JP7105281B2 - work system - Google Patents

Description

The present invention relates to a job creation device, a work system, and a control device for a work robot.

Conventionally, there is a database that separates and stores circuit board data common to component mounting and mounter management data that differs depending on the types of mounters and components. A data conversion/management system for creating a program for causing a mounting machine to actually perform mounting work has been proposed (see, for example, Patent Document 1). This data conversion/management system acquires design data such as the types of components to be mounted on a board, mounting positions, mounting angles, etc. from drawings of a CAD device, etc., converts them into circuit board data, and stores them in a database. In addition, the data conversion/management system includes the types of components (component names) stored in each storage case of the mounter storage unit, correction data for mounting positions on the board due to variations in component characteristics, etc., and data specific to the mounter. (image processing data) and the like are stored in the database as mounting device management data.

JP-A-9-309034

However, in the system described above, although the circuit board data and the mounter management data are separately stored and managed, an operation program for causing the mounter to perform the mounting work must be created each time, and there is still room for improvement. There is

SUMMARY OF THE INVENTION The main object of the present invention is to allow a work robot to perform an operation suitable for a work target while further reducing the burden on a user.

The present invention employs the following means in order to achieve the above main object.

The job creation device of the present invention is
A job creation device for creating a job for instructing a work robot,
an operation program storage unit for pre-storing an operation program in which operation contents executable by the working robot are described in a manner in which work object-related data relating to the work object of the working robot can be referred to;
a work object-related data acquisition unit that acquires the work object-related data;
a job creating unit that creates a job including the stored operation program and the acquired work object-related data and outputs the job to the working robot;
The gist is to provide

The job creating apparatus of the present invention pre-stores an operation program in which operation contents that can be executed by the working robot are described in a manner in which work object-related data relating to the work object can be referred to. Then, the job creation device acquires the work object-related data, creates a job including the stored operation program and the acquired work object-related data, and outputs the job to the working robot. Thus, the user can cause the work robot to perform motions suitable for the work object only by changing the work object-related data referred to by the operation program. As a result, the job creating apparatus can cause the work robot to perform actions suitable for the work target while further reducing the burden on the user.

The working system of the present invention is
a job creation device that creates a job for instructing a work robot to do work;
a work robot control device that controls the work robot based on the job created by the job creation device;
A work system comprising:
The job creation device
an operation program storage unit for pre-storing an operation program in which operation contents executable by the working robot are described in a manner in which work object-related data relating to the work object of the working robot can be referred to;
a work object-related data acquisition unit that acquires the work object-related data;
a job creating unit that creates a job including the stored operation program and the acquired work object-related data and outputs the job to a control device of the working robot;
with
The control device of the work robot includes:
a job input unit for inputting a job including the operation program and the work object-related data from the job creation device;
a job execution unit that controls the working robot by executing an operation program included in the input job while referring to work object-related data included in the job;
The gist is to provide

The work system of the present invention includes a job creation device and a work robot control device. The job creation device pre-stores an operation program describing the contents of operations that can be executed by the working robot in a manner that allows reference to work object-related data relating to the work object. The job creation device acquires the work object-related data, creates a job including the stored operation program and the acquired work object-related data, and outputs the job to the control device of the working robot. A control device for a work robot inputs a job including an operation program and work object-related data, and executes the work program included in the job while referring to the work object-related data contained in the job, thereby operating the work robot. Control. Thus, the user can cause the work robot to perform motions suitable for the work object only by changing the work object-related data referred to by the operation program. As a result, the work system can cause the work robot to perform actions suitable for the work target while further reducing the burden on the user.

A control device for a working robot of the present invention includes:
A work robot control device for controlling a work robot that performs a predetermined work on a work object,
an operation program storage unit for pre-storing an operation program describing operation contents executable by the working robot in a manner in which work object-related data relating to the work object of the working robot can be referred to;
a job acquisition unit that acquires a job including the work object-related data;
When the job is acquired, the operation program stored in the operation program storage unit is read, and the read operation program is executed while referring to the work object related data included in the acquired job. a job execution unit that controls the work robot;
The gist is to provide

The control device for a working robot according to the present invention pre-stores an operation program describing the contents of actions that can be executed by the working robot in a manner in which work object-related data relating to the work object can be referred to. When a job including work object-related data is acquired, the control device of the work robot reads out the stored operation program, and executes the read-out operation program while referring to the work object-related data included in the acquired job. to control the working robot. As a result, the control device of the work robot acquires the work object-related data referred to by the operation program, thereby controlling the work robot with an operation suitable for the work object.

1 is a configuration diagram showing an outline of the configuration of a work system 10 as one embodiment of the present invention; FIG. 4 is a flowchart showing an example of job creation processing executed by the management device 40; FIG. 4 is an explanatory diagram showing an example of a menu screen; FIG. 4 is an explanatory diagram showing a work data input screen; It is explanatory drawing which shows a part data input screen. FIG. 4 is an explanatory diagram showing a configuration of job data; 4 is a flowchart showing an example of job execution processing executed by control devices 24 and 34; 6 is a flowchart showing an example of component picking processing; FIG. 3 is an explanatory diagram showing how a work robot 20 performs a component picking operation; 5 is a flowchart illustrating an example of voltage pick processing; FIG. 3 is an explanatory diagram showing how a work robot 20 performs a bolt picking operation; 6 is a flow chart showing an example of a seal peeling process; FIG. 10 is an explanatory diagram showing how the work robot 20 performs a seal peeling operation; 9 is a flowchart showing job execution processing according to another embodiment;

Next, a mode for carrying out the present invention will be described with reference to the drawings.

FIG. 1 is a configuration diagram showing the outline of the configuration of a work system 10 as one embodiment of the present invention. In FIG. 1, the horizontal direction is the X-axis direction, the front-rear direction is the Y-axis direction, and the vertical direction is the Z-axis direction. As shown in the figure, the work system 10 of this embodiment includes a supply device 12 that supplies parts (work), a transfer device 14 that transfers placement members 13 on which the parts are placed, and a transfer device 14. It has two work robots 20 and 30 arranged to face each other and a management device 40 that manages the entire work system. Incidentally, examples of "parts (workpieces)" include mechanical parts, electronic parts, electrical parts, chemical parts, and the like. In addition, "arrangement" includes attachment, alignment, assembly, fitting, fastening, and the like.

A supply device 12 suitable for the type of parts to be supplied is used. For example, a device that supplies electronic components by feeding out a tape on which electronic components (IC chips, resistors, capacitors, etc.) are stored at predetermined intervals or a tray on which electronic components are stored in an aligned state (tape feeder, tray feeder) , machine parts (bolts, screws, etc.) are supplied by conveying storage units that are stored, and adhesives are supplied by conveying sheets with adhesives (sponge seals) attached. things can be mentioned.

The conveying device 14 is composed of a belt conveyer device, conveys the placement member 13 into the work areas of the work robots 20 and 30, and fixes the conveyed placement member 13. As shown in FIG.

The work robots 20 and 30 each include robot arms 22 and 32 and controllers 24 and 34 that drive and control the robot arms 22 and 32 . The working robots 20 and 30 receive a job including an operation program from the management device 40, extract the operation program from the received job, and execute it to perform various operations. For example, an operation of picking up parts supplied by the supply device 12 and placing them at a specified position on the placement member 13, or picking up machine parts supplied by the supply device 12 and aligning them on the placement member 13. Work, a fastening work of collecting fastening parts (bolts, screws, etc.) supplied by the supply device 12 and fastening a plurality of members placed on the placement member 13, a sheet of sponge seals supplied by the supply device 12 For example, a seal peeling operation of peeling off the tape and placing it on the placing member 13 can be mentioned.

The robot arms 22 and 32 are configured as articulated robot arms. Each joint can turn or rotate in the direction of the arrow in FIG. 1 by being driven by a motor (not shown). The robot arms 22 and 32 have tools 23 and 33 attached to their tips, and use the tools 23 and 33 to pick up parts (workpieces) supplied by the supply device 12 and transport the picked parts by the conveying device 14 . It can be placed on the placed placement member 13 . Tools 23, 33 are detachable from the distal ends of the robot arms 22, 32, and are replaced with tools 23, 33 suitable for the type of component to be collected. Examples of the tools 23 and 33 include a mechanical chuck that picks up a part by gripping, an electromagnetic chuck that picks up a part containing a magnetic material by magnetic force, and a suction nozzle that picks up a part by suction force.

An image pickup camera 28 is also attached to the tip of the robot arm 22 to pick up an image of a part as a work object and grasp its position and posture.

The control devices 24, 34 are configured as microprocessors including CPU, ROM, RAM, HDD, input/output ports, and communication ports. The control devices 24 and 34 can communicate with the management device 40 via communication ports, and can exchange various data with the management device 40 . The control devices 24, 34 are provided with job receiving units 25, 35, storage units 26, 36, and job executing units 27, 37 as functional blocks. The job receiving units 25 and 35 receive jobs transmitted from the management device 40 via communication ports. The storage units 26 and 36 are configured by HDDs or the like, and store correction parameters for correcting errors (assembly errors, processing errors, etc.) that affect the positioning accuracy of the robot arms 22 and 32, respectively. The job executing sections 27 and 37 drive and control the robot arms 22 and 32 by executing the jobs received by the job receiving sections 25 and 35 . The control devices 24 and 34 (job execution units 27 and 37) receive input of rotational positions, turning positions, and the like from position sensors (not shown) provided at each joint via input ports. An image signal from an imaging camera 28 attached to the tip of the robot arm 22 is also input to the control device 24 (job execution unit 27). Drive signals to motors (not shown) that drive the joints of the robot arms 22 and 32 are output from the control devices 24 and 34 (job execution units 27 and 37) through output ports.

The management device 40 includes a CPU, ROM, RAM, HDD, input/output ports, and communication ports. computer. The management device 40 includes an input reception section 42, a storage section 44, and a job creation section 46 as functional blocks. The input reception unit 42 receives input of data (work data, part data, etc., which will be described later) from the user via the input device. The storage unit 44 is configured by an HDD or the like, and stores the data received by the input receiving unit 42 as well as an operation program describing the contents of operations executable by the working robots 20 and 30 . The job creating unit 46 creates jobs for instructing the two working robots 20 and 30 to perform respective tasks.

Next, the operation of the work system 10 configured in this manner will be described. First, the operation of the management device 40 will be explained, and then the operation of the working robots 20 and 30 will be explained.

FIG. 2 is a flowchart showing an example of job creation processing executed by the job creation unit 46 of the management device 40. As shown in FIG. This process is executed when the operator gives an instruction to start the job creation program.

When the job creation process is executed, the job creation unit 46 displays a menu screen and accepts input of various data (step S100). FIG. 3 shows an example of the menu screen. As shown, the menu screen has "data management" and "data input" as menu items. In the "Data management" item, there are a "Create new" button for setting the file name for managing job data to be created, an "Open data" button for reading created job data, and a A "save data" button is provided to save job data in a specified folder location. On the other hand, in the "Data input" item, there are a "Work data edit" button that transitions to the work data input screen, a "Part data edit" button that transitions to the part data input screen, and a "Mark data input" button that transitions to the mark data input screen. A data edit button and a job transmission button for creating and saving a job file from the set data and transmitting the job file to the corresponding working robots 20 and 30 are provided. The operator can select a menu item corresponding to a desired button by placing the cursor on the desired button using the input device (mouse 52) and clicking the button.

When the data management item is selected (step S110), the job creation unit 46 executes data management processing (step S120). The process of step S120 is performed by executing the data management process corresponding to the menu item selected from among "new", "open data", and "save data".

Further, when a data input item is selected (step S130), the job creation unit 46 executes data input processing (step S140). The process of step S140 is performed by executing the data input process corresponding to the menu item selected from among "work data edit", "part data edit", "mark data edit", and the like.

Here, when "edit work data" is selected, the job creation unit 46 displays a work data input screen and accepts input/editing of work data. In the "work data edit", the contents of work for supplied parts are registered for each working robot that executes the work.

An example of the work data input screen is shown in FIG. As shown in FIG. 4, the work data input screen is provided with input items such as "work content", "operation type", "part number (part name)", "work coordinate X", and "work coordinate Y". ing. For "work content" and "operation type", for example, one item can be selected from a plurality of items by a pull-down menu. The "work content", "operation type", "part number (part name)", "work coordinate X", "work coordinate Y" and the like input on the work data input screen are work data. Note that the work data input screen of FIG. 4( a ) includes work for picking up part A on the work robot 20 (parts pick A) and work for placing the picked up part A on work coordinates (X, Y) (parts place). A) shows an input example for execution. The work data input screen of FIG. 4(b) includes a work of picking up the bolt A (bolt pick A) on the work robot 20 and a work of placing (aligning) the picked bolt A on work coordinates (X, Y). An input example for executing (bolt place A) is shown. The work data input screen of FIG. 4C shows the operation of peeling off the sponge seal A stuck on the sheet by the work robot 20 (seal pick A) and placing the peeled sponge seal A at the work coordinates (X, Y). 2 shows an input example for executing a work (seal place A) to be performed. The work data (for example, "part number (part name)", "work position X", "work position Y", etc.) may be read from graphic data of a CAD device. In addition, the supplied parts are sampled and the movement trajectories of the parts and the robot arms 22 and 32 up to the work coordinates (X, Y) are captured by motion capture for each work and for each part, and are registered in the work data. may be

Further, when "edit part data" is selected, the job creating unit 46 displays a part data input screen and accepts input of part data. In "Edit Part Data", you can set information related to parts to be supplied for work (for example, data related to supplied parts such as "external shape") and information related to parts supply (such as "parts supply type" and "parts supply position"). supply related data).

An example of the part data input screen is shown in FIG. As shown in FIG. 5, the part data input screen displays different input items for each "part number (part name)" selected on the work data input screen. For example, when part A is selected as a part, as shown in FIG. "Image processing type" for inputting the image processing algorithm for processing the image captured by the camera 28, "Shutter speed" for inputting the exposure time at the time of imaging, and "Soft pick up" for inputting the part picking speed (pickup speed). , a "component transfer speed" for inputting the transfer speed of the sampled component, and a "component supply position" (not shown). When the bolt A is selected as a part, the input items are, as shown in FIG. There are "electromagnet pattern", "component transfer speed", and "component supply position" (not shown) for inputting the magnetic force pattern when picking A with an electromagnetic chuck. Also, when the sponge seal A is selected as a part, the input items are, as shown in FIG. In addition to "Conveyance speed", "Peeling angle" for inputting the inclination angle when peeling off sponge seal A by tilting the mechanical chuck with both sides of the sponge seal A gripped by the mechanical chuck, and the operating speed of the mechanical chuck when peeling off the sponge seal A There are "peeling speed" and "component supply position" (not shown) for inputting. The part data (for example, "external shape X", "external shape Y", etc.) may be taken in from the figure data of the CAD device. In addition, for "image processing type", "soft pickup", "component transfer speed", "electromagnet pattern", and "peel speed", for example, one item can be selected from multiple items using a pull-down menu. there is

When "edit mark data" is selected, job creation unit 46 displays a mark data input screen and accepts input of mark data. In "mark data editing", for example, a mark used for position correction relating to the transport position of the placement member 13 is registered.

When "job transmission" is selected (step S150), the job creation unit 46 selects one of the plurality of operation programs stored in the storage unit 44 based on the input work data ("work content"). An operating program is selected (step S160). Then, the job creating unit 46 creates a job including the selected operation program, work data, part data and mark data (step S170), transmits it to the corresponding control devices 24 and 34 (step S180), and End the creation process.

FIG. 6 is an explanatory diagram for explaining the configuration of a job. As shown in the figure, the job includes work data (work content) and part data (part A data and part B data) including part data and the like input in steps S130 and S140 of the job creation process, and an operation program. and consists of The operation program describes the contents of operations that can be executed by the work robots 20 and 30. By referring to the part data, the work robots 20 and 30 are made to perform work suitable for the supplied parts (work). be able to. This operation program is appropriately added or modified by the operator to add work executable by the work robots 20 and 30 (work content selectable by the operator in "work data editing"), 30 can be improved.

Next, operations of the work robots 20 and 30 will be described. FIG. 7 is a flow chart showing an example of job execution processing executed by the job execution units 27 and 37 of the control devices 24 and 34. As shown in FIG.

When the job execution process is executed, the job execution units 27 and 37 of the control devices 24 and 34 first determine whether or not a job has been received from the management device 40 (step S200). When the job execution units 27 and 37 determine that the job has not been received, the job execution processing is terminated as it is. The operation program is executed (step S220), and the job execution process ends.

In this way, the job execution units 27 and 37 receive from the management device 40 and execute an operation program corresponding to the work content input by the operator. For example, when the job execution units 27 and 37 receive an operation program related to the parts picking process and the parts placing process from the management device 40, they sequentially execute the parts picking process and the parts placing process. When the operation program is received, the bolt picking process and the bolt place process are sequentially executed. When the operation program for the seal peeling process and the seal place process is received, the seal peeling process and the seal place process are sequentially executed. A case where the job execution unit 27 executes each of the parts picking process, the bolt picking process, and the seal peeling process will be described below.

FIG. 8 is a flowchart showing an example of component picking processing. When the job execution unit 27 executes the component picking process, a suction nozzle or a mechanical chuck capable of holding components is attached to the tip of the robot arm 22 as the tool 23 . The attachment of the tools 23 may be performed manually by the operator, or may be performed automatically by providing a tool station for storing a plurality of types of tools 23 and moving the tip of the robot arm 22 to the tool station. good.

When the parts picking process is executed, the job executing section 27 first executes a process of inputting various parameters necessary for the process such as a shutter speed parameter, an image processing type parameter, and a parts conveying speed parameter (step S300). Here, the shutter speed parameter, image processing type parameter, and component transport speed parameter are set based on the "shutter speed", "image processing type", and "component transport speed" included in the job. and

When the data is input in this way, the job execution unit 27 moves the imaging camera 28 provided at the tip of the arm to the supplied component imaging position (step S310), and the imaging camera 28 detects the supplied component at a shutter speed based on the input shutter speed parameter. is imaged (step S320).

Next, the job execution unit 27 calculates the component pick position by performing image processing on the captured image based on the input image processing type parameter (step S330). Here, the component pick position can be calculated by correcting the component supply position obtained by image processing with a correction parameter for canceling the error of the robot arm 22 described above. After moving the tool 23 (suction nozzle or mechanical chuck) to the calculated component pick position (step S340), the job execution unit 27 picks up the supply component with the tool 23 (suction nozzle or mechanical chuck). (step S350).

Then, the job execution unit 27 transports the picked-up component to the place preparation position at the transport speed based on the input component transport speed parameter (step S360), and ends the component picking process. In this manner, the job execution unit 27 executes the operation program included in the job while referring to the part data also included in the job, thereby executing the specified work for the specified part (work). The work robot 20 is caused to perform the operation. FIG. 9 shows how the component picking work is performed. Further, after transporting the picked-up part to the place preparation position, the job executing section 27 continues to execute part placement processing (not shown) also included in the job, thereby placing the part at the work position (X, Y). do

FIG. 10 is a flow chart showing an example of the voltage picking process. When the job execution unit 27 executes the bolt picking process, an electromagnetic chuck capable of picking up a bolt is attached to the tip of the robot arm 22 as the tool 23 . The bolt is entirely made of a magnetic material and supplied in pieces. In the bolt picking process, the supplied bolts are picked up one by one by attracting the tip of the bolt to an electromagnetic chuck.

When the voltage pick process is executed, the job execution unit 27 first executes a process of inputting various parameters necessary for processing such as a shutter speed parameter, an image processing type parameter, an electromagnet pattern parameter, and a component conveying speed parameter ( step S400). Here, the shutter speed parameter, image processing type parameter, electromagnet pattern parameter, and part transfer speed parameter are set based on the "shutter speed", "image processing type", "electromagnet pattern", and "part transfer speed" included in the job. Input the set values.

When the data is input in this way, the job execution unit 27 moves the imaging camera 28 provided at the tip of the arm to the supply bolt imaging position (step S410), and the imaging camera 28 detects the supply bolt at a shutter speed based on the input shutter speed parameter. is imaged (step S420).

Next, the job execution unit 27 calculates the bolt pick position by performing image processing on the captured image based on the input image processing type parameter (step S430). Here, the bolt pick position can be calculated by correcting the bolt supply position obtained by image processing with a correction parameter for canceling the error of the robot arm 22 described above. After moving the tool 23 (electromagnetic chuck) to the calculated bolt pick position (step S440), the job execution unit 27 picks up the supply bolt with the electromagnet pattern (magnetic force) based on the input electromagnet pattern parameters. (step S450).

Then, the job executing section 27 conveys the picked up bolt to the place preparation position at the conveying speed based on the input component conveying speed parameter (step S460), and ends the bolt picking process. FIG. 11 shows the state of the bolt pick operation. After transporting the picked-up bolts to the place preparation position, the job execution unit 27 continues to execute part placement processing (not shown) also included in the job, thereby placing (aligning) the bolts at the work position (X, Y). ).

FIG. 12 is a flow chart showing an example of the seal peeling process. When the job execution unit 27 executes the seal peeling process, a mechanical chuck capable of gripping a sponge seal is attached to the tip of the robot arm 22 as the tool 23 .

When the sticker peeling process is executed, the job executing section 27 first inputs various parameters necessary for processing such as a shutter speed parameter, an image processing type parameter, a peeling angle pattern parameter, a peeling speed parameter, and a component conveying speed parameter. Processing is executed (step S500). Here, the shutter speed parameter, the image processing type parameter, the peeling angle parameter, the peeling speed parameter, and the part transfer speed parameter are the "shutter speed", the "image processing type", the "peeling angle", and the "peeling speed" included in the job. , and "component transfer speed".

When the data is input in this way, the job execution unit 27 moves the imaging camera 28 provided at the tip of the arm to the supply sticker imaging position (step S510), and the imaging camera 28 shoots the supply sticker at a shutter speed based on the input shutter speed parameter. is imaged (step S520).

Next, the job execution unit 27 calculates the sticker peeling position by performing image processing on the captured image based on the input image processing type parameter (step S530). Here, the sticker peeling position can be calculated by correcting the sticker supply position obtained by image processing with a correction parameter for canceling the error of the robot arm 22 described above. Then, after moving the tool 23 (mechanical chuck) to the calculated seal peeling position (step S540), the job execution unit 27 peels off the supply seal at the peeling angle and peeling speed based on the input peeling angle and peeling speed parameters. (Step S550).

Then, the job execution unit 27 conveys the peeled sticker to the place preparation position at the conveying speed based on the input component conveying speed parameter (step S560), and ends the seal peeling process. FIG. 13 shows how the seal is peeled off. Further, after transporting the peeled sticker to the place preparation position, the job execution unit 27 continues to execute a sticker placement process (not shown) also included in the job, thereby placing the peeled sticker at the work position (X, Y). work to be done.

Here, the correspondence relationship between the main elements of the present embodiment and the main elements of the invention described in the disclosure column of the invention will be described. That is, the management device 40 corresponds to a job creation device, the storage unit 44 corresponds to an operation program storage unit, the input reception unit 42 for accepting input of part data corresponds to a work object related data acquisition unit, and the job creation unit 46 corresponds to a job creation unit. Also, the input reception unit 42 that receives input of work data corresponds to the work content-related data acquisition unit. Further, the work system 10 corresponds to the work system, the job reception units 25 and 35 correspond to the job acquisition units, and the job execution units 27 and 37 correspond to the job execution units. Also, the storage units 26 and 36 correspond to correction value storage units.

The management device 40 of the present embodiment described above stores in advance the operation programs executable by the work robots 20 and 30 in the storage unit 44, and accepts input of part data via the input acceptance unit 42. A job containing part data and an operation program is created and sent to the controllers 24 and 34 of the corresponding work robots 20 and 30 . The controllers 24, 34 of the work robots 20, 30 that have received the job containing the part data and the operation program execute the operation program while referring to the part data. As a result, even when the work object (part data) is changed, the operator does not need to change the operation program, so that the operator's burden can be reduced.

In addition, the management device 40 of this embodiment stores a plurality of operation programs respectively corresponding to a plurality of work contents (work data) in the storage unit 44, receives input of work data via the input reception unit 42, and stores the operation programs. An operation program corresponding to the received work data is selected from among the plurality of operation programs stored in the unit 44 to create a job. As a result, even when the work content (work data) is changed, there is no need to separately prepare an operation program, and it is possible to smoothly respond to the change of the work content.

Furthermore, the management device 40 of the present embodiment stores operation programs executable by the plurality of work robots 20 and 30, and provides data for parts (work data, part data) and data for the work robots 20 and 30. Since a job including an operation program is transmitted, a plurality of working robots 20 and 30 can be collectively managed.

Further, in the work system 10 of the present embodiment, correction parameters for correcting errors that affect the positioning accuracy of the robot arms 22 and 32 are stored in the controllers 24 and 34 of the work robots 20 and 30, respectively. Therefore, it is not necessary to change the operation program in order to cope with the individual differences of the working robots 20,30.

It goes without saying that the present invention is not limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present invention.

For example, in the above-described embodiment, the storage unit 44 stores an operation program corresponding to the work content, receives an input of part data (work data, part data, etc.), and executes a job including the part data and the operation program. is transmitted to the control devices 24, 34 of the work robots 20, 30. However, assuming that the storage units 26 and 36 of the control devices 24 and 34 store a plurality of operation programs, the management device 40 creates a job that does not include an operation program and sends it to the control devices 24 and 34 of the working robots 20 and 30. It may be sent. In this case, the job execution units 27, 37 of the control devices 24, 34 may execute the job execution process shown in FIG. When the job execution process of FIG. 14 is executed, the job execution units 27 and 37 determine whether or not a job has been received (step S600). When it is determined that the job has been received, work data is extracted from the received job (step S610). Then, the job execution units 27 and 37 select an operation program corresponding to the extracted work data from among the plurality of stored operation programs (step S620), execute the selected operation program (step S630), and execute the job. End the execution process. Even in this way, the operator can perform the operation suitable for the part (work) using the work according to the work content for the work robots 20 and 30 only by changing the data for the part (work data, part data). can be executed by In this case, the controllers 24 and 34 of the work robots 20 and 30 may store in advance correction parameters for correcting errors that affect the positioning accuracy of the robot arms 22 and 32, respectively.

Further, in the above-described embodiment, the storage units 26 and 36 store correction parameters for correcting errors that affect the positioning accuracy for each of the work robots 20 and 30 . However, the correction parameters may be stored in the storage unit 44 of the management device 40 and managed by the management device 40 . Alternatively, such correction parameters may not be stored.

In the above-described embodiment, the management device 40 creates a job for instructing the two working robots 20 and 30 to perform a predetermined work. It may be one, or three or more.

INDUSTRIAL APPLICABILITY The present invention can be used in the manufacturing industry of job creation devices, work systems, work robot manufacturing devices, and the like.

Reference Signs List 10 work system 12 supply device 13 placement member 14 transfer device 20,30 work robot 22,32 robot arm 23,33 tool 24,34 control device 25,35 job reception section 26,36 Storage unit 27, 37 job execution unit 28 imaging camera 40 management device 42 input receiving unit 44 storage unit 46 job creation unit 51 keyboard 52 mouse 54 display.

Claims (2)

a plurality of working robots each having its own controller;
A work system comprising: a management device that creates a job instructing the plurality of work robots to perform work and transmits the job to each of the control devices,
The management device includes an operation program storage unit that stores in advance a plurality of operation programs in which operation contents that can be executed by the work robot are described in a manner in which work object-related data related to the work object of the work robot can be referred to. ,
a work object-related data acquisition unit that acquires the work object-related data;
a work data acquisition unit that acquires work data by selecting one item from a plurality of items;
selecting an operation program from the plurality of stored operation programs based on the acquired work data, and combining the acquired work object-related data, the acquired work data, and the selected operation program ; a job creation unit that creates a job containing and outputs it to the working robot;
with
The work object-related data includes an outline of the work object, an image processing type of an image processing algorithm for processing an image captured by an imaging camera that captures an image of the work object, and a shutter speed of the imaging camera. included,
one item is selected from a plurality of items by a pull-down menu for each of at least the image processing type and the operation type of the operation program in the work object related data;
each of the control devices extracts an operation program from the received job and executes the extracted operation program in a corresponding working robot;
working system. The work system according to claim 1,
work data acquired by selecting one item from the plurality of items includes work content;
wherein the job creation unit selects the operation program based on the work content;
working system.

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