JP2935278B2 - Error handling support device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a trouble-shooting support apparatus which can promptly and accurately perform an operation for releasing an interlock when an apparatus cannot be activated by an interlock.

[0002]

2. Description of the Related Art With the progress of automation technology in recent years, automation has been attempted by various automatic assembling apparatuses, robots and the like in automobile production plants and the like.

In general, in such an automated apparatus (hereinafter referred to as an automatic machine), it is necessary to perform an accurate operation, prevent interference with a movable member of an adjacent apparatus,
For the purpose of safety for the operator and the operator, a so-called interlock is applied on the control so that the automatic machine does not operate unless predetermined conditions are satisfied.

For example, there is a conventional screw tightening device as shown in FIG. 6, and an interlock will be described using this as an example. The screw tightening device shown in the drawing is configured to position the work 2 conveyed by the conveyor 1 by the positioning device 3 and then attach a screw to the work 2 by the screw tightening machine 4. The operation of the device 3 and the screw tightening machine 4 is controlled by a control device 5.

The control device 5 includes a sensor A for detecting that the work 2 is conveyed to the positioning position of the positioning device 3, and a sensor B for detecting that the positioning device 3 has positioned the work 2. A sensor C for detecting that the positioning device 3 has released the work 2; a sensor D for detecting that the screw tightening machine 4 has moved down to complete the screw tightening operation; Sensors E for detecting the end of the operation are connected, and these sensors make it possible to recognize the operating state of the screwing device main body 6 including the conveyor 1, the positioning device 3 and the screw tightening machine 4. ing.

[0006] Further, an operation switch unit 15 provided with various operation switches 10 to 14 is connected to the control device 5, and when the operator operates these switches, the control device 5 is, for example, The operation of the screw tightening device main body 6 is controlled as follows.

An operator turns on a power switch 10 shown in the figure.
Then, the changeover switch 11 is automatically changed to the start switch 1
By turning on 2 (hereinafter referred to as initial setting), the control device 5 operates the conveyor 1 on condition that the sensors C and E are on, and conveys the work 2. (Hereinafter referred to as the work loading operation.) Further, when the sensor A is turned on, the control device 5 operates the positioning device 3 to position the work 2 (hereinafter, referred to as a positioning operation). When the sensor B is turned on by the positioning device 3 positioning the work 2, the control device 5 lowers the screw tightening machine 4 until the sensor D is turned on, and tightens the screw with respect to the work 2. (Hereinafter referred to as a screw tightening operation). Next, the control device 5
When the sensor D is turned on, the screw tightening device 4 is raised until the sensor E is turned on, and the screwing device 4 is released from the work 2 (hereinafter, referred to as a relief operation). Further, the control device 5
When the sensor E is turned on and the escape operation is determined to be completed, the positioning device 3 is operated so that the work 2 is released (hereinafter referred to as the work release operation), and the sensor A is operated. Until it is turned off, the conveyor 2 is operated to carry out the work 2 (hereinafter referred to as a work carry-out operation).

A control device 5 for performing such operation control
Are provided with an interlock as shown in FIG. 7 corresponding to each operation. As shown, when the operation shifts from the initial setting to the work loading operation, the power switch 10 is turned on, the changeover switch 11 is set to automatic, the start switch 12 is turned on, and the sensors C and E are turned on. ON
If these conditions are not satisfied, the operation of the screw tightening device body 6 does not shift to the next work loading operation.
In other words, the condition is interlock, and if this condition is not satisfied, an operation error of the operation switch (for example, when the changeover switch is not automatically switched) or an abnormality of the screw tightening device body 6 (for example, the positioning device 3). In the case where the sensor C or the sensor E is not turned on due to failure of the screw tightening machine 4), the conveyor 1 is not operated without shifting to the next work carrying-in operation.

[0009] Similarly, as shown in the figure, in order to shift from the work carry-in operation to the work positioning operation, the sensor A is turned on.
The condition for N is that the condition for turning on the sensor B is for shifting from the work positioning operation to the screw tightening operation, and the condition for turning on the sensor D is for shifting from the screw tightening operation to the escape operation. In order to shift to the work release operation, the condition that the sensor E turns ON must be changed from the work release operation to the work release operation.
The condition that the sensor C is turned on to shift to the work unloading operation is repeated, and the sensor A is set to O to shift from the work unloading operation to the work loading operation so as to repeat the above operation.
The condition for performing FF is set as an interlock.

[0010] Further, the interlock is applied in this manner, so that the operation of the screw tightening device main body 6 is stopped in an abnormal state, or the emergency stop switch 14 is turned on so that the control device 5 causes the screw tightening device to operate. For an emergency stop in which the operation of the main body 6 is emergency stopped, the control device 5
After the operator has dealt with such an abnormality, control for restarting the screw tightening device body 6 is performed.

At the time of this restart, after the operator turns on the reset switch 13 to release the operation stop, the operator manually moves the changeover switch 11 to perform an appropriate process for the abnormality by a manual operation or the like, so that the abnormality is performed. And then
The control device 5 restarts the screw tightening device body 6 by setting the changeover switch 11 to automatic and turning on the start switch 12. That is, when an abnormality occurs, for example, as shown in FIG.
Is turned on, the counter C2 which stores that the changeover switch 11 has been manually operated is turned on, and the changeover switch 11 is set to automatic,
The condition that the start switch 12 is turned on is set as an interlock, and the control device 5 resumes the automatic operation only when the operator performs the operation in the above-described operation order.

As described above, since the conventional automatic machine or the like is provided with the control provided with the interlock corresponding to each operation, an erroneous operation by the operator or an abnormality in the device occurs. Also, the operation is automatically stopped so that a malfunction does not occur.

[0013]

However, when such an interlock is incorporated in a complicated manner, for example, there are a large number of operating members that operate, and a large number of operating members are provided so that these operations do not interfere with each other. If an interlock is set, for example, when the device automatically stops due to the interlock as described above due to a device error, perform an operation to deal with the error manually and then restart the device. If there is an operating member whose interlock has not been released even if the operation is performed, that is, if each operating member is not in a state where it can be started, the apparatus cannot be started.

Conventionally, regarding the contents of the interlock,
Since the operation manual and the control contents were described in the operation manual and the like, in the above case,
The operator carefully reads the operation manual, grasps the conditions (such as the input state of the sensor) where the interlock is not released based on the operation manual, and based on the grasps the corresponding interface.
Work to release the lock will be performed. Specifically, when the condition shown in the initial setting of FIG. 7 is not satisfied because the sensor C is not turned on, the operation of turning on the sensor C, that is, the work 2 is released to the positioning device 3. Perform the operation.

[0015] As described above, conventionally, when the apparatus is not started even when the operation for starting is performed, the state of the interlock is grasped based on the operation manual. The work to release this was done based on the work procedure etc. described in the manual.
The work of grasping the lock state is extremely complicated because work such as searching for a corresponding interlock condition in accordance with the state of the apparatus is extremely complicated, and it takes time to recover the apparatus, and the productivity is reduced. There was a problem.

If the operator is inexperienced or inexperienced in the operation, the operator cannot perform the operation of releasing the interlock based on the operation manual as described above, or the operation is extremely large. Conventionally, there is a tendency that a skilled person operates as much as possible in order to speed up recovery, and the number of devices that can be operated by one operator is small. There was also a problem that the working ability of the operator was reduced.

SUMMARY OF THE INVENTION The present invention has been made to solve such a conventional problem, and allows the operator to quickly release the interlock when the apparatus cannot be started due to the interlock. It is another object of the present invention to provide an abnormality coping support device that can perform the operation accurately.

[0018]

To achieve the above object, the present invention provides an operation switch operated by an operator, an operation means for performing a predetermined operation set in advance according to an operation state of the operation switch, Detecting means for detecting the operating state of the operating means, and control for controlling the operating means to perform a preset operation in accordance with the operating state of the operation switch while confirming the operating state of the operating means based on the detecting means Abnormality support device provided in the device having means,
Storage means for storing an operation switch operating state serving as a condition for releasing an interlock of control performed by the control means and activation data indicating an operation state of the operation means detected by the detection means; and an operation switch input to the control means The operating state of the operating means and the current operating state of the operating means detected by the detecting means are sequentially stored in accordance with the operation of the operation switch and the operation of the operating means, and the operating state history data is created.
When a start operation for starting the operation means by the operation switch is performed, the current operation state is compared with the operation state indicated by the start data of the storage means, and the respective operation states do not match, and the interlock is released. If not, the instruction content output means for outputting preset instruction contents to match the respective operation states based on the operation state history data, and the instruction content output from the instruction content output means to the operator. And a recognizing means for recognizing the user.

[0019]

The abnormality coping support apparatus of the present invention configured as described above operates as follows. When the operator operates the operation switch, the control means operates the operation means according to the operation state of the operation switch while confirming the operation state of the operation means by the detection means. At the same time, the instruction content output means inputs the operation state of the operation switch input to the control means and the current operation state which is the current operation state of the operation means detected by the detection means. The data is sequentially stored according to the operation, and operation history data is created. When the operator performs a start operation for activating the operating means by the operation switch, for example, when the start switch is turned on, the instruction content output means outputs the current operation state last stored as the operation state history data; That is, the operating states of the operation switches and the operating means at the time of performing the starting operation are compared with the operating states indicated by the starting data stored in the storage means. Thereby, the instruction content output means, when these operating states do not match,
For example, if the operator makes a mistake in operating the operation switch or the operating means is not in a state in which the operating means can be activated, it is set in advance to match the respective operating states based on the work state history data. The instruction content, that is, the instruction content for operating the normal operation switch and the instruction content for enabling the operation means to be activated, are output to the recognition means. The recognizing means allows the operator to recognize the input instruction content visually or audibly. Therefore, if the operator does not start the device due to a mistake in the operation or the activation means is not in a state in which the activation means can be activated, the operator does not perform complicated operations as in the related art. The operation of releasing the interlock can be performed in accordance with the instruction content recognized by the recognition means, and the device can be restarted quickly and reliably. In addition, since the operator can grasp the instruction content of the operation of releasing the interlock by the recognition means, the operation of releasing the interlock can be promptly performed regardless of the degree of experience by the operator. It is possible to accurately grasp, and the operator may be an inexperienced person or an inexperienced person. Recovery will not be delayed as in the past.

[0020]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an apparatus for supporting an abnormality according to the present invention. FIG. 1 is a schematic configuration diagram of the abnormality handling support device of the present invention, and FIG. 2 is a diagram showing startup data stored in the storage device shown in FIG. FIGS. 3 and 4 are diagrams showing operating state history data stored in the memory of the instruction content output device shown in FIG.
5 is an operation flowchart of the abnormality handling support device of the present invention. In the present embodiment, the case where the abnormality handling support device of the present invention is attached to the screw tightening device described in the related art is exemplified. Of course, it can be applied to machines. In addition, the illustrated screw fastening device has the same device configuration and operation content as those described in the related art, and a description thereof will be omitted.

As shown in FIG. 1, an abnormality handling support device according to the present invention comprises a storage device 20 as the storage device, an instruction content output device 21 as the instruction content output device, and a display device 22 as the recognition device. It is constituted by a speaker 23.

As shown in FIG. 2, the storage device 20 stores startup data corresponding to a condition for releasing the interlock at the time of startup of the screw tightening device main body 6. The start data includes the respective switches of the operation switch unit 15 satisfying the conditions shown in FIGS. 7 and 8, the respective sensors, and the counter C1 for storing that the reset switch 13 has been turned on. This shows the operating state of a counter C2 that stores that the changeover switch 11 has been set to manual.

As the conditions for releasing the interlock when the screw tightening device main body 6 is activated, the above-described conditions shown in FIGS. 7 and 8 are set. The normal start data corresponding to that and the abnormal recovery start data corresponding to
It is stored as data. In addition, "0" in FIGS.
Indicates an OFF state, and “1” indicates an ON state.

The storage device 20 stores, for each switch, the contents of instructions given to the operator when the operator makes a mistake and performs an abnormal operation. Specifically, the storage device 20 includes the changeover switch 11
"Set the changeover switch to automatic."
And instructions for operating the respective switches such as "Please set the changeover switch to manual." And "Please turn on the start switch" corresponding to the start switch 12 are digitized and stored. Have been. For the counter C1, the counter C1 stores that the reset switch 13 has been turned on, and accordingly, an instruction such as "Please turn on the reset switch." Since C2 stores that the changeover switch 11 has been set to manual, "Set the changeover switch to manual once. Set the changeover switch to automatic and turn on the start switch after dealing with the following abnormalities." Are stored in the storage device 20.

Further, in the storage device 20, data for instructing the operation and operation of making the screw tightening device main body 6 ready to be activated and corresponding to the respective sensors are stored. Specifically, in the storage device 20, "Sensor A is ON. Please remove the work." Corresponding to Sensor A, or "Sensor B is ON" corresponding to Sensor B. Instructions such as "Let the positioning device perform the operation to open the work." And "Sensor D is ON. Raise the screw tightening machine." Is converted into data and stored.

The contents of these instructions are displayed on the display device 22.
The instruction content output device 21 for controlling the output to the speaker 23 includes an output control unit 30 and a memory 31.

The output control unit 30 determines whether each of the switches of the operation switch unit 15 to be input to the control device 5 and the operation states of the counters C1 and C2 in the control device 5 each time any one of the switches is turned on. The data is sequentially stored in the memory 31 as shown in FIG. 3 to create operation state history data of the operation switches.

The output control section 30 also inputs the operating states of the sensors A to E via the control device 5, and similarly outputs the data every time any one of the sensors A to E operates. As shown in FIG. 4, data is sequentially stored in the memory 31 to create sensor operation history data. That is, the output control unit 30 controls the switches of the operation switch unit 15 and the sensors A to E that are input to the control device 5.
The current operating state, that is, the current operating state is sequentially stored in the memory 31 in accordance with the operation of each switch and the sensors A to E, so that the operating state history data is created in the memory 31. I have.

When the start switch 12 of the operation switch unit 15 is turned on, the output control unit 30 compares the current operation state with the start data of the storage device 20. The output control unit 30 determines whether the current time is a normal start-up or an abnormal recovery start-up according to whether the counter C1 or C2 is ON. , The current operating state is stored in the storage device 20.
The normal operation data is compared with the operation state indicated by the normal start data, and if the operation is abnormal recovery start, the current operation state is compared with the operation state indicated by the abnormal recovery start data of the storage device 20.

Thus, if the respective operating states do not match, the output control unit 30 determines that the interlock has not been released and cannot be started, and the output state is stored in the memory 31. The instruction contents for matching the current operation state with the operation state indicated by the activation data are read out from the storage device 20 based on the respective operation state history data, and converted into image signals and audio signals and displayed. Device 2
2 and the speaker 23. In other words, when the respective operation states do not match, the output control unit 30 displays the instruction contents of the operation for matching the respective operation states, that is, the operation for releasing the interlock, on the display device 22 and the speed controller. -Output from the camera 23. Specifically, when the operation state of the operation switch does not match the operation state indicated by the start data among the current operation states, the output control unit 30 stores the instruction content for matching them in the storage device 20. And converts them into image signals and audio signals, and outputs them to the display device 22 and the speaker 23. If the operation state of the sensor among the current operation states does not match the operation state indicated by the activation data, the output control unit 30 uses the instruction content for matching these as operation state history data. Are read from the storage device 20 in the order of decreasing depth, converted into image signals and audio signals, and output to the display device 22 and the speaker 23.

On the other hand, if the compared operating states match, the output control unit 30 determines that the operation performed by the operator is appropriate and the screw tightening device main body 6 is in a startable state, and an instruction is issued. Content is not output. That is, when the start switch 12 is turned on, the output control unit 30 compares the current operation state with the operation state indicated by the start data of the storage device 20, and the respective operation states do not match, and the interlock is released. Only when it is not performed, a preset instruction to match the respective operation states based on the operation state history data is output to the display device 22 and the speaker 23.

The display device 22 is constituted by a so-called CRT or the like, and displays characters or the like of the instruction content as described above based on an input image signal. Further, the speaker 23 outputs the instruction content by voice based on the input voice signal.

The abnormality coping support apparatus of the present invention thus configured operates based on a flowchart shown in FIG. The output control unit 30 operates simultaneously with the operation of the control device 5 when the operator turns on the power switch 10 of the operation switch unit 15, and inputs to the control device 5 every time any operation switch is turned on. The operation states of all the operation switches of the operation switch unit 15 to be operated are digitized and sequentially stored in the memory 31 to create operation state history data of the operation switches (steps 1 and 2).

Next, the output control section 30 converts the operating states of the sensors A to E into data each time one of the sensors A to E operates and stores the data in the memory 31 sequentially. The operation state history data is prepared (steps 3 and 4).

The output controller 30 repeats the above operation until the start switch 12 of the operation switch unit 15 is turned on (step 5).
When the switch 2 is turned on, the current operation state is compared with the operation state indicated by the corresponding activation data in the storage device 20 (step 6).

The output control unit 30 proceeds to step 9 if the compared operating states match, and determines that the interlock has not been released if they do not match (step 7). The instruction contents corresponding to the mismatched switches and sensors are read out from the storage device 20 based on the respective operation state history data stored in the memory 31, and converted into image signals and audio signals and displayed. Device 2
2 and to the speaker 23. Then, the display device 22
Displays characters or the like of the instruction content by the input image signal, and the speaker 23 outputs the instruction content by the input audio signal by voice (step 8).

The output control device 30 includes a screw tightening device main body 6.
The operations from step 1 to step 8 are repeated until the above operation is completed for one cycle operation, that is, until the operation from the initial setting to the work unloading operation is completed (step 9).

Here, for example, the screw tightening device main body 6 causes an abnormal operation during the screw tightening operation and stops, and the operator attempts to recover from the abnormal stop. Start switch 12
A specific operation of the abnormality handling support device will be described by taking as an example the case where is turned ON. In addition, the screw tightening device body 6
It is assumed that the normal initial setting in which the sensors C and E are turned on and the sensor A is turned off is performed in advance.

First, when the operator turns on the power switch 10 of the operation switch unit 15, the output control unit 30 of the instruction content output device 21 changes the operation state of each operation switch as shown by A0 in FIG. It is stored in the memory 31 (steps 1 and 2).

The output control unit 30 is connected to the power switch 10
Since the sensors C and E are turned on at the same time as the turning-on, the operating state of each sensor is stored in B0 of the memory 31 as shown in FIG. 4 (steps 3 and 4).

At this point, the start switch 12 is not turned on and the one-cycle operation has not been completed, so that the process returns to step 1 via steps 5 and 9.

Next, when the operator turns on the start switch 12, the output control unit 30 stores the operation state of each operation switch in A1 of the memory 31 as shown in FIG. 3 (steps 1 and 2). ).

When the start switch 12 is turned on, none of the sensors has been newly operated yet, so the output control unit 30 proceeds to step 6 via steps 3 and 5, and outputs the current operating state, that is, the memory. 31 A1 and B
The operation states of the operation switches and the respective sensors stored in 0 are compared with the operation states indicated by the normal start data of the storage device 20 shown in FIG. 2 (step 6). At this time, since the respective operating states are the same, the output control unit 30
Returns to step 1 via step 9 (step 7).

Further, the output control unit 30 performs step 3,
4 is repeated, and the operation states of the respective sensors are sequentially stored in the memory 31 in accordance with the operation of the screw tightening device main body 6 as shown by B1 to B3 in FIG. Then, when the screw tightening device main body 6 causes an operation abnormality during the screw tightening operation and stops, and when the operator turns on the reset switch 13 in order to recover the abnormal stop, the output control unit 30 performs as shown in FIG. The operation state of each operation switch is stored in A2 of the memory 31.
(Steps 3 and 4). At this time, the counter C1
Is also turned on, so this is also stored.

Next, when the operator turns on the start switch 12 by mistake, the output controller 30 is turned off.
Stores the operating state of each operation switch in A3 of the memory 31 as shown in FIG. 3 (steps 1 and 2).

Then, the output control unit 30 proceeds to step 6 and stores the current operating state, that is, the operating state of each operation switch and each sensor stored in A3 and B3 of the memory 31 in the abnormality of the storage device 20 shown in FIG. The operation state is compared with the operation state indicated by the recovery start data (step 6).

As a result, the output control unit 30 first reads from the storage device 20 the contents of the instruction corresponding to the counter C2 that does not match, since the compared operating states do not match. , Which are converted into image signals and audio signals, and are converted into a display device 22 and a speaker 23.
Output to Further, the output control unit 30 stores the instruction contents corresponding to the sensors A, B, and D that do not match in ascending order of the operation state history data of the sensors in FIG. The instruction content, the instruction content corresponding to the sensor B, and the instruction content corresponding to the sensor A are read out from the storage device 20 in this order, converted to image signals and audio signals, and sequentially output to the display device 22 and the speaker 23. .

Then, the display device 22 and the speaker 23
Is based on the input image signal and audio signal in order. "Set the changeover switch to manual once. Set the changeover switch to automatic and turn on the start switch after dealing with the following abnormalities. ON, please raise the screw tightener.Sensor B is ON.
Make the positioning device perform the operation of opening the work. Sensor A is ON. Remove the work. Is output by text and voice (steps 7 and 8).

Accordingly, the operator can restart the screw tightening device main body 6 by performing the work in accordance with the above-mentioned instruction contents outputted from the display device 22 and the speaker 23.

As described above, the output control unit 30 compares the current operating state with the operating state indicated by the start data, and if the operating states do not match, matches the respective operating states. Displayed in advance on the display device 22
And the speaker 23 makes the operator recognize the operation, so that the operator cannot operate the screw tightening device 6 in a complicated manner as in the related art when the screw tightening device main body 6 is not started due to a wrong operation or is not in a startable state. The operation of releasing the interlock according to the instruction recognized by the display device 22 and the speaker 23 can be performed without performing a complicated operation,
The device can be started quickly and reliably, and the screw tightening device can be quickly restored.

In this way, the display device 22 and the speaker 23 make it possible for the operator to grasp the contents of the instruction of the operation for releasing the interlock, so that the operator can operate the interface irrespective of the degree of experience. Since the operation of releasing the lock can be quickly and accurately grasped, a large number of devices can be operated by one person regardless of the experience of the operator, and the work ability of the operator can be enhanced. become.

In this embodiment, an example in which the operator recognizes an operation instruction for releasing the interlock for starting the screw tightening device main body 6 at the time of automatic operation, but the present invention is not limited to this. When the interlock at the time of manual operation is applied to the respective devices of the tightening device main body 6, that is, the conveyor 1, the positioning device 3, and the screw tightening machine 4, an operation instruction for releasing these interlocks is issued by the operator. Of course, it may be made to recognize. In addition, the operator is allowed to recognize the contents of the instruction without being limited to the display device 22 and the speaker 23. The operator can recognize the contents of the instruction visually or by hearing. Of course, anything is good.

[0053]

As apparent from the above description, the present invention has the following effects. The instruction content output means compares the current operation state with the operation state indicated by the start data,
If these operating states do not match, the operator is made to recognize by the recognition means a preset instruction to match the respective operating states based on the operating state history data. If the device does not start due to a wrong operation or the activation means is not in a state in which the activation means can be activated, the interface according to the instruction content recognized by the recognition means can be performed without performing complicated work as in the past. -By performing the work of releasing the lock, the device can be started quickly and reliably, and the device can be quickly restored.

In addition, since the operator can be informed of the instruction content of the operation of releasing the interlock by the recognition means, one person can operate many devices regardless of the experience of the operator. And the operator's work ability can be enhanced.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of an abnormality handling support device of the present invention.

FIG. 2 is a diagram showing a startup data stored in the storage device shown in FIG. 1;
FIG.

FIG. 3 is a diagram showing operating state history data stored in a memory of the instruction content output device shown in FIG. 1;

FIG. 4 is a diagram showing operating state history data stored in a memory of the instruction content output device shown in FIG. 1;

FIG. 5 is an operation flowchart of the abnormality handling support device of the present invention.

FIG. 6 is an explanatory view of a conventional general automatic machine.

FIG. 7 is an explanatory view of a conventional general automatic machine.

FIG. 8 is an explanatory view of a conventional general automatic machine.

[Explanation of symbols]

A to E: sensors (detection means), 5: control device (control means), 6: screw tightening device main body (actuation means), 10 to 14
... various operation switches (operation switches), 20 ... storage device (storage means), 21 ... instruction content output device (instruction content output means), 22 ... display device (recognition means), 23 ... speaker (recognition means), 30 output control unit (instruction content output means), 31 memory (instruction content output means)

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) B23P 21/00 307 B23Q 15/00 B23P 19/06

Claims (1)

(57) [Claims] An operation switch operated by an operator, an operation means for performing a predetermined operation set in advance according to an operation state of the operation switch, a detection means for detecting an operation state of the operation means, and a detection means A control means for controlling the operation means to perform a preset operation in accordance with the operation state of the operation switch while confirming the operation state of the operation means based on the abnormality response support device. Storage means for storing an operation state of the operation switch as a condition for releasing the interlock of the control performed by the control means and activation data indicating an operation state of the operation means detected by the detection means; The operation state of the operation switch and the current operation state of the operation means detected by the detection means are sequentially stored according to the operation of the operation switch and the operation of the operation means. In addition to creating operation state history data, when a start operation for starting the operation means by the operation switch is performed, the current operation state is compared with the operation state indicated by the start data of the storage means, and each operation state is determined. Instruction contents output means for outputting preset instruction contents for matching the respective operation states based on the operation state history data when the states do not match and the interlock is not released, and the instruction contents A recognizing unit for recognizing an instruction content output from the output unit to an operator.