JPH02237784A - Multifunctional robot - Google Patents

Abstract

PURPOSE:To perform the most efficient work by a multifunctional robot by providing a comparison deciding part for controlling a preset priority according to a process information, information fed from various sensors and the work state of a multifunctional robot. CONSTITUTION:When it is judged that slippage of parts, or the like is generated, at a deciding part 8 by the information fed from an input part 7, the processing state at the time concerned from the deciding part 8, information of the work state of a robot, or the like, generated abnormal content, work content possible by the robot at the time concerned and information of a preset priority fed from a setting part 9 are compared by a comparison deciding part 11. The work of the robot after the time concerned is then programmed by itself, the program is executed, and the work content and priority are decided. Based on this decided work content and priority, the robot, or the like, are controlled by being driven by a control part 12.

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention is a robot that performs multiple tasks, and controls preset priorities based on input information from various sensors and the robot's work status. By doing so,
This invention relates to a robot 1 that performs efficient multifunctional work.

[Conventional technology]

In recent years, industrial robots, which have started operating in the corners of machine factories for transportation equipment, have increased their ``proliferation rate'' over the years, and are currently being used in an extremely wide variety of industrial fields7. Regarding the content of work and control related to the use of these industrial robots, robots that repeatedly perform a series of tasks, as typified by the teaching-playback method, are in the practical realm and are the mainstream. In other words, the work is limited to tasks that can be executed by simply controlling the work position, such as barretizing, painting, transportation, welding, and simple assembly, and the work is reproduced according to the work timing, work content, and position data taught in advance. It can be said that it is a robot that only moves, so to speak, and has only memory and no perceptive or judgmental abilities.In addition, in these types of robots, it is not often assumed that the environment will change. In other words, work is mainly performed on the premise that the object to be handled is in a fixed location environment, and as mentioned above, the work is mainly repetitive, so its use in the industrial field is relatively limited. It has no choice but to be limited to simple tasks.

Therefore, in order to expand the scope of use of industrial robots, attempts have been made to use various sensors and control the operation of the robot 1- using information from the sensors. In other words, by the sensor. This method detects the operating environment of the robot and controls the robot's operation while detecting the work content, work timing, work position, etc. of the robot 1. Sensors used in robots mainly include tactile, force, and
There are vision and hearing, and for example, vision has already reached a practical level through the combination of a television camera and an image processing device.

As for the content of visual control, the external world is controlled by a visual sensor. The process of determining the work process and issuing commands to the control system of system 11 is performed sequentially, but the information obtained by the visual sensor is
Since it is only related to posture, the control of the result is
Position control is sufficient. In other words, even if a visual function was added to the robot, the control system for the robot's movements itself could remain the same as before.

For this reason, with the spread of visual sensors using CCDs, the level of use of motion control of robots 1 that uses vision is ahead of other sensors. In addition, for power and tactile sensors, there is also a simple force control that converts only the set value related to position command based on force and tactile detection signals and controls the position according to the set value. However, while there are some tasks that can be adequately handled, the scope is quite limited. Using a force sensor In most cases, the requirement is to continuously control the force and maintain the vector quantity as a force constant or in a predetermined pattern. It is more difficult to control than simple force control, and there are many problems at the current level. As described above, the majority of robot motion control using sensors mainly uses visual sensors and sequentially controls positions etc. based on the detection signals from the visual sensors. On the other hand, from the standpoint of making robots multi-functional, although an automatic tool changer (hereinafter referred to as ATC) mechanism is used, which has a function that allows tools to be easily attached and detached from the tip of the robot, Regarding control, it is the same as the level described above, and is applied to simple tasks such as the teaching/playback method. Also, sensors (mainly visual)
The same level as described above applies to operation control of multiple tasks using sequential control.

As mentioned above, at the current stage, the technological level regarding the use of robots remains at the level mentioned above, and as for the next stage, research is actively being carried out.
There are still very few that have reached a sufficient level.

In other words, it is not considered that the working environment of the robot will change, and since the robot's work is mainly repetitive, the process of understanding the changing environment and making decisions based on it, such as work plans, is not given much importance. The majority of robots do not have the perceptual judgment ability to plan their own motion control in response to changes in the work environment. Rather, at this stage, the emphasis is on work execution efficiency and reliability.

[Problem to be solved by the invention]

For the reasons mentioned above, the target work environment changes from moment to moment, and sensors must be used to determine multiple work contents and/or work positions on their own in response to the changing work environment. It has been extremely difficult to apply conventional robots 1- to work processes in which robots are required to operate. Therefore, in such a situation, direct work using work jigs etc. by multiple skilled workers, indirect work by workers using multiple manipulators, or relatively simple work. had no choice but to introduce multiple robots like those mentioned above to configure the work process. For this reason, in such a work process, equipment and personnel costs are enormous, work efficiency is reduced, and
Workers were forced to work in the presence of manipulators and robots, which also caused safety problems.

The present invention aims to fundamentally solve the above-mentioned problems, and the target work environment changes from moment to moment, and a sensor determines a plurality of work contents according to the changing work environment. In work processes where tasks must be performed, robots are used to perform multiple tasks, depending on information from various sensors and the robot's work status. The task is to control preset priorities, plan and formulate work so that the most efficient work can be done, and perform efficient multi-functional work.

[Means to solve the problem]

Automatic tool changer machine at the tip! The above-mentioned problem has been solved in a multifunctional robot 1- consisting of a multi-jointed support arm that is equipped with an ATC mechanism (hereinafter simply referred to as an ATC mechanism) and can rotate, move up and down, and is movable, and a drive control device that drives the support arm. The present invention provides a visual sensor installed near the working area of the robot and/or at the tip of the support arm to photograph the working area of the robot 1-, and a tool tip installed close to the automatic tool changer mechanism. an input section that inputs signals from a force sensor that detects the load applied to the robot, a process detection sensor that detects the process operation status of the robot's work target; a determination unit that determines the work content of the robot and the situation in the robot work area at the time; a setting section that sets priorities; a comparison judgment section that compares the respective signals from the judgment section and the setting section and formulates and determines the highest priority or most efficient work content according to the situation; the comparison judgment section Based on the work content judgment in step 1, at least one of a tool change command signal to the automatic tool changer mechanism, a drive control signal to the support arm drive control device, and a control signal to the process.
A comprehensive judgment control device is provided, which is comprised of a control section that emits two signals.

[Effect]

FIG. 1 is an overall configuration diagram showing an example of a multifunctional robot based on the present invention.

In FIG. 1, the multifunctional robot 1 is a general-purpose robot having a horizontally articulated support arm, and is composed of a comprehensive judgment control device 1a and a robot body 1b. The robot main body 1b has a support arm l. Oa, 1
0b, 10c are connected to each other so that they can rotate and move up and down, and the support arms 10a, 10b,
Arm drive device 11100aJ that drives each of 10c
This robot main body 1b is composed of OOb and LoOe, and the arm drive devices 100a and 100b are
, 100e, the support arms 10a, 10b, 10e can be rotated or raised or lowered, and their tips can be moved to any desired position. Note that in this example, the multi-jointed support arm 10 is
Although a horizontal multi-joint type in which only c moves vertically during the vertical movement of the arm drive device 100c is adopted, any system may be used as long as the tool 5, which will be described later, can move freely within the work area. In addition, the support arm 10 and the arm drive device 100 (arm drive device!).00a,
The combination and number of (all of 100b and 100e) are appropriately determined depending on the space to which it is applied so as to achieve the most efficient operation, and are not limited to this example.

The tip of the robot body 1b (in this example, the support arm 1
A visual sensor 2, a force sensor 3, and an ATC mechanism 4, which will be described later, are installed at the tip (0e). The visual sensor 2 is for photographing the robot's work area.
It is installed, for example, on a suitable pedestal near the work area that can face the work area, or at the tip of the support arm 10e. A plurality of visual sensors 2 may be installed near the work area and at the tip of the support arm 10. The ATC mechanism 4 attaches and detaches various tools 5 based on a tool exchange command signal to be described later, and is driven by air or hydraulic pressure (not shown) to check the attachment and detachment status of the gripping part and the tools 5. It consists of a sensor section.

A plurality of tools 5 are prepared with mechanisms and structures suitable for each task, and are set on a tool stand 50-L provided near the robot main body 1b. The force sensor 3 is a tool 5 attached to the ATC mechanism 4.
This is for detecting the load applied to the tip of the support arm 10 and is usually installed between the tip of the support arm 10 and the ATC mechanism 4. As for the force sensor 3, it is effective to use a six-axis type sensor because more accurate three-dimensional force information can be obtained.

On the other hand, the operational status of 60 lines and processes (hereinafter collectively referred to as processes) that are the targets of robot work,
For example, a process detection sensor 6 that combines sensors according to detection contents such as line speed and line stoppage status.
Detected in

Now, the comprehensive judgment control device 1a has the above-mentioned visual sensor 2.
an input section 7 into which photographing information from the sensor, force information from the force sensor 3, and process detection signal from the process detection sensor 6 are input; A determining unit 8 determines the work position based on the work conditions of the process to be worked on by the robot and the situation in the robot work area. a setting unit 9 for setting the priority order of work content and work content, and a comparison judgment unit for formulating and determining the highest priority or most efficient work content according to the situation by comparing the respective signals from the judgment unit 8 and the setting unit 9. 11, and a control section 12 that issues a control signal, which will be described later, based on the work content judgment made by the comparison and judgment section 11. In the input section 7, the photographic information, force information, and process detection signal are each processed and organized by a predetermined method using an image processing device, a computing unit, etc., and the results are inputted to the judgment section 8. The work content judgment by the comparison/judgment unit l1 determined by comparing the signals from the judgment unit 8 and the setting unit 9 is input to the control unit 12. Tool 5 replacement command signal to ATC mechanism 4, arm drive device 1i! Drive control signal to l00,
Issues a control signal to the process. Depending on the operating situation, one or more of these control signals may be issued simultaneously to instruct the robot 1 to carry out the most efficient work. In this example, the control signal from the control section 12 is transmitted to the process, the robot 1, and the control device Hi.
ATC mechanism 4 and arm drive device 10 via a predetermined part of the process and the control device IC.
0 respectively.

The present invention will now be described in more detail based on an example of application to an electrical component mounting process. In this mounting process, a plurality of tools 5 are used to move a plurality of parts at a plurality of working positions, that is, one tool or one part is placed at a plurality of working positions, respectively.
It performs work such as palletizing, fitting, and bolt tightening.

First, the visual sensor 2 monitors the visual condition of the line, which changes from moment to moment, with respect to positional deviations such as positional deviations of parts, rotational deviations, variations in line stop positions, and the like. In addition, the force sensor 3 monitors force-related conditions such as pushing force and torque when the robot 1 performs fitting or bolt-tightening work, and also provides force-sensitive information for control during work. Measurements will be made. here,
Under normal conditions, the visual sensor 2, force sensor 3,
and signals from the process detection sensor 6 are input to the determination unit 8 via the input unit 7. The determining unit 8 monitors and recognizes the status of the process.

If there is no abnormality in the judgment in the judgment section 8, the setting section 9
According to the priority order of the work that has been set and inputted in advance, the content of the work is determined in the comparison/judgment section 11, and the content is input to the control section 12. As described above, the control signal from the control unit 12 is used to control the process and the control device 1.
c, a predetermined part of the process, and the control device [1c, the ATC mechanism 4 and the arm drive device 10]
0 respectively, and the robot l-] performs the most efficient work.

On the other hand, if the determination unit 8 determines based on the information from the input unit 7 that an abnormality has occurred in the positional deviation of the parts, rotational deviation, stop position deviation of the line, torque, etc., as described above, the comparison judgment unit 11, information such as the state of the process at the relevant point in time and the working state of the robot from the judgment unit 8, the content of the abnormality that has occurred, the work content that the robot can do at the time, and the pre-settings from the setting unit 9. Compare the prioritized information, plan and formulate the robot's work from that point onwards, decide the work content and order, and use the robot as described above so that the process can operate most efficiently. Controls operations such as When abnormalities occur frequently and work orders are issued continuously, including normal work, simply executing work based on the normal priority order will not improve efficiency and prevent the progress of operations. This can lead to many serious problems such as line stoppages, equipment problems, and quality deterioration. for that,
It is extremely important and effective to provide a comprehensive judgment control device 1a that can prevent the above-mentioned troubles.

〔Example〕

The present invention was applied to a continuous casting process.

FIG. 2 is an overall configuration diagram showing an example of a multifunctional robot based on the present invention applied to the above-mentioned rivet work process. In FIG. 2, 13 is a mold, 14 is a cast slab, 15 is a molten steel, 16 is a solidified shell produced by cooling the molten steel 15, 17 is a powder, and 18 is an injection nozzle. The powder 17 is mainly an unmelted powder layer 17a.
and a molten powder layer 17b. 6a to 6d are process detection sensors, and 6a is! ! 3 is a manufacturing speed detection sensor, 6b is a mold level detection sensor, 6c is a molten steel flow rate detection sensor, and 6d is a flow rate detection sensor for blowing gas into the injection nozzle 18. 660a to 60d are process 6
0 control device. 60a is a casting speed control device, 60
b is a control device for controlling the level of molten metal in the mold, and in this embodiment, a thermocouple is used. 60e is a molten steel flow rate control device, and in this embodiment, a sliding nozzle (hereinafter referred to as SN) is used. 60d is injection nozzle 1
This is a device for controlling the flow rate of gas blown into 8. Further, 20 indicates a tundish. As will be described later, the multi-functional robot in this embodiment is designed to handle the constantly changing mold surface conditions in the mold during the continuous casting process, such as insufficient powder on the surface of the mold, boiling, and overflow. , Detect abnormal situations such as slag bear occurrence, deckle occurrence, etc., plan, formulate, and determine work contents such as the most efficient work order, and perform multifunctional work using robots etc. in order to stabilize hot water level abnormalities. This is to eliminate these abnormalities.

In this embodiment, the visual sensors 2 are used to image the ever-changing scene inside the mold, which is the work target of the multifunctional robot 1, and are installed in pairs at opposite positions with the injection nozzle 18 in between. has been done. However, due to the size of the slab to be produced, if a pair of visual sensors cannot cover the entire range of the molten metal surface within the mold, two or more pairs of visual sensors may be installed. good.
The force sensor 3 is equipped with the G-axis type force sensor, and measures the load, torque, etc. applied to the tip of the tool. Then, the ATC machine a4 attaches and detaches the tools 5 such as the powder scattering device 5a, the slag bear removing device [5b, and the deckle detection device w5c, which will be described later], by the arm drive device via the robot control device 1c in accordance with the command from the comprehensive judgment control device 1a. 100 controls together. These tools 5 are set on a tool stand 50 installed near the robot main body 1b.

The robot main body 1b has a powder scattering device 5a? A horizontal multi-jointed support arm lsio (in this example In, 10a
, 10b, 10c) and the support arm A10a. ,10
Arm drive device 1 0 that drives b and 10e, respectively.
It is composed of 0a, 100b, 100e. The tool 5 supported by the tip of the support arm 10, specifically the tip of the tool, can be freely moved back and forth and moved up and down on and near the molten metal surface in the mold 13. . Incidentally, as mentioned above, in this embodiment, the support arm 1
0a, iob, and 10e are of the horizontal multi-joint type, but any type may be used as long as the tool 5 can move freely within the visiting mold 13. However, in this example, the space near the mold 13 and tundish 20 was very narrow, and it was not possible to have a large degree of freedom in the height direction, so a horizontal multi-joint type was advantageous6. 10a, 10b, 10
The combination and number of c and the drive device 100 are appropriately determined depending on the space to which it is applied so as to achieve the most efficient operation, and are not limited to this embodiment.

Reference numeral 19 denotes a powder supply device for supplying the powder 17 to the powder scattering device 5a, and is composed of valves 19a, 19b for cutting out the powder 17, a nozzle 19e for supplying the powder 17 to a predetermined position, a hopper 19d, etc. be done. 19a, 1 for cutting out powder 17
The control of the robot 9b, etc. is performed by the robot control device 1c, similar to the control of the ATC mechanism 4, etc. In this embodiment, the robot body 1b and the powder 17
The supply device 19 and the tool pedestal 50 are attached to the pedestal 20a on which the tundish 20 is mounted. The structure may be self-propelled.

Reference numeral 1a denotes a comprehensive judgment control device, which, as mentioned above, is composed of an input section 7, a judgment section 8, a setting section 9, a comparison judgment section 11, and a control section 12, and which controls the control system during casting, which changes from moment to moment. The state of the hot water inside the mold is detected based on information from visual sensors, etc., such as insufficient powder on the hot water surface, boiling/overflowing, occurrence of slag bears, and occurrence of deckling, and the most efficient work order is determined. In order to plan, formulate and decide on the contents and stabilize the hot water level abnormality,
The purpose is to have robots perform multi-functional tasks and eliminate these abnormalities.6 Next, we will explain the specific functions of the multi-functional robots described above. First, methods for detecting and preventing boiling, overflowing, and powder shortage will be explained. FIG. 3 is an image taken by the visual sensor 2 of the molten metal level in the mold during casting. 21a and 2lb correspond to images of one side of the injection nozzle 18, respectively. 22a and 22b are the mold surface portions corresponding to the respective images. 1. 3 a
is on the inner wall of the mold.

Therein, a portion of unmelted powder 17a and a portion of molten powder 17b can be seen. Here, in order to detect abnormalities such as boiling, uneven springing, and insufficient powder,
As shown in 1a1 to 21b1, the image processing device in the input unit 7 divides the images of the city records 21a and 2lb so that the molten powder layer 17b part is bright 170b and the unmelted powder layer 17a part is dark 170a. Comprehensive judgment and control device 1. In a (input unit 7-determination unit 8), boiling and uneven boiling are detected from the feature amount. And further, convert the image to 2 2a1 ” 2 2a5 .22
The area is divided into areas b1 to 22b5, and the time change and area of the bright portion in each area are calculated, and the powder shortage state and powder shortage position are detected in the same way. When boiling or uneven boiling is detected by the method described above, a command is issued from the comprehensive judgment control device 1a (judgment section 8 - comparison judgment section 11 - control section 12) in order to eliminate these phenomena. In addition to controlling the process such as the casting speed and the flow rate of molten steel, the powder 17 is spread by the powder spreading device [5a]. Further, when a powder shortage is detected, a command is issued in the same manner according to the detected shortage position to disperse the powder 17 at the corresponding position in order to eliminate the powder shortage. Here, powder dispersion is carried out by a powder dispersion device [5a, which has a square-shaped storage tank 50a that stores a set amount of powder 17, and this storage tank 50a has an open bottom. rotatable or rotatable. Based on the commands from the comprehensive judgment control device [1a and the robot control device 1c, the storage tank 50a
is moved to a predetermined location within the mold 13, and the powder 17 is spread by opening the bottom of the storage tank 50a or by rotating the storage tank 50a. Second, we will explain how to detect and prevent slag bears. The upper half of FIG. 5 is a cross-sectional view of a plane perpendicular to the mold near the meniscus during casting, showing the situation in which slag bears are generated.
This is the luminance, that is, the distribution of brightness, when the situation inside the mold is projected from the upper part of the mold. 23 is Slagbear,
The molten powder 17b is cooled by the mold, solidified again, and adhered to the inner wall 13'a of the mold, and tends to occur when the melt level fluctuates. For detection, the image processing device in the input section 7 measures the luminance distribution as shown in the lower half of FIG. and the minimum point A where the reflectance and temperature are low at the boundary between the slag bear 23 and the maximum point B where the brightness becomes brighter as the powder melting part 17b at the tip of the slag bear 23 appears and disappears due to mold vibration etc. By determining the distance, the thickness of the slag bear 23 is measured and the slag bear is detected.

Note that these peaks do not appear when slag bears 23 are not generated. Figure 6 shows the measurement positions for detecting the slag bear 23 through the above-mentioned treatment, where 24 is the entire surface of the mold, 25 is the inspection line where the above-mentioned treatment is carried out, and the central part is the injection line. Nozzle】8 should be arranged. Then, by the method described above, the slag bear 2
When the generation status and generation position of 3 are detected, in order to eliminate this phenomenon, a command is issued from the comprehensive judgment control device 1a (judgment section 8 - comparison judgment section 11 - control section 12) to determine the corresponding slag bear generation. At this position, the slag bear 23 is removed. Here, the removal of the slag bear 23 is performed by the slag bear removing device 5b, which crushes the slag bear 23 at the tip or
By resonating the slag bear 23, the mold wall 13a
It has a striking vibrator 50b equipped with a vibration imparting mechanism for peeling from the mold 13, and moves the tip end 50b to a predetermined position in the mold 13 based on commands from the comprehensive judgment control device 1a and the robot control device [1e]. The slag is removed by moving it to contact with the slag bear 23. Third, deckle detection and prevention will be explained. Decking is a phenomenon in which the surface of the molten rust 15 in the mold 13 cools and solidifies, forming a skinned state. This phenomenon is particularly likely to occur in the early stages of casting or when the casting speed is low6.
In this system, if the situation is such that the deckle is likely to occur, the control device [6a, 60
Based on information such as a, the comprehensive judgment control device fl 1 a.
(Input section 7 - Judgment section 8) issues a command for the detection, and the robot body 1b. Deckel detection device via ATC mechanism 4! Attach the ffi5e and immerse the detection rod 50c at the tip of the detection device 5e into the surface of the mold.
At that time, the load applied to the tip of the detection counter 50c and its change are measured by the force sensor 3 and the force calculation unit in the input section 7, The presence or absence is detected by the control unit 12). Fig. 7 is a diagram showing the temporal change in the load applied to the tip of the detection rod 50e when it is immersed in the surface of molten steel.
Since the reaction force of the solidified molten steel is applied to the 0c tip, the load exceeds the deckle generation standard value, which is the minimum standard value when deckle is generated, and shows a large load value. If no deckling occurs, no peaks like those shown in the figure are seen, the load value is below the deckling generation reference value, and the graph has no peaks. If the occurrence of deckle is detected, the comprehensive judgment control device 1t
lla issues a command to push the deckle downward using the detection rod 50c, thereby remelting the deckle.

Figure 8 shows the measurement positions for detecting the deckle as described above, where 26 is the inspection point where the above-mentioned detection process is performed, 24 is the entire surface of the mold inside the mold, and 18 is the injection nozzle. be.

Fourthly, regarding the operation method of the multifunctional robot 1 with respect to the work content and work position described above, the priority order set as follows in this multifunctional robot was performed in the setting unit 9. Regarding the work contents, we carried out multiple tasks such as boiling/overflow elimination, powder scattering, slag bear removal, and deckle detection. There are multiple work positions as shown in Figures 6 and 8. For this reason, when comparing the work contents and work positions, it is necessary to set priorities for the work and the work positions in advance. In this example, first,
Regarding the work contents, the order of work is set based on the degree of impact on operation, and the order is boiling/overflow elimination, detsukel detection, powder scattering, and slag bear removal.Next, for each work, each work is The work order regarding the work position etc. was set considering the characteristics of the detected phenomenon in the continuous casting process. In other words, in boiling, the volume of the blown gas that occupies the molten steel flow path increases, so the molten steel flow rate decreases relatively. Therefore, it is necessary to set the casting speed based on the flow rate of molten steel at that time. At the same time, the flow rate of molten steel is adjusted to suppress fluctuations in the molten steel level in the mold. Then, the flow rate of the blown gas is adjusted in accordance with the above-mentioned condition to eliminate boiling, and if a powder shortage condition occurs, powder is spread according to the shortage position. Next, regarding Katagawa,
The molten steel flow path is often disturbed by deposits such as Al203 deposited in the molten steel flow path, so adjust the molten steel flow rate in small increments.
If you are using a blower, try to change the condition of the deposits by operating the SN in small increments or adjust the flow rate of the blown gas to eliminate the uneven flow. At this time, the casting speed may be adjusted in order to suppress fluctuations in the molten steel level. In addition, when a powder shortage condition occurs, powder is sprinkled according to the shortage position. For deckle detection, the injection nozzle 1 in the mold 13
The flow of molten steel discharged from 8 is most likely to stagnate around the injection nozzle where it reaches the surface of the molten metal. For this purpose, for the working position 26, the priority is given to the position closer to the injection nozzle, and on both sides of the injection nozzle, the priority is given to the side where the flow of molten steel is weaker due to the characteristics of molten steel flow rate control. increased. Regarding powder dispersion, in the mold 13, powder drips most often on the corner side, so priority is given to the short side, and on both sides of the injection nozzle, due to the characteristics of molten steel flow control, the priority is given to the short side. On the contrary, priority was given to the side with a strong flow of molten steel to be discharged. Regarding slag bear removal, since it can be a cause of inhibiting powder inflow, priority was set in the same way as powder spreading for the same reason regarding powder inflow.

Fifthly, the operation control of the multifunctional robot 1 during actual operation is based on the priority order described above. multiple tasks, or
Motion commands that are viewed at a plurality of work positions may be issued in succession, and there are many cases where the motion commands are congested with respect to the action motion of the multifunctional robot 1 for the process. For this purpose, we will control the operation of the multi-function robot 1-1 in the most efficient manner and digest the operation commands in a manner that prevents serious 1-rubble and minimizes the impact on the process. An example of this idea will be explained with reference to Table 1 below.

First, the terms shown in Table 1 will be explained. N or S can be added to the injection nozzle 1, for example as seen in FIG.
The areas on each side of 8 are shown.

The command counter 1- is the number of operation commands regarding each work content and work position at a certain point in time corresponding to the abnormality in the hot water level recognized by the judgment unit 8, and the subscripts indicate the work type and the injection nozzle 18 in order. Each area (N or S) - means the working position assigned to that area.

The working time is related to the attachment/detachment and operation of the tool 5 of the multi-functional robot 1, and includes, in order, start (tool attachment and movement time), work (work time at work position N)
, movement (travel time from area N to S across the injection nozzle 18), work (work position [work time in S), communication (communication time regarding command contents between the multifunctional robot 1 and the comprehensive judgment control device 1a) ), and end (time to store the tool 5 from the working position to the tool stand 50). In addition, the subscripts indicate each type of work (P: powder spreading, d: deckle removal, b: slag bear removal), work content identification,
Each area across the injection nozzle 18 and the working position in that area are shown. In addition, regarding the identification of the work content, indicate it with the subscripts: start: s, work: w, movement: m, communication 20, end = 6. Regarding boiling, single-spring, and powder scattering, the actions for boiling and single-spring include control of the process as described above, and powder dispersion may also occur, but process control is not the action of the robot. can be executed in parallel with
Since the operation of the multifunctional robot 1 is controlled only for powder scattering, the command count and priority are different, but the working time is the same as for powder scattering. The priority level is obtained by converting the priority level set in the setting unit 9 into a numerical value as a rank for each work content and work position, and the higher the priority level, the larger the value. The subscript has the same meaning as explained in the item of command count.

Next, an example of the concept of controlling the operation of the multifunctional robot 1 during operation will be described. Basically, the multifunctional robot performs operations based on the priorities set in the setting section 9 described above, but during actual operation, as mentioned above, there are many cases where movement commands are jammed. do. At this time, the operation is controlled as follows. First, the items in Table 1, namely, work type, command count, operation time (start, work N side, movement, work S
side, communication, termination), and priorities are collectively referred to as n, Cni,
tsj. , twni, tmi, tw+sj. ,tci,
Represented by tej and pni. Here, the subscripts are the same as those in Table 1 above. 6 For each work content and work position, the allowable time t ani for taking action from recognition of the occurrence of an abnormality varies depending on the process situation. determined. During operation, the comparison/judgment section 11 determines the work within a range that satisfies the following formulas (1) and (2).

t si+ t wni+ t ei( t ani
・・・・■tsi+tensi+tei<:
t anj...■'In addition, the comparison judgment section 11
In this case, command count is occurring (eni:>
O) Regarding each work content and work position, the work urgency level Eni expressed by the following formulas 1 and 2' is constantly monitored. The smaller Eni is, the higher the degree of urgency is.

Eni=(t si+ twni+ t ii+ te
i+ tei)/ (eniX pni) =■Eni
=(tsi+ tvsi+ tmj-+ tej+ t
ej)/(cniX pni) =■'On the other hand, for each work content and work position where all command counts occur, the combination of all work paths when performing work Cni (t si, t uni, t mi,
t vsi, t ei, t ei) and calculate the working time Ctnj required for each combination.

Ctni is expressed as shown in the following formula.

Ctni:=Cni(Σ(tsi, twnj., t
mi, twsi. , tei, tei))"■Next, the work time Ctnj required for each combination Cni is multiplied by the work urgency Eni corresponding to the work position and work content of the first work, and the following The work priority index Pnj is determined as shown in the formula and constantly monitored.

Pni=CtniXEni ・ ・
・ ・ ■ Comparing all the work priority indices Pni obtained in this way, a combination Cnj is found in which the work content and work position with the smallest work urgency Eni are within at least about 1/3 of the work time. , and for each combination Cni, select a work route C having a work time Ctni with the smallest work priority index Pnj.
A work sequence is planned and formulated using ni as the priority work route at the time of comparison and judgment, and a control command is issued to the control unit 12. This process is performed for each communication regarding the contents of a command between the multifunctional robot 1 and the integrated judgment control device i11a. however,
This does not apply when the actions in a certain state are uniquely determined depending on the characteristics of the process, etc. As in 7 above, there are multiple action planning items such as the urgency of a certain work process and the robot's operating time. The motion of the multifunctional robot 1 is controlled based on the following. It should be noted that the operation control processing described above is an example in which it is applied to a pouring work process of continuous casting as an example and tuned accordingly, and the processing method is not limited to this embodiment.

As described in detail above, the multi-functional robot in this embodiment is intended for use in a work environment where the level of hot water inside a mold changes from time to time, and the robot detects the changing work environment by detecting the situation using sensors, etc. In a work process where multiple work contents must be judged and performed according to the situation, a robot that performs multiple tasks is used to analyze input process information, information from various sensors, and the robot's work. By controlling preset priorities according to the situation, it becomes possible to carry out efficient multifunctional work. It should be noted that each of the classifications in the integrated judgment control system [la] shown above is simply a functional classification for convenience, so each of them is not necessarily independent and/or They do not need to be integrated, and it is sufficient to determine the optimum system configuration for each according to the characteristics of the process to be applied. In addition, the continuous casting casting work process of this embodiment is a work place where molten steel is directly handled, and due to the radiant heat of the injection nozzle 18, etc., the temperature is extremely high, reaching about 80 to 90 °C at the high temperature part, and it is environmentally friendly. However, since it has many dust sources such as powder and burnt rice, it is environmentally extremely dusty. For this reason, we have taken heat-insulating measures and measures to ensure stable operation of the robot even in high-temperature and dusty environments.
Measures against dust have been taken. For example, we have taken the following measures.

■Visual sensor 2 installed directly above the scene is placed in a box with heat-insulating glass on the hot water side, and cooling air is flowed inside.
A structure that blows out the air to the hot water side to prevent dust from adhering to the glass surface.

■The front surface of the tool stand 50 has an air curtain structure, in particular, a structure in which air is blown to the attachment/detachment portion of the tool 5 to the ATC mechanism 4 to prevent dust from adhering to it.

■The detachable part of the ATC mechanism 4 has a structure that allows air purging when attaching and detaching the tool 5. ■Support arm 10
Dust-proof structure that blows air from the inside or uses magnetic fluid.

■Cooling the arm drive device 100 by blowing air,
Measures are being taken.

With these measures, even during long hours of operation at the spinning work site, it is extremely stable and exhibits the specified functions.Using the multifunctional robot 1 described above, l. 000mm. The casting speed is 1.
As a result of operating under casting conditions of 6 m/min, the work of multi-functional robot 1.1 was not extremely congested and had a major impact on operation, and was stable with no operator intervention. Operation was possible. Furthermore, regarding the quality of the fi3 crushed slab, very good results were obtained with no surface defects occurring at all.

〔Effect of the invention〕

As described in detail below, by providing the present invention, the hot water level inside the mold, which is an object in which the working environment changes from moment to moment, can be measured using sensors, etc., in a plurality of ways according to the changing working environment. In a work process that requires determining the work content and performing the work, a multi-function robot that performs multiple tasks is used to input process information, information from various sensors, and the work status of the multi-function robot. By controlling and shifting the preset priorities, it has become possible to create a multifunctional robot that can perform the most efficient work.

[Brief Description of the Drawings] Figure 1 is a block diagram showing the overall configuration of the present invention, Figure 2 is a block diagram showing the overall configuration of an embodiment of the present invention, and Figure 3 is a camera installed above the mold. Fig. 4 is a plan view showing an example of binarizing the image in Fig. 3 and dividing the screen, Fig. 5 is a front view showing the measurement principle of the slag bear, Fig. 6 is a mold Fig. 7 is a graph showing an example of load detection by the force sensor when the detection rod is immersed in the hot water surface; Fig. 8 is a diagram showing the deckle detection inside the mold. FIG. 3 is a plan view showing a measurement and work place. 1: Multifunctional robot 1a: Comprehensive judgment control device 1b Two robot bodies 1c: Arm drive device 10, 10a,
10b, 10c: Support frame 100, 100a, 1
00b, 100e: Arm drive device 2: Visual sensor
3: Force sensor 4: ATC mechanism
5: Tool 5a: Tool (powder spreading device) 5b: Tool (slag bear removal device) 5C: Tool (deckel detection device) 5d: Tool 50: Tool mount 50a: Storage tank 50b = Impact vibrator 50c: Detection support
6: Process detection signal 6a: Casting speed detection sensor 6b = Molten steel level detection sensor 6c: Molten steel flow rate detection sensor 6d: Blowing gas flow rate detection sensor 60: Process 60a: Casting speed control device 6
0b = Molten steel scene level control device 60c: Molten steel flow rate control device 60d: Blowing gas flow rate control device 7: Input section 8: Judgment section 9: Setting section 11: Comparison judgment section 12: Control section 13: Mold 14: Slab
15: Molten steel 16: Solidified shell 17: Powder 17a: Unfused powder 17b: Molten powder 1
70a: One portion of binarized unmelted powder 170b: One portion of binarized molten powder 18: Injection nozzle
19: Powder supply device 19a, 19b: Valve
19c: Nozzle 19d: Hopper 20=
Tundish 20a: Frame 21a, 21b
: Photographed image (one side) 21a 1 . 21b 1:
Binarized images (one side) 22a1 to 22a5 . 22b1
~22b5: Divided area 23: Slag Bear
24: Entire area of the mold surface 25: Slag bear inspection line position 2G = Deckle detection position c A: Minimum brightness point B: Maximum brightness point 3rd figure, 4th figure

Claims (1)

[Claims] An articulated support arm with an automatic tool changer mechanism at the tip that can rotate, raise and lower, and move freely.
A multifunctional robot comprising a drive control device for driving the support arm, a visual sensor installed near the work area and/or at the tip of the support arm to photograph the work area of the robot, and a visual sensor installed near the automatic tool changer mechanism. an input unit that inputs signals from a force sensor that detects the load applied to the tip of the installed tool, a process detection sensor that detects the process operation status of the robot work target, etc.; and inputs the input signal into a preset method; a determining unit that processes the work based on the robot and determines the work content of the robot and the situation in the robot work area at the time; based on the work conditions of the process to be worked by the robot and the situation in the robot work area in advance; a setting section that sets priorities for work positions and work contents; and a comparison judgment section that compares the respective signals from the judgment section and the setting section and formulates and determines the highest priority or most efficient work contents according to the situation. and; control for issuing at least one of a tool exchange command signal to the automatic tool changer mechanism, a drive control signal to the support arm drive control device, and a control signal to the process based on the work content judgment in the comparison judgment section. A multifunctional robot characterized by having a comprehensive judgment control device consisting of a section and a comprehensive judgment control device.