JPH0492902A - Controller for automatic assembly device - Google Patents

Abstract

PURPOSE:To provide a single interpolation program and a single execution means by separately providing a robot operation procedure program controlling a robot and an operation procedure program controlling a supply part supplying work to the robot. CONSTITUTION:CPU 102, RAM 104 storing a series of teaching points which store a series of the operation programs storing a series of operation programs in which the sequence of the operation of respective parts is described and an operation position and ROM 103 storing programs interpolating and editing the operation program and editing a teaching point are provided for a main control part 101. Only one mode program is prepared for respective processing programs 131-136 executing plural operation programs. A multi-task OS 130 causes the processing program to process the necessary operating program and issues an instruction to respective control parts of respective parts controlling the constituent units of the robots or a parts supply device.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to an automatic assembly control device that controls an automatic assembly device that includes a robot or the like and an article supply device that supplies a predetermined assembly work to the robot. .

[Prior Art] Conventionally, a control device for an automatic assembly apparatus having such a configuration required a separate control device for each of the robot and the supply section in order to cause them to perform independent operations.

[Problems to be Solved by the Invention] In such conventional examples, each control device individually
RA for storing operation programs and teaching points
M, ROM that stores the processing program and instruction interpreter (
or RAM), and a CPU for executing the processing program.

Therefore, a CPU, RAM, and ROM are required for each control device, which is a cause of high costs.

Moreover, for this reason, there is no flexibility when upgrading or changing the system.

The present invention was proposed in order to solve the problems of the prior art, and its purpose is to provide a robot operation procedure program for controlling a robot and an operation procedure program for controlling a supply unit that supplies workpieces to the robot. The present invention proposes a control device that integrates an interpretation program for interpreting these operating procedure programs and a means for executing them, although these are provided separately.

[Means and operations for solving the problems] The structure of the present invention for achieving the above problems is an automatic assembly system comprising a robot that performs assembly work and an article supply section that supplies the robot with workpieces required by the robot. A control device for controlling the device, comprising: a first storage means for storing operation procedure programs describing the operation procedures of each of the robot and the article supply section; and a first storage means for storing respective operation procedure programs for each of the operation procedure programs; a second storage means for storing a data portion; and one interpretation program for interpreting the respective programs for the robot and article supply section, and this interpretation program uses the data portion for each of the operation procedure programs. Accordingly, the present invention is characterized by comprising an execution means for executing these operating procedure programs in a reentrant manner.

By making the interpretation program reentrant, the interpretation program and execution means can be unified.

DESCRIPTION OF THE PREFERRED EMBODIMENTS [Embodiments] Hereinafter, referring to the accompanying drawings, a control device of the present invention will be described based on an embodiment in which the control device of the present invention is applied to an automatic assembly device consisting of a robot, a stocker, an elevator, and a buffer device.

<Outline of automatic assembly apparatus> FIG. 1 is a panoramic view of the automatic assembly apparatus of this embodiment. Broadly speaking, this device can be divided into an assembly robot 1 having fingers 8 at its tip for gripping a workpiece, a stocker part 13 for threading the workpieces onto the robot 1, and a pallet exchanger in the stocker 13. Elevator section 14;
It is comprised of a buffer section 16 that receives pallets from the outside, partially stores them, and supplies predetermined pallets to the elevator 14.

In this embodiment, the robot 1 is, for example, an orthogonal type having four degrees of freedom, and has an X-axis base 2 fixed to a pedestal 18 of the apparatus by a robot support 19. Y-axis frame 2
4 is a robot X that can be positioned along the X-axis base 2.
It is movable by the shaft moke 3. 25 is z-8
The robot can be moved to a predetermined position along a Y-axis frame 24 by a robot Y-axis motor 4. The X-axis direction and the Y-axis direction are orthogonal to each other. 2-8 part 5
has a Z-S guide 26 (Fig. 2), and a Z-axis motor 6
The robot can be moved up and down by the robot S-axis motor 7 and can be rotated about the Z-axis as the central axis.

The fingers 8 can grip a workpiece and can be automatically attached and detached. The finger 8 mounted on the robot can be automatically replaced with another finger held on the finger rack 9. The robot 1 grasps a predetermined workpiece from a pallet 10 that stores the workpieces that have been pulled out to the drawer section 12, moves onto the assembly jig 11, and controls the control device 100 so that the robot 1 can perform assembly work.
controlled by

The stocker 13 stores a plurality of pallets in a separated state. The entire main body of the stocker 13 is moved up and down by a motor (not shown) and is stopped at a predetermined position. At the stopped position, the pallet is pulled out to the position of the drawer section 12. When the robot 1 rises a little while grasping the workpiece in the pallet, the pallet is returned to the shelf of the stocker 13. The entire stocker then moves up and down so that the next robot can feed it with the pallet it needs. Thus, the stocker is able to prepare the next pallet needed by the robot for replacement while the robot is performing the assembly operation. Furthermore, since the stocker moves in the vertical direction, it is possible to randomly supply the necessary workpieces on the pallets in the stocker to the robot.

In the elevator section, an elevator 14 can be moved up and down by an elevator motor 15. The elevator 14 includes a means for pulling in a pallet from the buffer section 16, a pallet pushing means for pushing the pallet into a predetermined shelf position in the stocker 13, and a means for pulling out the pallet from which the workpieces in the stocker 13 are empty and moving it to the elevator 14.
and an empty pallet drawer means for holding the empty pallet. Further, the elevator 14 is capable of holding pallets in two stages, upper and lower. As a result, the operation of pulling out and holding a predetermined pallet from the buffer section 16, pulling out an empty pallet to be replaced in the stocker 13, and then pushing the held pallet into the pulled out position is performed by the drawer section 16.
In step 2, the pallet is pulled out, the robot picks up the workpiece, and the pallet is pushed back into the stocker again, all in parallel.

The elevator 14 starts pulling a pallet from the buffer section 16 when the number of works remaining on the pallet in the stocker 13 reaches 1. By performing such preparatory operations before the remaining number reaches O'', the assembly operation of the robot will not be delayed.
It is possible to exchange an empty pallet with a new one full of workpieces.

The buffer section 16 receives a plurality of pallets filled with workpieces from the outside and temporarily stores them in a stacked state (non-separated state). Then, select any palette as 2
The two separating claws of 1.22 and the buffer table 26 which can be raised and lowered make it possible to separate the parts.

In this way, this automatic assembly device can be broadly classified into four components: the robot section and the stocker section.

It is essential that the elevator section and the buffer section mediate with each other and operate independently without delaying the assembly operation of the robot, and the control device 100 controls the above-mentioned operations.

In FIG. 1 and FIG. 2, 110 inputs various data, programs, commands, etc. for this automatic assembly device;
Alternatively, it is a personal computer for outputting various information from the device.

In the present invention, the four parts, the robot, the stocker, the elevator, and the buffer, which actually operate independently, are referred to as controlled parts for convenience.

FIG. 2 is a diagram showing the movement of pallets within the automatic assembly device. A pallet P is pulled out in the drawer part 12,
Further, in the buffer section 16, the pallet Pa is separated by two separating claws. P,', P,' shows a state in which empty pallets are pulled out from inside the stocker 13 by an elevator and stacked in the discharge section 17.

27 is an unmanned vehicle, and your pallet PL, P2. is placed on the upper stage of the unmanned vehicle. P3. P4 is shown being pushed into the buffer table by conveyor 29, and PL'
P2'P3'P4' shows empty pallets being transferred to the lower stage of the unmanned vehicle.

<Configuration of Control Device> The configuration of the control device 100 of the automatic assembly apparatus shown in FIGS. 1 and 2 will be explained with reference to FIG.

In FIG. 3, the control device 100 includes a main control section 101 and three servo motor control sections 20OA.

200B, 200C, an I10 control unit 250 that controls people-receiving devices such as sensors and solenoids, and a shared memory 121.
01. The servo control section 200 and the shared RAM 121 are connected by a shared bus 120.

The main control unit 101 includes one CPU 102, a RAM 104 that stores a series of operation programs that describe the sequence of operations of each controlled unit and a series of teaching points that store operation positions, and a RAM 104 that stores a series of teaching points that store operation positions of each controlled unit, and a RAM 104 that stores a series of operation programs that describe the sequence of operations of each controlled unit and a series of teaching points that store operation positions. A ROM 103 stores programs for editing and teaching points, and a timer 10.
a communication unit (serial l10) 106 that exchanges data and commands between the computer 110 and the teaching device 111; a communication unit 107 that exchanges data and commands with the teaching device 111; I/F108.

The RAM 104 stores operation programs and teaching points for each controlled unit such as the stocker mentioned above.

is stored and is backed up by a battery.

The servo motor control units 20OA and 200B are parts that control a plurality of servo motors, and in this embodiment, they are configured to be able to control the positioning of a maximum of 47 servo motors, and one It is now possible to control ~4 new servo motors. In Figure 3,
In these servo motor control units, E means an encoder and M means a servo motor.

The I10 control unit 250 can be connected to output elements such as a solenoid valve (indicated by ■ in the figure) and input elements such as a sensor (indicated by S), and controls them. of course,
Ilo operation commands and motor operation commands are issued by the main control unit 10.
It can be written in the operation program (RAM 104) of 0, and it is possible to operate it as necessary and to input sensor information manually. In addition, the main control section 100, the servo motor control sections 20OA, 200B, and the I10 control section 250 use the standard multipath 120, and
It is composed of a single board with a multipath interface, and it goes without saying that the number of control units can be increased or decreased, and it is also possible to quickly replace it in the event of a failure.

Further, as shown in FIG. 3, each of the four controlled parts, the robot part, part of the stocker, and the buffer part of the elevator part 7, is the servo motor control part.

It does not directly correspond to the I10 control unit. For example, in this embodiment, the servo motor control unit B includes two motors for a part of the stocker and one motor for an elevator part.
Controls one motor for the buffer section.

Program configuration in the main control unit> FIG. 4 shows the program configuration in the main control unit 101 in FIG.
It is a block diagram of the program stored in AM104. In other words, RAM 104 and ROM 103 form a continuous memory space.

In FIG. 4, the RAM 104 stores operating programs and teaching points for the robot unit that performs the assembly operation of the automatic assembly device and the parts supply device that supplies the robot with workpieces stored in a pallet. ing. Since the above-mentioned parts supply device is composed of each section of a stocker, an elevator, and a buffer, the operation program also describes the sequence of each operation. These operation programs are the robot operation program 14.
0a, stocker operation program 140b, elevator operation program 1400. Buffer operation program 14
It is 0d. In addition to these operation programs, the RAM 104 also stores teaching points 141a, 141b, 141c, and 141d corresponding to each operation program. The above operating program and teaching points are stored in the input/output device 110 (or teaching device 1
11), it can be changed, for example, as the operation changes.

One unit of the above operation program consists of a number indicating the order, a symbol indicating the content of the instruction related to the operation, and parameters as necessary.One operation is expressed by the above instruction group and stored in the RAM 104. It is possible.

<Reentrant Control> The control device of this embodiment has six program modes as shown in FIG. 4.

The auto mode 131 is a program that manages execution and termination of the operation program. In the auto mode, the instruction interpreter 131a interprets the operation program and performs internal processing if the instruction describing the operation is an internal function. If so, the operation command is output to the control unit.

The program mode 132 is a program for editing the operation program and storing it in the operation program storage areas 140a to 140d.

The teaching mode 133 is a program that teaches teaching points for moving a servo motor of a controlled unit such as a stocker. Data mode 134 is a program for inputting and changing the points. Out mode 135 is a program that operates the output of the I10 control section. Inmode 136 is a program that monitors input to the I10 control unit.

The six mode programs 131 to 136 and the multitasking OS program 130 are stored in the ROM 103 in FIG.
stored within. In this control device, individual operation programs 1408 to 140d for the robot section, part of the stocker, the elevator section, and the buffer section are executed in parallel while being arbitrated with each other using teaching points 141a to 141d. , the robot performs an assembly operation, and the parts supply device performs a preparation operation for parts to be assembled to the robot. However, it must be noted here that, as shown in Figure 3, only one processing program is prepared for each of the mode programs 131 to 136, which processes multiple operation programs. be. The multitask 08130 causes the processing program to process the necessary operation program and issues commands to the control units of each unit that controls the component devices of the robot or the parts supply device.

Programs (131, 131a, 132 to 136) and CP for processing instructions in the main control unit 101
One U is provided for each. The multitasking OS processes operation commands for a plurality of controlled units. Compared to the short processing time of the CPU, the operation of each controlled unit is sufficiently long, so it appears that multiple control devices are processing instructions for multiple controlled units. It is possible to control the operation without changing.

Here, a task means that the main control unit 101 executes a series of processing programs (131 to 136) for one controlled unit. In this embodiment, control of the robot part which is the assembly means, the stocker part which is the article supply means, the elevator part, and the controlled parts of the buffer part is performed by one CPU 102, such as the robot task and the stocker task. , elevator tasks, are processed as buffer axfs. Moreover, by executing the above series of processing programs by switching between tasks, each task operates independently, as if multiple CPUs were processing control for the controlled unit in parallel. It looks like it is.

FIG. 5 is a structural diagram of a multitasking OS. The functions of the programs in the multitasking OS will be explained along the diagram.

The OS 130 includes a task registration program 153, a communication handler 154, a task exchange program 155, a task scheduling program 151, a task switching program 152, and the like.

The task registration 153 is the servo control unit 20OA.

Prior to execution of the mode processing programs 131 to 136 (FIG. 4) for the 200B and I10 control unit 250,
The following registration process is performed. That is, the registration program includes the operation program (140a,
140b, 140c, 140d) on the RAM 104, and also specifies the storage area 141a, 14lb, of the teaching point which is the movement target position of each controlled part.
The reference address on the RAM 104 of 141c and 141d is specified. In addition, the registration program
Operation commands for each controlled section and reference addresses of areas (FIG. 6) for storing target positions and current positions are specified. The number of tasks is also registered using this task registration program.

By registering such a task, that is, by registering the task program to be registered and the data area essential for its processing, each task program can be registered in the mode processing program duram (131 to 136 in FIG. 4). ) will have a continuous address space. That is, the task program currently being executed can be written in relative address notation with respect to the mode processing program. Therefore, by rewriting and using each of the reference addresses when switching between task executions, there is no need to prepare a mode processing program for each task.
Reentrant processing becomes possible.

The communication handler 154 receives commands sent from the personal computer 110 (or the teaching device 11) via the communication section 106 or 107. This communication handler 1
54, first, the task assignment command sent from the communication unit 106 or 107 specifies which task is to be controlled. A command storage area is prepared for each task in a predetermined data area of the communication handler 154. After a specific task is specified as a control target by a command, the communication handler 154 handles the command sent from the communication unit 106 or 107 for the task specified by the command. The command is stored in the command storage area, and then task scheduling 151 processing is performed.

The communication unit 10 notifies commands for the above-mentioned tasks.
6 or 107, task assignment is repeated until a change command is sent.

The task exchange program 155 allows robot, stocker, elevator, and buffer tasks to be exchanged by the command interpreter 13.
1a, operation programs 141a, 141b, 141
This is a program that is called every time one line of c and 141d is executed, and is a program that interrupts execution of the instruction interpretation of the operation program of the currently executing task and starts execution of instruction interpretation of another task. .

The task switching program 152 is a program that, after the communication handler task 154 finishes executing a series of processing programs for commands stored, executes processing programs for other tasks until the next command is newly stored. .

The task scheduling program 151 includes the task exchange program 155 or the communication handler 154.
is a program called by , and when exchanging tasks,
Alternatively, it is a program that registers a task to be executed in an execution queue based on a command notification from the communication handler 154. When exchanging tasks or switching tasks, the CPU switches tasks according to the order of the execution queue, and sends processing programs 131, 132, 133, 134, 135, 1 to commands for each task.
36 and the instruction interpreter 131a are executed.

FIG. 6 shows a memo of the shared RAM 121 that stores operation commands sent to each servo control section 200. In the shared RAM 1.21, separate areas 170a, 170b, 170c, and 170d are set for each control unit, and these areas are also segmented like the operating programs of the RAM 104. Each segment is designated by a reference address.

In the figure, a motion command area 171a is an area for storing motion commands such as movement commands for the control unit of the robot. The target position area 172a is an area for storing a target value for the movement of the robot from the main control unit, and the current position area 173a is an area for storing the current position of the robot returned from the robot control unit.

The stocker communication area 170b, the elevator communication area 170c, and the buffer communication area 170d are set in the same way.

The reference address for each area of this shared RAM 121 is also designated by the task registration program 153, similar to the aforementioned operating program (FIG. 4). In the execution of the command processing unit of each task (each mode program in FIG. 4), the operation command areas 171a, 171b, 171c, 1
7Ld and target position areas 172a, 172b, 172c,
172d and current position areas 173a, 173b, 173c
, 173d are designated by relative addresses from the reference address designated by the task registration program 153.

Mmu no Ω11 FIG. 7 is a flowchart of the initialization program of the present invention, and this program is started by starting the present control device. First, in step S30,
A task registration program 153 runs to register robot tasks.

By running this program, an operation program storage area 140a for the robot control unit 200A and a teaching point storage area 141a which is target position data are created based on the area data for each task inputted in advance. Shared RAM for robot control unit communication
The reference address of the communication area 170a of 121 and the working area for executing the robot's processing program is specified.

In step S31, the task scheduling program 151 is used to schedule robot tasks.
Register the robot task in the task queue by calling . In step S32, a stocker task is registered similarly to the robot task, and in step S33, the stocker task is scheduled. Similarly, in step S34, elevator tasks are registered, in step S35, elevator tasks are scheduled, in step S36, buffer tasks are registered, and in step S37, buffer tasks are scheduled.

Step S37 terminates the initialization program by calling the task switching program 152 by the initialization program, and processes the robot task, stocker task, elevator task, and buffer task that have registered the tasks in the queue. It starts the execution of programs sequentially. However, since the command to the task has not yet come from the personal computer 110,
Each task enters a command waiting state, and the CPU 102 waits for a command.
executes an infinite loop.

Processing of the task suspended while waiting for the command is restarted by the communication handler 154, which is activated by an interrupt when a command is input from the personal computer 110 via the communication units 106, 107. After determining which task the manually inputted command is directed to, the communication handler 154 schedules the specified task. Furthermore, if the CPU 102 is executing an infinite loop, it starts executing the command processing program of the task.

FIG. 8 is a flowchart of the interpretation and execution of the program when a movement command, which is one of the operation programs, is taken as an example, in order to show an example of the operation in the command interpretation section 131a of the auto mode program 131. .

First, in step S1, when the execution key of the instruction interpreter is operated by a key of the personal computer 110, an execution command of the instruction interpreter is sent from the personal computer 110 in step S2.

Upon receiving this execution command, the main control unit 101 executes the communication handler 154 by an interrupt in step SIO.
is executed. Handler 154 stores this execution command in the command storage area of the task to which the command is directed. The specified task is then registered in the queue by the task scheduling program 151 (FIG. 5). This ends the interrupt processing in the main control unit 101.

The CPU 102 switches tasks according to the order of the queues in the queue and executes processing programs for each control unit. The trigger for switching tasks is
A task exchange system call issued by another task (this starts the exchange program 155), or
This is a system call for switching generated by the system (by which the switching program 152 is started).

When the currently executing task is stopped due to the task replacement or task switching, the next task is started according to the order of the queue.

That is, the CPU 102 starts processing for that task from step Sll. That is, in step Sll, by interpreting the command stored in the command storage area for the activated task, if the command instructs the activation of the instruction interpretation unit 131a, the instruction interpretation unit 131a Start processing.

Step S12. S13. S14. S15. S'16,
S17. S18 is a program of the instruction interpreter 131a. That is, in step S12, only - lines of the task operation program (any one of 140a, 140b, 140c, and 140d in FIG. 4) specified by the task registration program 153 are interpreted.

For example, if one line of this operation program is a movement command for the robot, in step S13, the movement destination position is retrieved from the teaching point area (141a in FIG. 4) for the robot task and stored in the shared RAM.
121 in the target position area (172a in FIG. 6) for the robot task. These teaching point areas and target position areas are determined by the task registration program 153 at the time of robot task registration (step 530).
) as specified.

After storing the target position in the shared RAM 121, in step S14, the movement command is stored in the shared RAM 12.
Operation command area for robot task 1 (171 in Figure 6)
a), the robot control unit 20OA
command to move to.

In step S15, the task exchange program 15
5, the tasks are exchanged. This is because the operating time of the controlled unit during boat fishing is longer than that of the CPU processing, so a processing program for another task (for example, a stocker task) is executed. By exchanging tasks, the robot task that was being executed until then is registered at the end of the task queue. Then, the CPU 102 executes the processing program for the next task registered in this queue to be executed. That is, in step S16,
It is checked whether the next task is an executable task, and if it is executable, it is confirmed in step S18 that no end command has been received from the personal computer 110, and then
Steps S12 to S15 are repeated. here,
A task that can be completed includes, for example, a task whose execution has been canceled by the personal computer 110, or a task for which no completion report has been received from the personal computer 110.

In step S16, if there is no executable task,
Proceeding to step S17, it is checked whether there is any task whose operation command area has been cleared. As described later, the main control unit 10
When each control unit executes and completes the command issued by Step 1 in step S14, that control unit clears the command in the operation command area.
Confirming that the area has been cleared in step S17 means confirming that the command operation has ended.

The explanation of the flowchart in FIG. 8 will be continued using the movement command to the robot as an example again.

In step S20, the robot control unit reads a command for the controlled part of the robot from the operation command area (171a) of the shared RAM 1210 corresponding to the robot, and if the command exists, extracts and interprets the command in step S21. do. If this command is a movement command, in step S22, the target position is retrieved from the target position area (172a) corresponding to the robot in the shared RAM 121, and the robot control unit controls the movement.

That is, the arm is moved, etc.

When the movement of the controlled part such as the arm is completed, the robot control unit clears the operation command in the movement command area (171a) of the shared RAM 121 in step S23.

The main control unit 100 uses RAM 1 shared by the robot control unit.
If it is determined in step S17 that the motion command area (171a) corresponding to robot No. 21 has been cleared, the processing is repeated from the next motion program interpretation.

This operation continues until the command interpretation end command (END) is interpreted.

If the operation program interpreted in step 318 is finished, the communication unit 106 sends a termination command from the command interpretation unit 131a to the personal computer 110 via the communication handler 154 in step S19.

In step S3, the personal computer 110 receives the termination command sent from the main control unit 100, and
The end of execution of the command interpreter of the main control unit 100 is recognized.

In addition, in the execution of the instruction interpreter 131a, the operating program is generally an internal instruction with a fast processing speed (GOTO, etc.).
Even if −
Each operation program 140, 140b in FIG. 4 exchanges tasks each time a row of operation programs are executed.

140c and 140d are stored in areas divided according to a series of operation patterns, and each area is managed by a program number. The non-control unit operates by continuously executing the programs in the area, or only by using the programs in the area.

A plurality of work patterns can be realized by having a plurality of orders of programs within an area or programs of an area to be executed continuously.

FIG. 9 of the tasks according to the program is a flowchart for activating the stocker task from the robot task as an example of the operation in the embodiment.

The command to start the stocker task operation program is written as 5TART 2.1 in the robot operation program 140a, the first argument indicates a specific task, and the second argument indicates the specified task. Indicates the number of the task's operating program. In this example, the first argument is "1" for the robot and "°2" for the stocker.
, the elevator is specified as "3", and the buffer is specified as "4".

According to the robot task, the command interpreter 131a
When the command of 5TART2.1 is interpreted, step S4
1 determines the first argument.

Since the first argument is "2°°," as explained in relation to the communication handler in Figure 5, the program number specified by the second argument is stored in the command storage area for the stocker. A command instructing the change is stored.This storage is performed by the communication handler 154 on the personal computer 110.
Or, it is an operation similar to the operation performed when data is sent from the teaching device.

After writing the command to the command storage area, the task scheduling program 151 registers the stocker task in the queue. In step S43, the instruction interpretation execution command is stored in the command storage area.

This command storage area has a structure in which a plurality of commands can be stored so as not to overwrite commands, and in the above example, a program change command and an execution command of the instruction interpreter are stored as commands for the stocker.

In step S44, the robot task executes the task exchange program 155 by completing the command interpretation of one line of its operation program, and the CPU 102 proceeds to execute the processing program of the stocker task.

In step S51, the stocker task retrieves the first command, a program number change command, from the command storage area, and changes the stocker operation program to "1" according to the program number specified by the 5TART2.1 command. change.

In step S52, the next command, an execution command for the instruction interpreter 131a, is retrieved from the command storage area, and the instruction interpreter 131a starts executing according to the command.

Thereafter, the robot task and the stocker task repeatedly execute the task exchange program 155 every time they interpret one line of each operation program, and execute the command interpreter.

1. The operation of the bot control section 200B will be described below with reference to FIG. However, in FIG. 10, the X-axis motor 3 of FIG. 1 is used as the controlled part.

The CPU 201 reads a program stored in the ROM 204 and operates according to the program. Data necessary at this time is stored in the RAM 205. timer 2
06 gives an interrupt signal to the CPU 201 at regular intervals. D/A converter 203 generates analog signals based on commands from CPU 201. The analog signal generated here is given to motor driver 209. The motor driver 209 rotates the X-axis motor 3 according to this applied analog signal.

When the motor rotates, an encoder attached to the motor 3 generates a pulse signal. The pulse signals generated here are counted by a counter 208. The CPU 201 can know the position of the motor 3 by reading the value of this counter. A limit switch interface (SWI/F) 207 converts the information of the limit SW 210 into a signal level that can be handled by the CPU 201.

The multipath I/F 202 exchanges data with the main control unit 101.

The operation of the robot control section will be explained using the flowchart shown in FIG. First, in step S201, the RAM 205 and timer 206 are initialized. Then step 520
In step 2, it is checked whether there is a command from the main control unit 101. If there is no command, wait until a command arrives. If a command is input here, the process advances to step 5203, and the process is sequentially executed up to step 5208. If there is a corresponding command, steps 3210 to 52 are executed.
14 processes are executed. If there is no corresponding command, processing for the invalid command is performed in step 5209. When the processing instructed by the command is completed, an ACK signal is given to the main control unit 101 in step 5215. Then, the process moves to step 5202 to wait for a command.

The parameter set processing in step 5210 will be explained. Here, parameters that need to be changed for each motor of the device are received from the main control unit 101 and are sent to the RA.
Set it to M205.

The servo lock processing in step 5211 will be explained with reference to FIG. At step 5220, counter 2
The current position of the motor 3 is read from 08. Step 52
At step 21, the read counter value is set at the target position (172a in FIG. 6). In step 5222, a servo ON command is given to the motor driver 209. The reason why steps 5220 to 221 are performed here is to prevent the motor 3 from returning to its original position when it is being moved in the servo-free state.

The servo free processing in step 5212 will be explained. Here, a servo OFF command is given to the motor driver 209.

The MOV processing in step 5213 will be explained with reference to the flowchart in FIG. At step 5230,
Target position data is read from the shared RAM 121 through the multipath I/F 202 and set in the RAM 205. In step 5213, the moving speed data is read from the shared RAM 121 through the multipath I/F 202 and set in the RAM 205. In step 5233, the current timer value is read from the timer 206 and stored in the RAM.
Set to 205. In step 3233, RAM2
Motor command position data is generated based on the target position data, movement speed data, and timer data stored in 05. In step 5234, current position data is read from the counter 208. In step 5235, from the command position data obtained in step 5233,
In step 8236, the position deviation data obtained in step 5235 is output to the D/A converter 203. In step 8237, the position deviation data obtained in step 5233 is calculated. Compare the commanded position data and the current position data. If they are equal, the motor has finished moving, so the MOV process ends. If they are not equal, then
Since the motor is in operation, the steps starting from the timer value READ in step 5232 are repeated.

The origin finding process in step 5208 will be explained with reference to FIG. At step 5240, limit SWI
/F207 reads the state of the origin LS (not shown).

Here, if the origin LS is ONL, step 524
At step 8, start MOV to the side opposite to the origin LS. Step 524
At step 9, read the state of the origin LS again. Here the origin LS'
If it is ON, wait until the origin LS' turns OFF.

When the origin LS is turned off, steps from step 5241 onward are executed. In step 5241, MOV is started in the direction opposite to the origin. In step 5242, the state of the origin LS' is checked, and if the origin LS' is OFF, the origin L
Wait until S turns ON. In step 5243, the speed is slowed down. In step 5244, the Z phase of the encoder is checked, and if the two phases are OFF, wait until they are turned ON. In step 5245, the MOV operation is stopped;
The counter 208 is cleared in step 5246, and the target position data on the RAM 205 is cleared in step 5247.

The operation of the skin penetration I10 control unit 250 will be described with reference to FIG. 15.

The CPU 251 reads a program stored in the ROM 256 and operates according to the program. Data necessary at this time is stored in the RAM 257. sensor 2
The data from 55 is converted to an isolation level by isolator 254, and is taken into CPU 251 through buffer 253. An SV (solenoid valve) drive signal output from the CPU 251 is stored in a latch 258, converted to an insulation level by an isolator 259, and drives an SV 260. The multipath I/F 252 exchanges data with the main control unit 101.

On the other hand, the signal from the sensor 255 is converted to an internal signal level by the isolator 254 and taken into the buffer.

The operation of the I10 control section will be explained according to the operation flowchart of FIG. 16.

First, in step 5250, the RAM 257 and latch 25
8 Initialize the buffer 253, etc.

In step 5251, it is checked whether there is a command from the main control unit 101. If there is no command, wait until one arrives. If a command is input here, the process advances to step 5252 and is sequentially executed up to step 5253. If the command is a corresponding command, steps 8256 to 2 are executed.
57 is executed. If there is no corresponding command, processing for the invalid command is performed in step 5254.

When the processing instructed by the command is completed, an ACK signal is given to the main control unit 101 in step 5255. Then, the process moves to step 5251 to wait for a command.

The IN process at step 8256 will be explained. Here, the number of the sensor 255 is received from the main control unit 101,
The state of the sensor indicated by the number is read via the buffer and notified to the main control unit 101.

The ON processing in step 5257 will be explained. Here, the number of 5V260 and the information of ON10FF are received from the main control unit 101, and the S
Change the state of V to the indicated state of 0N10FF.

The present invention can be modified in various ways without departing from the spirit thereof. For example, the operating section is not limited to the combination of the robot, stocker, elevator, and buffer of the above embodiments.

[Effects of the Invention] As explained above, according to the present invention, a robot operation procedure program for controlling a robot and an operation procedure program for controlling a supply section that supplies workpieces to the robot are provided separately, but these programs are not included. It becomes possible to unify the interpretation program for interpreting the operating procedure program and the means for executing it, thereby reducing costs. The cost reduction effect of unification is, for example, even if there is a change in the interpretation procedure.
A further aspect is that program changes can be made by simply changing the interpretation program.

According to a preferred aspect of the invention, the operating procedure program and the interpretation program are controlled under a multitasking OS.

According to a preferred aspect of the present invention, the robot and the parts supply section each have a motion section, and the execution means executes instructions for the motion section interpreted by the interpretation program.
It is characterized by giving commands to these operating parts.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing the configuration of an embodiment of the present invention when applied to an automatic assembly device consisting of a robot, a stocker, an elevator, and a buffer, and FIG. 2 is a front view of the embodiment. FIG. 1 is a diagram showing the hardware configuration of the control device of the embodiment; FIG. 4 is a diagram showing the software configuration of the control device; FIG. 5 is a diagram explaining the structure of the multitasking program OS used in the embodiment of FIG. 1. , FIG. 6 is a diagram showing the configuration of the shared RAM, FIG. 7 is a flowchart of the task initialization program in the embodiment of FIG. 1, and FIG. 8 is a diagram showing the configuration of the personal computer 110. Main controller 101. A flowchart explaining the relationship of control procedures with other control devices. FIG. 9 is a flowchart showing a control procedure when executing a command to start another task from one task. FIG. 10 is a robot control unit. 11 to 14 are flowcharts showing the control procedure of the robot control section, FIG. 15 is a block diagram showing the hardware configuration of the I10 control section, and FIG. 16 is the I10 control section. 3 is a flowchart showing a control procedure. In the figure, 1... robot, 2... X-axis base, 3...
・X-axis motor, 4...Y-axis motor, 5...zS-axis,
6... 2-axis motor, 7... S-axis motor, 8... finger, 9... finger rack, 10... workpiece, 11... assembly jig, 12... drawer part , 13...
- Stocker, 14... Elevator, 15... Elevator motor, 16... Buffer section, 17... Discharge section, 100... Control device, 101... Main control section, 1
10... It is a personal computer. Figure 4 Multitasking O3 Figure Figure Figure 11 Figure 12 Figure 13 Figure 15 Figure 16

Claims (3)

[Claims] (1) A control device for controlling an automatic assembly device consisting of a robot that performs assembly work and an article supply section that supplies the robot with workpieces requested by the robot, the control device comprising: a robot that performs assembly work; a first storage means for storing a plurality of operation procedure programs describing operation procedures; a second storage means for storing individual data portions for each of the operation procedure programs; Execution means stores one interpretation program for interpreting each operation procedure program, and executes the plurality of operation procedure programs in a reentrant manner by using the data part of each of the operation procedure programs in this interpretation program. A control device for automatic assembly equipment. (2) The control device for an automatic assembly apparatus according to claim 1, wherein the operating procedure program and the interpretation program are controlled under a multitasking program OS. (3) The robot and the parts supply section each have respective operating sections, and the execution means instructs these operating sections with instructions for the operating sections interpreted by the interpretation program. A control device for an automatic assembly device according to claim 1.