servo mechanism 23 includes, for example, a servo amplifier, a servo motor driven by the servo amplifier, and an encoder (none of which is shown) that feeds back the rotation angle of the servo motor. Then, the machining operation mechanism unit 20 processes the work 100 into a predetermined shape by relatively moving the rotary tool, the fixing tool, and the work 100 in the orthogonal three-axis directions of the X-axis, the Y-axis, and the Z-axis by the feeding device. do.

The lower blade base 14, which is a component of the machining operation mechanism unit 20, also functions as a attachment / detachment mechanism for attaching / detaching the work 100 to / from the chuck 11 of the work spindle 12. In order to realize this function, the swivel portion 141 is configured so that the work receiving member 142 (see FIG. 5) can be mounted in addition to the rotary tool. The work receiving member 142 supports the work 100 from below by a V-shaped groove 142a formed in a pair of support plates facing each other in the Z-axis direction. In this example, two work receiving members 142 are provided: a work receiving member 142A for loading used when loading the work 100, and a work receiving member 142B for paying out used when paying out the work 100. ing. The lower blade base 14 is configured to be movable between a standby position (position in FIG. 5) and a work attachment / detachment position (position in FIG. 6) in the XZ plane. The standby position is set to a position where the work 100 or the rotary tool being machined does not interfere with the work receiving members 142A and 142B, and the work attachment / detachment position is a position where the work 100 can be attached / detached to / from the chuck 11 (that is, one end of the work 100). Is set to a position where the chuck 11 can be inserted and supported).

The machine tool 10 has an auxiliary device 21 (see FIG. 4) that is not directly related to the machining operation, in addition to the machining operation mechanism unit 20 required for machining the work 100. Examples of the auxiliary device 21 include a coolant supply device (not shown), a door opening / closing device 22, and the like. The coolant supply device discharges the coolant toward the work spindle 12 that is rotating during processing, for example. The door opening / closing device 22 drives an opening / closing door 15 that opens / closes an access opening 10a (see FIG. 3) formed on the front surface of the machine tool 10. The access opening 10a is located on the front side of the processing area of the work 100. The opening / closing door 15 is configured to be able to open / close the access opening 10a by sliding in the left-right direction. The door opening / closing device 22 is composed of, for example, an air cylinder and a solenoid valve.

The NC operation panel 16 is arranged on the right side of the access opening 10a of the machine tool 10. The NC operation panel 16 is configured to be able to receive various operations of the operator and display necessary information.

Specifically, as shown in FIG. 7, the NC operation panel 16 is located above the main operation panel 161 and the main operation panel 161 whose operation surface is slightly tilted with respect to the horizontal plane, and the operation surface is on the front side. It has an auxiliary operation panel 162 that faces. The main operation panel 161 includes a main touch panel 163 (an example of a monitor) that displays operation buttons 166 to 168 required when using the machine tool 10, and a plurality of physically fixed areas under the main touch panel 163. A hard button 164 is provided. The hard button 164 includes, for example, an emergency button for an emergency stop. The sub-operation panel 162 is provided with a sub-touch panel 165 that displays an operating status of the machine tool 10, a job progress status, and the like.

FIG. 8 is an example of an operation screen displayed on the main touch panel 163. This operation screen is composed of three areas, an information area r1, an operation area r2, and a sign display area r3.

The information area r1 is an area for displaying various screens related to the operation control of the processing operation mechanism unit 20, such as an input screen of an NC program and a processing simulation image.

The operation area r2 is an area for displaying operation buttons 166 to 168 (an example of an operated portion) necessary for operating the machine tool 10. The operation buttons 166 to 168 include a door open button 166 for opening the open / close door 15, a door close button 167 for closing the open / close door 15, and an start button 168 for executing an NC program. In the following description, when it is not necessary to particularly distinguish the door open button 166, the door close button 167 and the start button 168, they will be referred to as operation buttons 166 to 168. When the operation buttons 166 to 168 are pressed, the main touch panel 163 outputs operation signals corresponding to the respective operation buttons 166 to 168 toward the sequence control unit 171 described later.

The sign display area r3 is an area for displaying the position identification mark T1. The position identification mark T1 is used to recognize the positional relationship between the robot 25 and each of the operation buttons 166 to 168, as will be described later. The sign display area r3 is located in the lower right corner of the main touch panel 163. The sign display area r3 corresponds to a predetermined area of the main touch panel 163 and corresponds to a predetermined location of the NC operation panel 16.

As shown in FIG. 4, the machine tool control device 17 includes a sequence control unit 171, a numerical control unit 172, a display control unit 173, a sequence program storage unit 174, an NC program storage unit 175, and the like.

The machine tool control device 17 is composed of a computer including a CPU, RAM, ROM, etc., and the sequence control unit 171, the numerical control unit 172, and the display control unit 173 realize their functions by a computer program and execute the processes described later. do. Further, the sequence program storage unit 174 and the NC program storage unit 175 are appropriately composed of storage media such as RAM.

The sequence control unit 171 is a functional unit that controls the overall operation of the machine tool 10 by executing a sequence program stored in advance in the sequence program storage unit 174.

When the sequence control unit 171 receives an operation signal indicating that the start button 168 (see FIG. 8) has been pressed from the main touch panel 163 of the NC operation panel 16, the sequence control unit 171 executes the NC program to the numerical control unit 172. Output a command.

Further, when the sequence control unit 171 receives a predetermined command code (for example, M code) from the numerical control unit 172 while executing the NC program, the switch (for example, solenoid or the like) of the auxiliary device 21 corresponding to the code is received. Outputs an operation signal to.

Further, when the sequence control unit 171 receives an operation signal indicating that the door closing button 167 (see FIG. 8) has been pressed from the main touch panel 163 of the NC operation panel 16, the sequence control unit 171 opens / closes the door opening / closing device 22. When the operation signal for closing the door 15 is output and the operation signal indicating that the door open button 166 is pressed is received, the operation signal for opening the open / close door 15 is output to the door opening / closing device 22.

The numerical control unit 172 is a functional unit that executes an NC program stored in the NC program storage unit 175 in response to an execution command from the sequence control unit 171. Specifically, the numerical control unit 172 executes (analyzes) the NC program to determine the target movement position and the target movement speed of each element constituting the machining operation mechanism unit 20 with respect to the X-axis, Y-axis, and Z-axis. It recognizes and outputs the recognized target movement position and target movement speed to the servo mechanism 23 as a control signal.

The display control unit 173 is a functional unit that controls the display screens of the main touch panel 163 and the sub touch panel 165. Since the sub-touch panel 165 is provided as an auxiliary for monitoring the state of the machine tool 10, the details of the display control of the sub-touch panel 165 are omitted below, and only the display control of the main touch panel 163 will be described. do.

When the power of the NC operation panel 16 is turned on, the display control unit 173 displays the operation screen (see FIG. 8) on the main touch panel 163. The display control unit 173 determines whether or not the machine tool 10 is in the operation waiting state for the operation buttons 166 to 168 displayed on the operation screen, and if it is determined that the machine tool 10 is in the operation waiting state, the position. The identification sign T1 is displayed in the sign display area r3 of the main touch panel 163, but when it is determined that the operation waiting state is not present, the position identification sign T1 is not displayed in the sign display area r3. The state in which the position identification mark T1 is displayed in the sign display area r3 corresponds to the image-capable state, the state in which the position identification mark T1 is not displayed corresponds to the image-capable state, and the display control unit 173 is the identification switching unit. Corresponds to. The operation waiting state is a state in which the machine tool 10 waits for at least one operation of the three operation buttons 166 to 168 in order to proceed to the next operation (in this example, the machining operation of the next work 100).

FIG. 9A shows an example of the position identification mark T1 displayed in the sign display area r3. The position identification mark T1 has a matrix structure in which a plurality of square pixels are arranged two-dimensionally, and each pixel is displayed in white or black. In FIG. 9A, the black pixels are shaded.

In the machine tool 10 configured as described above, the operation of the machining operation mechanism unit 20 realized by the numerical control unit 172 executing the NC program will be described.

When the start button 168 of the main touch panel 163 is pressed with the opening / closing door 15 closed, the lower tool post 14 has the work receiving member 142A for loading indexed to the upper surface by the swivel portion 141, and is shown in FIG. It moves from the standby position shown to the attachment / detachment position shown in FIG. 5 and 6 show a state in which the opening / closing door 15 is opened in consideration of visibility, but the opening / closing door 15 is closed when the work is actually loaded.

When moving the lower tool post 14 from the standby position to the attachment / detachment position, the lower tool post 14 is moved upward (in the direction of arrow D1 in FIG. 5) along the X-axis direction, and then the chuck 11 is moved along the Z-axis direction. Move to the side approaching (in the direction of arrow D2 in FIG. 5). As a result, the work 100 supported by the work receiving member 142A is inserted into the chuck 11.

After the movement of the lower tool post 14 in the Z-axis direction (arrow D2 direction) is stopped, the chuck 11 closes the three claws to chuck the work 100, and then the work spindle is formed by each component of the machining operation mechanism unit 20. The work 100 is machined into a predetermined shape while changing the relative positions of the 12 and the rotary tool and the fixed cutting tool.

After the machining of the work 100 is completed, the lower tool post 14 places the work receiving member 142B for payout (the work receiving member 142B on the side opposite to the side on which the work 100 is located in FIG. 5) on the upper surface by the swivel portion 141. In the indexed state, it moves from the standby position to the attachment / detachment position. Then, after the movement of the lower blade base 14 to the attachment / detachment position is completed, the three claws of the chuck 11 are opened to release the chuck of the work 100.

Then, the work 100 is in a state of being supported by the work receiving member 142B for payout (the work receiving member 142B on the side opposite to the side on which the work 100 is located in FIG. 6). It is moved along the Z-axis direction to the side away from the chuck 11 (in the direction of arrow D3). As a result, the work 100 is pulled out from the chuck 11. Then, the lower blade base 14 moves to a position where the work 100 is completely pulled out from the chuck 11, and then moves downward (in the direction of arrow D4) along the X-axis direction to return to the standby position. After the lower blade base 14 returns to the standby position, the swivel portion 141 is rotated to index the work receiving member 142A for loading to the upper surface. With the above operation, the machining operation of the machining operation mechanism unit 20 based on the NC program (one cycle of the NC program) is completed.

Then, when the machining operation of the work 100 by the machining operation mechanism unit 20 is completed (when the execution of the NC program by the numerical control unit 172 is completed), the display control unit 173 determines that the machine tool 10 has been switched to the operation waiting state. , The position identification marker T1 is displayed in the sign display area r3 of the main touch panel 163. After that, when the start button 168 of the main touch panel 163 is pressed and the machining operation mechanism unit 20 starts machining the next work 100, the display control unit 173 determines that the operation waiting state has been released, and the position identification mark. T1 switches to non-display.

Next, the AGV control device 40 that controls the automatic guided vehicle 35 and the robot 25 will be described with reference to FIG.

The AGV control device 40 includes an operation program storage unit 41, a moving position storage unit 42, an operation posture storage unit 43, a map information storage unit 44, a reference image storage unit 45, a manual operation control unit 46, an automatic operation control unit 47, and map information. It is composed of a generation unit 48, a position recognition unit 49, a correction amount calculation unit 50, and an input / output interface 51. The AGV control device 40 is connected to the robot 25, the camera 31, the automatic guided vehicle 35, and the AGV operation panel 37 via the input / output interface 51.

The AGV control device 40 is composed of a computer including a CPU, RAM, ROM, etc., and includes the manual operation control unit 46, the automatic operation control unit 47, the map information generation unit 48, the position recognition unit 49, and the correction amount calculation unit 50. The function of the input / output interface 51 is realized by a computer program, and the processing described later is executed. Further, the operation program storage unit 41, the moving position storage unit 42, the operation posture storage unit 43, the map information storage unit 44, and the reference image storage unit 45 are composed of an appropriate storage medium such as a RAM.

The manual operation control unit 46 is a functional unit that operates the unmanned carrier 35, the robot 25, and the camera 31 according to an operation signal input from the AGV operation panel 37 by the operator. That is, the operator can manually operate the automatic guided vehicle 35, the robot 25, and the camera 31 using the AGV operation panel 37 under the control of the manual operation control unit 46.

The operation program storage unit 41 operates the automatic guided vehicle 35 when generating an automatic driving program for automatically driving the automatic guided vehicle 35 and the robot 25 at the time of production, and map information in a factory to be described later. It is a functional part that stores a program for generating a map for making it. The automatic operation program and the map generation program are, for example, input from the input / output unit provided on the AGV operation panel 37 and stored in the operation program storage unit 41.

In addition, this automatic driving program includes a command code regarding a moving position, a moving speed, and a direction of the automatic guided vehicle 35 as a target position for the automatic guided vehicle 35 to move, and the operation of the robot 25 in which the robot 25 operates sequentially. A command code relating to the operation of the camera 31 and a command code relating to the operation of the camera 31 are included. Further, the map generation program includes a command code for running the automatic guided vehicle 35 without a track in the factory so that the map information generation unit 48 can generate map information.

The map information storage unit 44 is a functional unit that stores map information including arrangement information of machines, devices, devices, etc. (devices, etc.) arranged in the factory where the automatic guided vehicle 35 travels. It is generated by the map information generation unit 48.

The map information generation unit 48 travels on the automatic guided vehicle 35 according to the map generation program stored in the operation program storage unit 41 under the control of the automatic operation control unit 47 of the AGV control device 40, which will be described in detail later. At the same time, spatial information in the factory is acquired from the distance data detected by the position sensor, and the planar shape of the equipment or the like arranged in the factory is recognized, for example, a device or the like registered in advance. Based on the planar shape, it recognizes a specific device arranged in the factory, in this example, the position of the machine tool 10, the planar shape, and the like (arrangement information). Then, the map information generation unit 48 stores the obtained spatial information and the arrangement information of the device and the like in the map information storage unit 44 as map information in the factory.

The position recognition unit 49 has a function of recognizing the position of the automatic guided vehicle 35 in the factory based on the distance data detected by the position sensor and the map information in the factory stored in the map information storage unit 44. The operation of the automatic guided vehicle 35 is controlled by the automated guided vehicle 47 based on the position of the automatic guided vehicle 35 recognized by the position recognition unit 49.

The moving position storage unit 42 is a moving position as a specific target position for the automatic guided vehicle 35 to move, and is a functional unit that stores a specific moving position corresponding to a command code in the operation program. Yes, this moving position includes a working position set for the machine tool 10 described above. The movement position is determined, for example, by manually driving the automatic guided vehicle 35 by the AGV operation panel 37 under the control of the manual operation control unit 46 to move the automatic guided vehicle 35 to each target position, and then moving the automatic guided vehicle 35 to the target position. It is set by an operation of storing the position data recognized by the recognition unit 49 in the moving position storage unit 42. This operation is a so-called teaching operation.

The motion posture storage unit 43 is a posture (motion posture) of the robot 25 that changes sequentially when the robot 25 operates in a predetermined order, and is data related to the motion posture corresponding to the command code in the motion program. It is a functional part that memorizes. The data related to this operating posture was obtained by manually driving the robot 25 to take each target posture by a teaching operation using the AGV operation panel 37 under the control of the manual operation control unit 46. It is the rotation angle data of each joint (motor) of the robot 25 in each posture at that time, and this rotation angle data is stored in the movement posture storage unit 43 as data related to the movement posture.

Specific operating postures of the robot 25 include an imaging posture in which the camera 31 can image the sign display area r3 of the main touch panel 163 (see FIG. 11) and a state in which the automatic guided vehicle 35 is stopped at the working position of the machine tool 10. Then, an operating posture (not shown) in which the operation buttons 166 to 168 of the main touch panel 163 can be operated by the hand 29 and a working posture (not shown) for performing work on the machine tool 10 are set.

As shown in FIG. 11, the imaging posture is set so that, for example, the sign display area r3 of the main touch panel 163 is located at the tip of the optical axis of the pair of cameras 31.

The working postures of the robot 25 include a taking-out posture in which the work 100 before processing in the bucket 38 mounted on the mounting surface 36 is gripped and taken out by the hand 29, and a taking-out posture before the processing taken out by the hand 29. The loading posture for setting the work 100 on the work receiving member 142A for loading the lower tool post 14 in the standby position in the machine tool 10 and the work receiving for paying out the lower tool post 14 in the standby position in the machine tool 10. A payout posture in which the machined work 100 is gripped and taken out from the member 142B and a storage posture in which the gripped work 100 is stored in the bucket 38 are set.

The operation posture of the robot 25 includes a door open operation posture in which the door open button 166 of the main touch panel 163 is pushed by the hand 29, a door close operation posture in which the door close button 167 of the main touch panel 163 is pushed by the hand 29, and a hand. 29 sets the activation operation posture in which the activation button 168 of the main touch panel 163 is pressed. In each operating posture, for example, as shown in FIG. 12, one of the pair of gripping members 292 in the hand 29 is pressed against the operating buttons 166 to 168 of the main touch panel 163. At this time, by bringing only the edge 292a at the tip of the grip member 292 into contact with the main touch panel 163, each operation button 166 to 168 can be operated pinpointly (accurately). The edge 292a is preferably formed in a curved surface. By doing so, it is possible to prevent the main touch panel 163 from having contact marks with the edge 292a.

The automatic driving control unit 47 uses one of the automatic driving program and the map generation program stored in the operation program storage unit 41, and operates the automatic guided vehicle 35, the robot 25, and the camera 31 according to the program. It is a department. At that time, the data stored in the moving position storage unit 42 and the operating posture storage unit 43 are used as needed. The specific control processing of the automatic guided vehicle 35 and the robot 25 by the automatic operation control unit 47 will be described later.

The reference image storage unit 45 is displayed in the sign display area r3 of the main touch panel 163 when the automatic guided vehicle 35 is in the working position set for the machine tool 10 and the robot 25 is in the imaging posture during the teaching operation. It is a functional unit that stores an image obtained by capturing the displayed position identification marker T1 by two cameras 31 as a reference image.

When the robot 25 is automatically operated according to the automatic operation program stored in the operation program storage unit 41 under the control of the automatic operation control unit 47, the correction amount calculation unit 50 causes the robot 25 to operate. When the position identification marker T1 is imaged by the two cameras 31 in the imaging posture, the image of the position identification tag T1 obtained during the automatic operation and the reference image stored in the reference image storage unit 45 are displayed. Based on this, the amount of error between the imaging posture of the robot 25 during the teaching operation and the imaging posture of the robot 25 during the automatic operation is calculated.

FIG. 9B shows an example of the position identification mark T1 imaged during automatic operation. The camera 31 is a so-called stereo camera, and from the images obtained by these, the relative positional relationship between the camera 31 and the position identification marker T1 and the rotation angle of the camera 31 with respect to the position identification marker T1, for example, orthogonal 3 The angle of rotation around the axis can be calculated. Thus, from the positional relationship and angle of rotation calculated based on the reference image, and the positional relationship and angle of rotation calculated based on the image obtained during automatic operation, the imaging posture during teaching and the imaging posture during automatic operation are used. The amount of error between the imaging posture and the image can be calculated.

Then, the correction amount calculation unit 50 recognizes that the positional relationship between the robot 25 and each of the operation buttons 166 to 168 is deviated by the error amount as compared with the teaching operation when the robot 25 is made to take the operation posture ( Estimate), and in order to correct the recognized deviation amount, the correction amount of the teaching data when the robot 25 is shifted to each operation posture is calculated. In other words, the correction amount calculation unit 50 recognizes the positional relationship between the robot 25 and each of the operation buttons 166 to 168 based on the image of the position identification mark T1, and based on the recognized positional relationship, each operation of the robot 25. Calculate the posture correction amount.

In this example, the stop position of the automatic guided vehicle 35 varies with respect to the taking-out posture in which the work 100 before processing in the bucket 38 is taken out and the storage posture in which the work 100 after processing is stored in the bucket 38. Even if this is the case, the positional relationship between the robot 25 and the work 100 in the bucket 38 does not change, so no correction is performed. Further, regarding the loading posture in which the work 100 is loaded into the work receiving member 142A for loading and the dispensing posture in which the work 100 is discharged from the work receiving member 142B for dispensing, the work by the groove portions 142a of the work receiving members 142A and 142B is also provided. Since the misalignment tolerance of 100 is relatively large, no correction is performed. This prevents the robot 25 from being unnecessarily executed for posture correction and delaying the operation of the robot 25.

FIG. 13 is a flowchart showing an example of automatic operation control of the automatic guided vehicle 35 and the robot 25 executed by the AGV control device 40.

In this automatic operation control, first, the automatic operation control unit 47 stops the automatic guided vehicle 35 at the work position set for the machine tool 10 according to the operation program stored in the operation program storage unit 41 (step S1). ).

After stopping the automatic guided vehicle 35 at the work position, the automatic driving control unit 47 causes the robot 25 to take an imaging posture (see FIG. 11) and causes the camera 31 to start the imaging process (step S2).

Next, the automatic driving control unit 47 acquires an image captured by the camera 31 and determines whether or not the position identification mark T1 is detected in the acquired image (step S3).

Here, when the machine tool 10 is in the operation waiting state for the operation buttons 166 to 168 of the main touch panel 163, as described above, the display control unit 173 of the machine tool 10 indicates the mark display area r3 (see FIG. 8). The position identification mark T1 is displayed on the.

When the position identification marker T1 cannot be detected in the captured image (NO in step S3), the automatic operation control unit 47 maintains the robot 25 in the imaging posture assuming that the machine tool 10 is not in the operation waiting state. The image pickup process by the camera 31 is continued.

On the other hand, when the automatic operation control unit 47 detects the position identification marker T1 in the captured image (YES in step S3), it is assumed that the machine tool 10 is in the operation waiting state, and the operation button 166 is applied to the robot 25. As a preparation for operating ~ 168, the correction amount calculation unit 50 is made to calculate the correction amount of the operation posture of the robot 25. Specifically, as described above, the correction amount calculation unit 50 recognizes the positional relationship between the robot 25 and the operation buttons 166 to 168 of the main touch panel 163 based on the image of the position identification mark T1 (step). S4), the correction amount of the operating posture of the robot 25 is calculated based on the recognized positional relationship (step S5).

Then, the automatic operation control unit 47 corrects the door opening operation posture of the robot 25 stored in the operation posture storage unit 43 based on the correction amount calculated by the correction amount calculation unit 50, and makes the correction to the robot 25. The door is opened in the opened operation posture (step S6). As a result, the door open button 166 of the main touch panel 163 is pushed by the hand 29 of the robot 25, and the open / close door 15 moves from the fully closed position to the fully open position.

In this state, the automatic operation control unit 47 causes the robot 25 to execute loading and unloading of the work 100 (step S7). Specifically, first, the robot 25 is made to take the taking-out posture, and the work 100 before processing in the bucket 38 (inside the storage portion 38a before processing) of the automatic guided vehicle 35 is gripped by the hand 29. Next, the robot 25 is made to take the throwing posture, the work 100 gripped by the hand 29 is set on the work receiving member 142A for throwing, and then the robot 25 is made to take the payout posture, and the hand 29 is made to pay out. The work 100 after processing set in the work receiving member 142B is gripped. Then, the robot 25 is made to take the storage posture, and the processed work 100 gripped by the hand 29 is stored in the bucket 38 (inside the processed storage portion 38b) of the automatic guided vehicle 35. In this way, the loading / unloading work of the work 100 by the robot 25 is completed.

Then, after the loading and unloading of the work 100 by the robot 25 is completed, the automatic operation control unit 47 corrects the door closing posture of the robot 25 stored in the operation posture storage unit 43 based on the correction amount calculated in step S5. Then, the robot 25 is made to take the corrected door closing posture (step S8). As a result, the door closing button 167 of the main touch panel 163 is pushed by the hand 29 of the robot 25, and the opening / closing door 15 moves from the fully open position to the fully closed position.

Subsequently, the automatic operation control unit 47 corrects the activation operation posture of the robot 25 stored in the operation posture storage unit 43 based on the correction amount calculated in step S5, and the robot 25 corrects the activation operation posture. (Step S9). As a result, the start button 168 of the main touch panel 163 is pressed by the hand 29 of the robot 25, and the machining of the work 100 is executed by the machining operation mechanism unit 20.

After making the robot 25 take the starting posture, the automatic operation control unit 47 determines whether or not the work 100 currently being machined is the last work (step S10). In this determination, it is determined whether or not the number of works 100 put into the machine tool 10 has reached a predetermined number. This predetermined number is set by the operator, for example, via the AGV operation panel 37. When the automatic operation control unit 47 determines that the work 100 currently being machined is the last work (YES in step S10), the robot 25 pays out the last work 100 and then the automatic guided vehicle 35. Is moved to the work position of the next step (for example, measurement step or cleaning step), while if it is determined that the work is not the last work (NO in step S10), the process returns to step 2 and the robot 25 takes an imaging posture. Then, the image pickup process by the camera 31 is executed. Then, by repeating the processes of steps S1 to S10 until the machining of all the workpieces 100 is completed, the robot 25 and the machine tool 10 are made to cooperate with each other to realize unmanned machining of the workpiece 100.

As described above, according to the collaborative system 1 of the present embodiment, the AGV control device 40 includes the robot 25 mounted on the automatic guided vehicle 35 and the robot 25 mounted on the automatic guided vehicle 35 based on the image of the position identification marker T1 captured by the camera 31. The robot 25 is configured to recognize the positional relationship with each of the operation buttons 166 to 168 displayed on the main touch panel 163 and to operate these operation buttons 166 to 168 based on the recognized positional relationship. As a result, even if the stop position of the automatic guided vehicle 35 varies, the positional relationship between the robot 25 and the operation buttons 166 to 167 can be accurately grasped, so that the operation buttons 166 to 168 by the robot 25 can be accurately grasped. Can be operated accurately.

Further, since the position identification mark T1 is displayed on the main touch panel 163 of the NC operation panel 16, for example, as compared with the case where the position identification mark T1 is provided on the cover surface of the machine tool 10 away from the NC operation panel 16. , The operation accuracy of each operation button 166 to 168 by the robot 25 can be improved.

Further, in the present embodiment, when the machine tool 10 is in the operation waiting state for the operation buttons 166 to 168 of the main touch panel 163, the position identification mark T1 is displayed in the sign display area r3 of the main touch panel 163 by the display control unit 173. .. Then, when the automatic operation control unit 47 of the AGV control device 40 detects the position identification marker T1 in the image captured by the camera 31 (YES in step S3), the robot 25 has the operation buttons 166 to the main touch panel 163. It is configured to execute the operation of 168 (step S6, step S8 and step S9).

According to this, even when the AGV control device 40 and the machine tool control device 17 do not have a communication means, the AGV control device 40 detects the position identification mark T1 as a trigger, which is appropriate. The robot 25 can be made to operate the operation buttons 166 to 168 at various timings.

Further, in the present embodiment, the robot 25 causes each operation button 166 to 168 by contacting a part of the hand 29 provided on the robot 25 (edge 292a of one grip member 292) with the operation buttons 166 to 168. It is configured to perform 168 operations.

According to this, each operation button 166 to 168 can be operated by using a part of the existing hand 29 provided in the robot 25. Therefore, the number of parts can be reduced and the cost can be reduced as compared with the case where the operation member for operating each operation button 166 to 168 is separately provided.

(Modification 1)
Next, a modification 1 of the embodiment will be described. In this modification, in addition to the position identification sign T1, the door opening completion sign T2 shown in FIG. 14 can be displayed in the sign display area r3 of the main touch panel 163, and based on the door opening completion sign T2. It differs from the above embodiment in that the operation of the robot 25 is controlled.

That is, in this modification, after the robot 25 presses the door open button 166 (after step S6 in the above embodiment), when the open / close door 15 actually moves to the fully open position, the machine tool control device 17 is displayed. Under the control of the control unit 173, the door opening completion sign T2 is displayed in the sign display area r3 of the main touch panel 163 as shown in FIG. The door opening completion sign T2 is a circular graphic sign, but it is not limited to this, and any design configuration (shape, pattern) can be distinguished from the position identification sign T1 when the captured image is processed. , And colors, etc.). Further, the fact that the opening / closing door 15 has actually moved to the fully opened position may be detected based on a signal from a sensor provided in the machine tool 10 (for example, a proximity sensor that detects the opening / closing door 15).

On the other hand, after pressing the door open button 166 (after step S6 in the above embodiment), the robot 25 takes an imaging posture under the control of the automatic operation control unit 47 of the AGV control device 40 and performs imaging processing by the camera 31. To start. Then, when the door opening completion sign T2 is detected in the image captured by the camera 31, the automatic operation control unit 47 causes the robot 25 to execute the loading / unloading operation of the work 100 (the operation of step S7 in the above embodiment). On the other hand, when the door open completion sign T2 is not detected, the loading / unloading operation by the robot 25 is prohibited and the camera 31 continues the image pickup process.

According to this modification, the robot 25 does not execute the loading / unloading operation of the work 100 unless the opening / closing door 15 actually moves to the fully opened position after the robot 25 presses the door open button 166. Therefore, for example, if the opening / closing door 15 is stopped in the middle of the opening operation due to a failure, the loading / unloading operation of the work 100 by the robot 25 is not executed, so that the robot 25 is prevented from interfering with the opening / closing door 15. can do.

(Modification 2)
Next, a modification 2 of the embodiment will be described. In this modification, in addition to the position identification sign T1, the process completion sign T3 shown in FIG. 15 can be displayed in the sign display area r3 of the main touch panel 163, and the robot 25 based on the process completion sign T3. It is different from the above-described embodiment in that the operation is controlled.

That is, in this modification, the display control unit 173 of the machine tool control device 17 determines whether or not the machining of all the workpieces 100 is completed based on the job information input by the operator via, for example, the NC operation panel 16. judge. Then, when it is determined that the processing of all the works 100 is completed, the display control unit 173 displays the process completion sign T3 in the sign display area r3 of the main touch panel 163, as shown in FIG. In this modification, the process completion sign T3 is a triangular graphic sign, but the present invention is not limited to this, and other signs (position identification sign T1 and door open completion sign) are used when the captured image is image-processed. Any design configuration (shape, pattern, color, etc.) may be used as long as it can be distinguished from T2, etc.).

On the other hand, the automatic operation control unit 47 of the AGV control device 40 causes the robot 25 to take an image pickup posture after the robot 25 presses the start button 168 (after executing the process of step S9 of the above embodiment). The image pickup process according to 31 is executed. Then, when the automatic operation control unit 47 detects the process completion sign T3 in the image captured by the camera 31, the robot 25 causes the robot 25 to pay out the final work 100, and then the automatic guided vehicle 35 is used in the next process (for example,). While moving to the work position of the measurement step and the cleaning step), if the step completion sign T3 is not detected in the captured image, the robot 25 is maintained in the imaging posture and the imaging process by the camera 31 is continued.

According to this modification, it is not necessary for the operator to input the total number of machining of the work 100 in advance via the AGV operation panel 37 as in the above embodiment, so that the preparation burden on the operator can be reduced.

(Modification 3)
Next, a modification 3 of the embodiment will be described. In this modification, as shown in FIG. 16, the robot 25 operates the operation buttons 166 to 168 of the main touch panel 163 via the ball plunger 293, which is different from the embodiment.

The ball plunger 293 is supported on the side surface of the body 291 in the hand 29 via a bracket member 294.

The bracket member 294 is formed so as to extend diagonally downward from the side surface of the body 291 in parallel with the pair of gripping members 292 and then bend at a right angle to the main touch panel 163 side in a state where the robot 25 is in an operating posture. ..

The ball plunger 293 is fixed by press-fitting or screwing into a mounting hole 294a formed at the tip of the bracket member 294. The ball plunger 293 has a ball 293a and an urging spring 293b that urges the ball 293a to the main touch panel 163 side. Then, when the robot 25 takes each operation posture, the ball 293a of the ball plunger 293 comes into contact with the operation buttons 166 to 168 corresponding to each operation posture. The ball 293a functions as an operating member, and the urging spring 293b functions as a shock absorber that cushions the impact when the ball 293a comes into contact with each of the operation buttons 166 to 168.

According to the third modification, when the robot 25 takes each operating posture, the impact of the ball 293a, which is an operating member, acting on the main touch panel 163 can be alleviated. Therefore, the robot 25 can safely operate each of the operation buttons 166 to 168.

(Other embodiments)
In the above embodiment, the automatic operation control unit 47 of the AGV control device 40 executes the operation processing of the operation buttons 166 to 168 by the robot 25 when the position identification mark T1 is detected in the image captured by the camera 31. Although it is configured, the timing of operation processing is not limited to this. For example, when the patrol light (registered trademark) of the machine tool 10 is monitored by the camera 31 and it is detected that the color of the patrol light is switched to the color indicating the completion of the machining operation (the execution of the NC program is completed), the robot 25 The operation process may be executed by.

In the above embodiment, when the machining operation of the work 100 is completed, the display control unit 173 displays the position identification mark T1 in the sign display area r3 of the main touch panel 163, but the present invention is not limited to this. For example, when the machine tool 10 is stopped due to various abnormalities (machining trouble or equipment failure), the position identification mark T1 is used on the main touch panel 163 even if the machining of the work 100 is completed. It may not be displayed in the sign display area r3. As a result, it is possible to prevent the robot 25 from operating the operation buttons 166 to 168 to cause a secondary abnormality even though the machine tool 10 has an abnormality.

In the above embodiment, the operation waiting state of the machine tool 10 shows an example in which the operation waiting state is released when all three operation buttons 166 to 168 are operated, but the operation waiting state is not limited to this, for example. After the machining of the work 100 is completed, it may be determined that the operation waiting state is released when the door open button 166, which needs to be operated first among the three operation buttons 166 to 168, is operated.

In the above embodiment, only the operating posture of the robot 25 is corrected based on the correction amount calculated by the correction amount calculation unit 50, but the present invention is not limited to this, and the work is performed in addition to the operating posture of the robot 25. The posture (each work posture at the time of loading / unloading work) may also be corrected.

In the above embodiment, the position identification mark T1 is displayed on the main touch panel 163, but the present invention is not limited to this, and the position identification mark T1 may be physically fixed to the surface of the NC operation panel 16. good. As an example, a sticker on which the position identification mark T1 is printed may be attached to the surface of the NC operation panel 16.

In the above embodiment, under the control of the display control unit 173, the position identification mark T1 is switched between display and non-display on the display screen of the main touch panel 163, so that the position identification mark T1 can be imaged and cannot be imaged. I try to switch, but it is not limited to this. For example, the position identification mark T1 is physically fixed on the surface of the NC operation panel 16, and the position identification mark T1 can be imaged and cannot be imaged by a movable member including a sliding shutter and a rotary door. You may switch to. In this case, the movable member is selectively switched between a covering position that covers the position identification mark T1 and an exposed position that exposes the position identification mark T1 by an actuator that receives a command from the machine tool control device 17.

In the above embodiment, the example in which the camera 31 is attached to the robot 25 has been described, but the present invention is not limited to this, and the camera 31 may be attached to, for example, an automatic guided vehicle 35.

In the above embodiment, the operation buttons 166 to 168 displayed on the main touch panel 163 have been described as an example of the operated unit, but the operation button is not limited to this, and the operated unit is physically attached to, for example, the NC operation panel 16. It may be a fixed hard button 164. Further, the number of operation buttons to be operated is not limited to three, and may be two or less, or four or more. Further, the operated portion is not limited to the push button type operation button, and may be composed of, for example, a lever type operation switch or the like.

In the above embodiment, the example in which the automatic guided vehicle 35 is stopped at the working position until the machining of all the workpieces 100 by the machine tool 10 is completed has been described, but the present invention is not limited to this. For example, a measuring device and a cleaning device are arranged next to the machine tool 10, and the unmanned carrier 35 is moved to a working device preset for the measuring device and the cleaning device while the work 100 is being machined by the machine tool 10. The robot 25 may be made to perform the dimension measurement and the cleaning process of the machine tool 100 after processing.

Further, in the above embodiment, the AGV control device 40 is mounted on the automatic guided vehicle 35, but the present invention is not limited to this. The AGV control device 40 may be installed, for example, in a factory building and remotely control an automatic guided vehicle 35 and a robot 25 by wireless communication.

Further, in the above-described embodiment, the example in which the machine tool 10 does not have the communication device with the robot 25 and the automatic guided vehicle 35 has been described, but the present invention is not limited to this, and the machine tool 10 may have the communication device. good. Even in the case of having a communication device in this way, by having the robot 25 operate the NC operation panel 16 as necessary, even if the communication device fails or the communication standard does not match, the machine tool 10 and the robot 25 can be used. Can be made to work together.

In the above-described embodiment, the machine tool 10 has been described as an example of the industrial machine, but the present invention is not limited to this. The industrial machine is not limited to the machine tool 10, but includes all machines that can be used industrially.

In addition, the present invention includes any combination of the embodiment and the modifications 1 to 3.

It should be noted that the above description of the embodiment is exemplary in all respects and is not restrictive. Modifications and changes can be made as appropriate for those skilled in the art. The scope of the invention is indicated by the claims, not by the embodiments described above. Further, the scope of the present invention includes modifications from the embodiments within the scope of the claims and within the scope of the claims.

T1 position identification mark r3 sign display area (predetermined location on the operation panel, predetermined area on the monitor screen)
1 Collaborative system 10 Machine tools (industrial machines)
16 NC operation panel (operation panel)
25 Robot 29 Hand 31 Camera 35 Automated guided vehicle 40 Control device 100 Work 163 Main touch panel (monitor, identification switching unit)
168 Door close button (operated part)
173 Display control unit (identification switching unit)
292a Edge (part of hand)
293a ball (operation member)
293b Bounce spring (buffer)

Claims (7)

An industrial machine having an operation panel provided with an operated unit, a robot that performs work on the industrial machine, and an automatic guided vehicle that is equipped with the robot and travels to a work position preset for the industrial machine. A collaborative system including a vehicle and a control device for controlling the robot and the automatic guided vehicle.
A position identification mark is provided at a predetermined position on the operation panel of the industrial machine.
The automatic guided vehicle or the robot has a camera capable of taking an image of the predetermined position on the operation panel while the automatic guided vehicle is stopped at the work position.
The control device is included in an image pickup process for causing the camera to take an image of the predetermined portion of the operation panel while the automatic guided vehicle is stopped at the work position, and an image captured image obtained by the image pickup process. The positional relationship between the operated unit and the robot is recognized based on the image of the position identification sign, and the robot is made to operate the operated unit of the operation panel based on the recognized positional relationship. A collaborative system characterized by being configured to be able to execute operation processes. The industrial machine determines whether or not it is in an operation waiting state waiting for an operation on the operated portion, and if it is determined that it is in the operation waiting state, the position identification mark can be imaged by the camera. It has an identification switching unit that switches the position identification mark to a state in which imaging is not possible by the camera when it is determined that the state is not in the operation waiting state.
The control device executes a process of causing the camera to continuously take an image of the predetermined portion of the operation panel as the image pickup process in a state where the unmanned carrier is stopped at the work position, and the image pickup process is performed. When the image of the position identification marker is detected in the captured image obtained by, the operation process is executed, and when the image of the position identification marker is not detected in the captured image, the operation process is performed. The collaborative system according to claim 1, wherein the image pickup by the camera is continued without being executed. The operation panel has a monitor for displaying information.
The predetermined location is a predetermined area on the screen of the monitor.
When the identification switching unit determines that the industrial machine is in the operation waiting state, the identification switching unit can capture the position identification sign by displaying the position identification sign in the predetermined area on the screen of the monitor. On the other hand, when it is determined that the industrial machine is not in the operation waiting state, the position identification sign is not displayed in the predetermined area on the screen of the monitor, so that the position identification sign cannot be imaged. 2. The collaborative system according to claim 2, wherein the collaborative system is configured to be. The robot mounted on the automatic guided vehicle is characterized in that the operated portion is operated by bringing a part of the hand included in the robot into contact with the operated portion of the operation panel. The collaborative system according to any one of claims 1 to 3. The robot mounted on the automatic guided vehicle is configured to operate the operated portion by bringing an operating member attached to a hand included in the robot into contact with the operated portion of the operation panel. The collaborative system according to any one of claims 1 to 3, wherein the operating member has a cushioning portion that cushions an impact when the operating member comes into contact with the operated portion. The camera is provided on the robot mounted on the automatic guided vehicle.
The control device has an image pickup posture in which the posture of the robot can be imaged by the camera at the predetermined position of the operation panel while the automatic guided vehicle is stopped at the work position, and the cover of the operation panel. It is configured to be selectively switchable between an operating posture in which the operation unit can be operated and a working posture for performing work on the industrial machine.
The imaging posture, the operating posture, and the working posture of the robot are stored in advance in the control device by teaching the robot, respectively.
The control device stores in advance an image of the position identification marker captured by the camera with the robot taking the imaging posture during the teaching operation as a reference image, and the unmanned vehicle based on the automatic driving program. When the image pickup process is executed during the automatic operation of the automatic guided vehicle, the camera captures the predetermined portion of the operation panel with the robot in the image pickup posture, and the operation process is executed. By comparing the image of the position identification marker included in the captured image obtained by the imaging process with the reference image, the amount of error between the current imaging posture of the robot and the imaging posture during the teaching operation. Is calculated, the positional relationship between the operated portion and the robot is recognized based on the calculated error amount, and the operation posture stored in advance is corrected based on the recognized positional relationship, and the operation posture is corrected. The cooperation according to any one of claims 1 to 5, wherein the robot is configured to operate the operated portion of the operation panel by causing the robot to take the corrected operation posture. system. The collaborative system according to any one of claims 1 to 6, wherein the industrial machine is a machine tool that performs predetermined processing on a work.

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