JP5131139B2 - Operation sequence creation device, control method and program for operation sequence creation device - Google Patents

Description

  The present invention relates to an operation sequence creation device for creating an operation sequence, a control method for the operation sequence creation device, and a program for a workpiece processing apparatus using an industrial robot that transports workpieces between a plurality of devices.

Conventionally, as this type of operation sequence creation device (program creation support device), a user extracts desired operation steps from a process list having a large number of operation steps (processes), and assigns these to a process flow in a desired order. An apparatus that creates an operation sequence (process flow) by arranging in a section is known (see Patent Document 1).
JP-A-11-327617

  However, in such an operation sequence creation apparatus, all the executable operation steps are listed in the process list, and therefore, a desired operation step must be extracted from the multiple operation steps. Further, the extraction of the operation steps and the arrangement of the operation steps are repeated by the number of operation steps to be executed. For these reasons, there is a problem that the creation of an operation sequence becomes complicated. Further, in a work processing apparatus using an industrial robot, an operation sequence is executed with a focus on movement of the industrial robot (end effector moving operation). Therefore, when creating an operation sequence, it is necessary to consider the movement of the industrial robot on the device in order to extract the operation step. However, in the above operation sequence creation device, it is complicated to grasp the movement of the industrial robot. There is a problem that the operation sequence cannot be easily created.

  An object of the present invention is to provide an operation sequence creation apparatus that can easily create an operation sequence, a control method for the operation sequence creation apparatus, and a program.

  The operation sequence creation device of the present invention is an operation sequence creation device that creates an operation sequence of a work processing device using an industrial robot that transports workpieces between a plurality of devices, and corresponds to the device for each device. Storage means for storing one or more operation steps, a movement order input means for inputting the movement order of the end effector of the industrial robot among a plurality of devices, and each of the movement targets in the movement order from the storage means. An operation sequence creating unit that extracts a plurality of operation steps corresponding to the device and creates an operation sequence based on the movement order, and the movement order input unit uses a layout diagram in which device images of the plurality of devices are arranged. The movement order is input by sequentially specifying the plurality of device images on the displayed layout drawing. To.

  The operation sequence creation apparatus control method of the present invention creates an operation sequence of a workpiece processing apparatus using an industrial robot that transports a workpiece between a plurality of devices, and corresponds to the device for each device. A control method for an operation sequence creation apparatus having a storage unit, an input unit, and a display unit for storing one or more operation steps, wherein the operation sequence creation apparatus moves an end effector of an industrial robot between a plurality of devices. A movement order acquisition step for acquiring a plurality of operation steps corresponding to each device that is a movement target in the movement order from the storage unit, and an operation sequence creation step for creating an operation sequence based on the movement order; The movement order acquisition step is a layout drawing display step of displaying a layout drawing in which device images of a plurality of devices are arranged on the display unit, For a plurality of device image displayed on 置図, characterized by having a a device designation step of acquiring the moving order of the specified order are sequentially designated by the input unit.

  According to these configurations, in order to input the movement order of the end effector, when the device images on the layout drawing are sequentially specified, the operation steps corresponding to each device are extracted, and the operation sequence based on the specified movement order is created. Is done. In this way, the user can easily create an operation sequence simply by sequentially specifying device images. Further, since the operation sequence is created in such a manner that the layout diagram is displayed and the movement of the industrial robot (the movement effect of the end effector) is designated, the operation sequence can be created intuitively. The operation step referred to here is information indicating the operation step, and is a concept including the name and identification ID of the operation step, the operation program and sequence of the operation step.

  In the above operation sequence creation device, each time the device image other than the device image specified first is specified by the movement order input means, the layout drawing shows the device image specified last time and the device specified this time. It is preferably displayed in a state in which a movement line that is a line connecting the image is arranged.

  According to this configuration, each time each device is specified, the movement line that is the line connecting the device specified last time and the device specified this time is displayed, so it is possible to grasp the previously specified movement order. It is possible to grasp the overall movement of the industrial robot and create an operation sequence. Thereby, an operation sequence can be created more intuitively.

  In this case, it is preferable to further include a process chart creation means for creating a horizontal line process chart showing the operation sequence in time series, and a process chart display means for displaying the created horizontal line process chart.

  According to this configuration, the user can easily grasp the flow of the operation sequence by referring to the horizontal line process chart.

  In this case, the horizontal line process chart is characterized in that a process line indicating each operation step has a length corresponding to the operation time of the operation step.

  According to this configuration, each process line of the horizontal line type process table has a length corresponding to the operation time of the operation step, so that the operation time of each operation step and the operation time of the entire operation sequence can be easily performed. Can grasp.

  In this case, from the process line indicating each operation step on the displayed horizontal line type process table, a process line designating unit for designating an arbitrary process line, and a branch setting unit for setting a branch in the operation step of the designated process line It is preferable that the movement order input means further inputs a movement order for each set branch after branching.

  According to this configuration, an operation sequence having a branch can be created by designating a process line on the horizontal line process chart and setting a branch.

  In this case, the operation sequence creation means further includes an operation step selection means for selecting an operation step from one or more operation steps corresponding to the device in one or more devices that are the movement targets in the movement order. It is preferable to extract a plurality of operation steps based on the selection result of the selection means.

  According to this configuration, since an operation step can be selected, an operation sequence with a high degree of freedom can be created.

  In this case, the work processing apparatus is preferably a work assembling apparatus that assembles a plurality of works.

Among work processing apparatuses using industrial robots, work assembly apparatuses have an operation sequence that is highly dependent on the movement of the industrial robot.
According to the said structure, the operation | movement sequence of such a workpiece | work assembly apparatus can be produced easily and intuitively.

  A program for causing a computer to execute each step in the control method of the operation sequence creation device.

  According to this configuration, it is possible to easily execute each step in the control method of the operation sequence creation device just by installing this program in a computer.

  Hereinafter, an automatic assembly system to which an operation sequence creation apparatus of the present invention is applied will be described with reference to the accompanying drawings. This automatic assembly system is a system that has a workpiece assembly apparatus and assembles a plurality of workpieces (parts), and is a system that constitutes one robot cell among a group of robot cells that are operated in a linked manner. In particular, the automatic assembly system can create an operation sequence of the workpiece assembly apparatus intuitively and easily using a GUI (Graphical User Interface) for displaying a layout drawing.

  As shown in FIG. 1, the automatic assembly system 1 includes a workpiece assembly device 3 that assembles a plurality of workpieces using an industrial robot 2, and an operation sequence creation device 4 that creates an operation sequence of the workpiece assembly device 3. ing. The work assembly device 3 and the operation sequence creation device 4 are connected via a LAN 5.

  The workpiece assembly apparatus 3 includes a support frame 11, an industrial robot 12 suspended from the support frame 11, a unit group 13 disposed on the support frame 11, an industrial robot 12, and the unit group 13. And a control unit 14 that controls the unit (equipment).

  The industrial robot 12 includes an end effector 16 that is a gripping portion, and an articulated arm 17 that has the end effector 16 disposed at a distal end and moves the end effector 16 to a target position (each unit). . The industrial robot 12 functions as a transfer means for transferring a plurality of workpieces between the units. Specifically, by driving the articulated arm 17, the end effector 16 is moved onto an arbitrary unit, and the end effector 16 is driven. By driving the end effector 16, various workpieces on the unit are gripped and transported. The articulated arm 17 has a first indirect 18 and a second indirect 19 that move circularly in a horizontal plane, and the end effector 16 is moved by rotationally driving them. Moreover, it is preferable that the end effector 16 is comprised so that attachment or detachment is possible so that replacement | exchange can be performed according to the kind of workpiece | work. Furthermore, it is good also as a structure which can attach the some end effector 16 corresponding to several types of workpiece | work to the one industrial robot 12. FIG.

  The unit group 6 includes an upstream delivery unit 21 that receives a target workpiece from another upstream robot cell, a downstream delivery unit 22 that delivers the target workpiece to another downstream robot cell, and the robot cell. A pallet 23 for supplying the target workpiece, an assembly unit 24 for combining the two target workpieces so as to overlap each other, a turning unit 25 for turning the target workpiece upside down, and a camera 26 for imaging the target workpiece. doing.

  The control unit 14 controls the driving of the industrial robot 2 and the plurality of units based on the operation sequence received from the operation sequence creation device 4. Specifically, the control unit 14 performs “Ready Confirmation” that is a confirmation operation as to whether or not the unit to which the end effector 16 is to be moved is in a ready state. Then, the articulated arm 17 is driven to move the end effector 16 to the unit (“JUMP operation”). After moving to the unit, the end effector 16 is driven to feed and unload the workpiece. Each unit is driven to perform various processes on the workpiece.

  Next, the operation sequence creation device 4 will be described with reference to FIG. The operation sequence creation device 4 displays a layout diagram A (see FIG. 4) in which unit images 62 representing each unit are arranged, prompts the user to input the movement order of the end effector 16, and inputs the movement order that has been input. An operation sequence is created based on the above. The layout diagram A is a plan view that virtually represents a region around the industrial robot 12.

  As shown in FIG. 2, the operation sequence creation device 4 has the same configuration as a general computer, and includes a display mechanism (display unit) 31, an input mechanism (input unit) 32, a communication mechanism 33, and a control mechanism 34. doing. The display mechanism 31 is composed of a display 36, and includes an operation screen (movement order input screen 61: see FIG. 4 and unit operation setting screen 88: see FIG. 6) related to control of the operation sequence creation device 4, Displays various information related to this control. The input mechanism 32 includes a keyboard 37, a mouse (pointing device) 38, and the like. The communication mechanism 33 is connected to the LAN 5 described above, and inputs / outputs information to / from the control unit 7 of the industrial robot 12.

  The control mechanism 34 has a CPU (Central Processing Unit) 41, a ROM (Read Only Memory) 42, a RAM (Random Access Memory) 43, and a hard disk (HDD: Hard disk drive) 44. The CPU 41 is a central processing unit that controls the operation sequence creation device 4. The ROM 42 stores a control program for the CPU 41 to perform various controls, and the RAM 43 is used as a work area. The hard disk 44 stores various data and various programs so that they can be rewritten. The control mechanism 34 realizes each unit of the operation sequence creation device 4 by the CPU 41 performing various arithmetic processes in accordance with programs stored in the ROM 42 and the hard disk 44.

  Next, each means realized by the control mechanism 34 will be described with reference to FIG. As shown in FIG. 3, the control mechanism 34 includes a unit data storage unit (storage unit and storage unit) 51, an operation information acquisition unit 52, an input screen display unit 53, a layout drawing generation unit 54, and sequence data generation. Means 55, horizontal line process table generation means 56, horizontal line process table update means 57, unit operation setting means 58, and operation sequence transmission means 59 are realized. The control mechanism 34 causes the input screen display means 53 to display the movement order input screen 61 including the layout diagram A and prompts the user to input the movement order. Thereafter, the sequence data generation means 55 generates sequence data SD (see FIG. 5) of the simple operation sequence (operation sequence) based on the input of the movement order, and the unit operation setting means (operation step selection means) 58 A unit operation (except for the operation of the camera 26) is set on the sequence data SD to create a complete operation sequence. The operation sequence creating means described in the claims comprises a sequence data generating means 55 and a unit operation setting means 58.

  The unit data storage means 51 stores unit data corresponding to each unit. As unit data, the unit number of the unit, the unit name of the unit, a unit image (device image) 62 (see FIG. 4) showing a plan view of the unit, the arrangement coordinates of the unit image 62 on the arrangement drawing A, the unit 1 or more operation step data (operation step) 83 (see FIG. 5A) corresponding to the above is stored.

  The one or more operation step data 83 is data indicating an operation performed when the unit becomes a movement target of the end effector 16, and in addition to the operation step data 83 indicating the operation step executed on the unit, the control unit 14 includes operation step data 83 for “Ready confirmation operation” executed by the robot 14, and “JUMP operation” for moving the end effector 16 by the industrial robot 12. The unit data stores the operation time for each operation step data 83 other than “JUMP operation”.

  Each operation step data 83 is classified into operation step data 83 for a simple operation sequence and operation step data 83 for unit operation. Specifically, the operation step data 83 for “Ready confirmation” and “JUMP operation” independent of the unit and the operation step data 83 for “imaging operation” of the camera 26 are distinguished into operation step data 83 for the simple operation sequence. Then, the operation step data 83 of the operation executed on the unit excluding the “imaging operation” is distinguished from the operation step data 83 of the unit operation. Although details will be described later, when there are a plurality of unit operation step data 83 and the unit is a movement target of the end effector 16, one of them is executed.

  In the present embodiment, the operation step data 83 is stored as a part of the unit data. However, the unit data stores a code indicating the operation step, and is stored in another storage area based on the code. The operation step data 83 may be read out.

  The operation information acquisition unit 52 acquires operation information for the input screen 61 and a setting screen 88 (to be described later) based on input data from the keyboard operation information acquisition unit 64 that acquires operation information from the keyboard 37 and the mouse 38. Mouse operation information acquisition means 65. That is, the mouse operation information acquisition unit 65 acquires operation information (including coordinate information) of an operation such as a click. The movement order is input by sequentially clicking the unit images 62 on the layout drawing A. That is, the movement order input means described in the claims includes the mouse 38 and the operation information acquisition means 52.

  The input screen display means 53 displays the movement order input screen 61 (see FIG. 4) on the display. Here, the input screen 61 will be described with reference to FIG. As shown in FIG. 4, the input screen 61 includes a layout diagram display area 71 for displaying the layout chart A, a horizontal line process display area (process table display means) 72 for displaying the horizontal line process chart B of the operation sequence, A coordinate display area 78 for displaying the position information (coordinates) of the clicked position, unit list display means 79 for listing the unit name of the clicked unit image 62, and an icon group 73 are provided. As the icon group 73, an “initialization” icon 74 for initializing input data, a “tact verification” icon 75 for updating the horizontal line process chart B and performing tact verification in the input movement order, and the industrial robot 12 An “execution” icon 76 that reproduces the movement of the input, and an “input completion” icon 77 that instructs completion of input.

  As shown in FIG. 3, the layout map generation means 54 generates a layout map A based on the unit data of each unit and displays it. The layout drawing generation means 54 arranges a robot image 80 showing a plan view of the industrial robot 12 on the layout drawing A, extracts the unit image 62 of each unit from the unit data storage means 51, and places it on the layout drawing A. Arranged and displayed (see FIG. 4).

  Further, the layout drawing generation unit 54 displays the movement route 81 in the movement order on the layout drawing A in accordance with the input of the movement order by the user. The input of the movement order by the user is performed by sequentially clicking (designating) the unit images 62. When the unit image 62 is clicked (when the click operation information is acquired), the layout drawing generation unit 54 and the unit image 62 that has been clicked this time and the unit image that has been clicked this time, except for the case of the first click in the movement order. A movement line 82, which is a line segment connecting 62, is arranged on the layout diagram A. A plurality of movement lines 82 are arranged by sequentially clicking a plurality of unit images 62, and a movement route 81 is displayed by the plurality of movement lines 82 (see FIG. 4).

  The sequence data generation means 55 generates sequence data SD (see FIG. 5A) of a simple operation sequence in accordance with the movement order input by the user. As shown in FIG. 5A, the sequence data SD is array data in which operation step data 83 of operation steps to be executed are arranged in the execution order (sequence number). The operation step data 83 includes the operation content, the unit number of the unit that executes the operation step, the unit name of the unit, and the position information (coordinates) of the position where the operation step is executed (in “JUMP operation”, the movement destination Position information) and operation time. Whenever the unit image 62 is clicked, the sequence data generating means 55 extracts the operation step data 83 for the simple operation sequence from the unit data of the clicked unit image 62 (for example, if it is the upstream delivery unit 21). "Ready confirmation" and "JUMP operation" are extracted), and this operation step data 83 is added to the rear end of the sequence data SD. At the time of inputting the movement order, sequence data SD is generated with the operation time blank (NoData), and when the “tact verification” icon 75 is clicked, the horizontal line process table update means 57 performs each operation step data 83. Is updated (see FIG. 5B).

  The horizontal line process chart generation means 56 generates a horizontal line process chart B based on the unit data and the sequence data SD. The horizontal line process chart B is arranged with a process line B1 indicating an operation step for each unit (see FIG. 4). The horizontal line type process table generating means 56 extracts the unit name of the unit from the unit data to generate the unit list B2, and based on the sequence data SD, the process line corresponding to each operation step is adjacent in the axial direction. B1 is arranged. At the time when the horizontal line process chart B is generated (in a state before tact verification), each process line B1 is set to have the same predetermined length.

  When the “tact verification” icon 75 is clicked, the horizontal line process table update unit 57 updates each operation time of the sequence data SD based on the unit data and the sequence data SD (see FIG. 5B). The horizontal line process chart B is updated (see FIG. 6). Strictly speaking, the start position of each process line B1 and the length of each process line B1 are updated. Note that the process chart creation means referred to in the claims is composed of a horizontal line type process table generation means 56 and a horizontal line type process table update means 57.

  The unit operation setting means 58 sets the unit operation of the unit that is the movement target in the input movement order on the sequence data SD. The unit operation setting unit 58 includes a setting screen display unit 86 and a unit operation insertion unit 87. The control mechanism 34 displays the unit operation setting screen 88 (FIG. 9: D11) by the setting screen display means 86 to prompt the user to set the unit operation. Further, the unit operation insertion means 87 inserts the unit operation operation step data 83 into the sequence data SD in accordance with the setting of the unit operation by the user. In this embodiment, the operation step list 92 is displayed even when only one unit operation step is stored in the unit data. However, when there is only one unit operation step, The operation step may be inserted into the gap and the operation step list 92 may be displayed to prompt selection only when there are two or more.

  The operation sequence transmission means 59 transmits the sequence data SD of the created operation sequence to the workpiece assembly device 3 (the control unit 14 thereof).

  Here, an operation sequence creation operation will be described with reference to FIGS. As shown in FIG. 7, the creation operation includes a sequence data generation operation (S1 to S6) for generating the sequence data SD of the simple operation sequence by inputting the input order, and updating the operation time of the sequence data SD. A tact verification operation (S7 to S17) for updating the horizontal line process chart B, a unit operation setting operation (S18 to S22) for setting the unit operation and inserting the operation step data 83 of the unit operation into the sequence data SD, have. A simple operation sequence mainly composed of operations that do not depend on the unit is created by the sequence data creation operation, and the created simple operation sequence is tact-verified by the tact verification operation. As a result, the user confirms the tact time in the simple operation sequence, and if it is determined that it is an appropriate simple operation sequence, the unit operation is set by the unit operation setting operation, and the complete operation sequence is executed. create.

  In the sequence data generation operation, the control mechanism 34 first generates a layout map based on the unit data by the layout map generation means 54, and at the same time the unit list B2 of the horizontal line process chart B by the horizontal line process schedule generation means 56. Is generated (S1). After the unit list B2 of the layout diagram A and the horizontal line process chart B is generated, the input screen display means 53 displays the input screen 61 based on this (S2) (FIG. 8: D1).

  Next, the sequence data SD of the simple operation sequence is generated as the unit images 62 are sequentially clicked. Specifically, the operation information acquisition means 52 acquires operation information when the unit image 62 is clicked (S3). When the click operation information is acquired, the operation step data 83 is extracted from the unit data of the unit image 62 and added to the rear end of the sequence data SD (S4) (for example, the unit image 62 of the upstream delivery unit 21 is If clicked, add “Ready Confirm” and “JUMP Action”). In addition, except for the case of the first click, the layout drawing generation means 54 arranges a movement line 82 connecting the unit image 62 clicked last time and the unit image 62 clicked this time on the layout chart A (S5) ( FIG. 8: D3, D4). Further, along with the generation of the sequence data SD, the process line B1 corresponding to the added operation step data 83 is added to the horizontal line process chart A by the horizontal line process chart generation means 56 (S6) (FIG. 8: D2). ).

  By repeating the operation (S3 to S6) associated with the click of the unit image 62 (FIG. 8: D2 to D4), the movement order is input and the sequence data SD is generated. When the input of the movement order is completed, the “tact verification” icon 75 is clicked by the user, and the operation proceeds to the tact verification operation.

  In the tact verification operation, the control mechanism 34 scans the operation step data 83 of the sequence data SD in order when the operation information acquisition means 52 acquires the operation information for clicking the “tact verification” icon 75 (S7: Yes). Then, the operation time of the sequence data SD is updated. Specifically, first, the operation step data 83 of 1 is read in the execution order (S8), and it is determined whether or not the unit (unit name) for executing the operation step is the industrial robot 12 (S9). ).

  When the unit (unit name) for executing the operation step is the industrial robot 12 (S9: Yes), since the operation step is an operation step for moving the end effector 16, the operation step In order to calculate the operation time, position information before movement and position information after movement are acquired (S10). That is, the previous operation step data 83 executed by the industrial robot 12 is extracted from the sequence data SD, the position information is acquired as the position information before the movement, and the position information of the current operation step data 83 is moved. Acquired as later position information. When the operation step data of the target industrial robot 12 is the first operation step data 83 of the industrial robot 12 of the sequence data SD, the last position of the industrial robot 12 is used as the position information before the movement. The position information of the operation step data 83 of the operation step is acquired. Thereby, the operation time of the movement by the industrial robot 12 from the previous cycle to the current cycle can be calculated.

  When the position information before the movement and the position information after the movement are acquired, the rotation amount of the first indirect 18 and the rotation amount of the second indirect 19 of the articulated arm 17 necessary for the position information are calculated based on the position information. (S11). Thereafter, the operation time required to move the end effector 16 is calculated from the rotational speeds of the first indirect 18 and the second indirect 19 and the calculated rotation amount (S12). After calculating the operation time, the operation time in the operation step of the sequence data SD is updated based on the calculated operation time (S13).

  On the other hand, if the unit executing the operation step is not the industrial robot 12, the operation time of the operation step is extracted from the unit data (S14). When the operation time is calculated, the operation time in the operation step of the sequence data SD is updated based on the calculated operation time (S15).

  When such operations (S8 to S15) are repeated and the total movement time of the sequence data SD is updated (S16: Yes), the horizontal line process chart B is updated based on the updated movement time (S17) (FIG. 6). Strictly speaking, the start position and the length of each process line B1 are updated. In addition, when updating the start position of the process line B1, the update is performed in consideration of whether the operation step can be executed redundantly with other operation steps. For example, as shown in FIG. 6, the “JUMP operation” that moves to the upstream delivery unit 21 and the “Ready confirmation” that moves to the assembly unit 24 are operation steps that can be executed redundantly. Update is made so that the start position of the “Ready confirmation” process line B1 comes before the end position of the “operation” process line B1.

  After updating the horizontal line process chart B, the user clicks on the “input completion” icon 77 and shifts to the unit operation setting operation. If the “input completion” icon 77 is clicked without clicking the “tact verification” icon 75, the tact verification operation is omitted. Further, when the “initialization” icon 74 is clicked without clicking the “input completion” icon 77, the input data is initialized, and the sequence data generation operation returns.

  In the unit setting operation, when the control information is acquired by the operation information acquisition unit 52 by clicking the “input completion” icon 77 (S18), the control screen 34 displays the unit operation setting screen by the setting screen display unit 86. 88 is displayed (S19). As shown in FIG. 9, the setting screen 88 displays sequence data SD, a triangle icon 91 indicating a gap between the operation step data 83 of “JUMP operation” and the next operation step data 83, and a triangle icon And an operation step list 92 connected to 91 (except when the next operation step data 83 of the JUMP operation is “imaging operation”). When the control screen 34 scans the sequence data SD with the setting screen display means 86 in the order of execution and detects the operation step data 83 of “movement operation”, the control mechanism 34 determines the unit operation (from the unit data of the movement destination unit). Are extracted and listed, and an operation step list 92 for the gap is generated.

  When one of the operation steps in the operation step list 92 is clicked by the user while the setting screen 88 is displayed, the operation information acquisition unit 52 acquires the operation information (S20). When the click operation information is acquired, the operation step data 83 of the clicked operation step is extracted from the unit data by the unit operation insertion means 87, and the extracted operation is extracted in the gap indicated by the corresponding triangular icon 91 in the sequence data SD. Step data 83 is inserted (S21) (FIG. 9: D12 and D13). The unit operation is set by repeating until there is no gap for which this is not set (S22: Yes) (FIG. 9: D14). As a result, complete sequence data SD is created, and this creation operation ends. The sequence data SD of the operation sequence created here is transmitted to the workpiece assembling apparatus 3 by the operation sequence transmission means 59.

  Next, particularly different portions of the modified example of the operation sequence creation device 4 will be described. The operation sequence creation device 4 of this modification has a function of creating an operation sequence with a branch. The unit data storage means 51 stores several pieces of information having branch information (branch conditions and the like) among all the operation step data 83. When the sequence data SD (first sequence data SD) is generated by the movement order input operation and an arbitrary process line B1 on the horizontal line process table B is clicked, the control mechanism 34 causes the input screen display means 53 to be clicked. Thus, an icon indicating that a branch is added at the operation step of the process line B1 is displayed. When the icon is clicked, the control mechanism 34 determines whether or not the operation step data 83 of the process line B1 has branch information, and cancels the operation if it does not have branch information.

  On the other hand, when it has branch information, the control mechanism 34 newly generates the second sequence data SD having the operation step data 83 before the operation step by the sequence data generation means 55. At this time, the horizontal line process chart generating means 56 generates and displays the horizontal line process chart B of the second sequence data SD accordingly. Thereafter, the movement order after branching is input to create a second operation sequence. As a result, the first operation sequence and the second operation sequence have the same sequence before branching, and therefore, an operation sequence having a branch can be created by combining them. The display switching icon is displayed on the input screen 61 as one of the icon group 73, and by clicking the display switching icon, the horizontal line process table B of the first operation sequence and the horizontal line process of the second operation sequence are displayed. Switching between Table B is preferred.

  According to this configuration, an operation sequence having a branch can be created by designating the process line B1 on the horizontal line process table B and setting the branch. The process line designation means described in the claims is composed of the mouse 38 and the operation information acquisition means 52, and the branch setting means is composed of the sequence data generation means 55.

  As described above, according to the automatic assembly system 1 of the present embodiment, the user can easily create an operation sequence (sequence data SD) only by sequentially specifying the unit images 62. Further, since the operation sequence is created in such a manner that the layout diagram A is displayed and the movement of the industrial robot 12 (the movement operation of the end effector 16) is designated, the operation sequence can be created intuitively.

  Further, each time the unit image 62 is designated, a movement line that is a line connecting the unit image 62 designated last time and the unit image 62 designated this time is displayed, so that the movement order designated before can be grasped. It is possible to grasp the overall movement of the industrial robot and create an operation sequence. Thereby, an operation sequence can be created more intuitively.

  Further, by displaying the horizontal line process chart B, the user can easily grasp the flow of the operation sequence by referring to the horizontal line process chart B.

  Furthermore, by performing the tact verification, each process line B1 in the horizontal line process table B can be displayed with a length corresponding to the operation time of the operation step, so that the operation time of each operation step and the entire operation sequence are displayed. The operation time can be easily grasped.

  In the unit operation setting operation, the unit operation is selected and inserted from any of the unit operations displayed as the operation step list 92, so that an operation sequence with a high degree of freedom can be created.

  In the present embodiment, the present invention is applied to the work assembly apparatus 3 having an operation sequence that is highly dependent on the movement of the industrial robot 2 among the work processing apparatuses using the industrial robot 2. You may apply this invention to the workpiece processing apparatus which processes a workpiece | work in each unit.

  Further, in the present embodiment, the sequence data generating means 55 extracts only the operation step data 83 for the simple operation sequence in accordance with the input of the movement order, and generates the sequence data SD of the simple operation sequence. The unit operation is set by the unit operation setting means 58, but the sequence data generating means 55 is operated together with the operation step data 83 for the simple operation sequence along with the input of the movement order. 83 may also be extracted to generate sequence data SD of a complete operation sequence.

1 is a system configuration diagram of an automatic assembly system according to an embodiment of the present invention. It is the control block diagram which showed the component of the operation | movement sequence production apparatus. It is the functional block diagram which showed each means which a control mechanism implement | achieves. It is the figure which showed the input screen of the movement order. It is the figure which showed the sequence data. It is the figure which showed the input screen which performed the tact verification operation | movement. 5 is a flowchart showing an operation sequence creation operation. It is a screen transition diagram of the input screen showing the sequence data generation operation. It is a screen transition diagram of the setting screen showing the unit operation setting operation.

Explanation of symbols

  3: workpiece assembly device, 4: motion sequence creation device, 12: industrial robot, 16: end effector, 31: display mechanism, 32: input mechanism, 38: mouse, 51: unit data storage means, 52: acquisition of operation information Means: 55: sequence data generating means; 56: horizontal line type process table generating means; 57: horizontal line type process table updating means; 58: unit operation setting means; 62: unit image; 72: horizontal line type process display area; Line, 83: Operation step data, A: Layout, B: Horizontal line process table B1: Process line, SD: Sequence data

Claims (9)

An operation sequence creation device for creating an operation sequence of a work processing device using an industrial robot that transports workpieces between a plurality of devices,
Storage means for storing one or more operation steps corresponding to the device for each device;
A movement order input means for inputting the movement order of the end effector of the industrial robot between the plurality of devices;
A plurality of operation steps corresponding to each device that is a movement target in the movement order from the storage means, and an operation sequence creation means for creating the operation sequence based on the movement order, and
The movement order input means includes
Using the layout diagram in which device images of the plurality of devices are arranged, the movement sequence is input by sequentially specifying the plurality of device images on the displayed layout diagram. apparatus.   Each time the layout image is designated by the movement order input means, except for the device image specified first, a line connecting the device image specified last time and the device image specified this time on the drawing. The operation sequence creation apparatus according to claim 1, wherein the operation sequence creation apparatus is displayed in a state in which a movement line is arranged. A process chart creation means for creating a horizontal process chart representing the operation sequence in time series;
The operation sequence creation device according to claim 1, further comprising: a process chart display unit that displays the created horizontal line process chart.   4. The operation sequence creation device according to claim 3, wherein in the horizontal line type process table, a process line indicating each operation step has a length corresponding to an operation time of the operation step. A process line designating unit for designating an arbitrary process line from the process lines indicating the operation steps on the displayed horizontal line process table,
A branch setting means for setting a branch in the operation step of the designated process line;
5. The operation sequence creation device according to claim 3, wherein the movement order input unit further inputs the movement order for each branch after the set branch. The operation sequence creation means includes
In one or more devices that are movement targets in the movement order, the device further comprises an operation step selection means for selecting an operation step from the one or more operation steps corresponding to the device,
6. The operation sequence creation device according to claim 1, wherein the plurality of operation steps are extracted based on a selection result of the operation step selection unit.   The operation sequence creation device according to claim 1, wherein the workpiece processing device is a workpiece assembly device that assembles a plurality of workpieces. An operation sequence of a work processing apparatus using an industrial robot that conveys a work between a plurality of devices, and storing, for each device, one or more operation steps corresponding to the device; A control method of an operation sequence creation device having an input unit and a display unit,
The operation sequence creation device includes:
A movement order acquisition step of acquiring a movement order of the end effector of the industrial robot between the plurality of devices;
From the storage unit, extracting a plurality of the operation steps corresponding to each device that is a movement target in the movement order, and creating the operation sequence based on the movement order, and
The movement order acquisition step includes
A layout diagram displaying step of displaying a layout diagram in which device images of the plurality of devices are disposed by the display unit;
Creating an operation sequence, wherein a device designation step for obtaining, as the movement order, a designation order sequentially designated by the input unit for the plurality of device images displayed on the layout diagram; Control method of the device.   The program for making a computer perform each process in the control method of the operation | movement sequence production apparatus of Claim 8.

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