JPH05143147A - Remote control system for distributed robot - Google Patents

Abstract

PURPOSE:To prepare articles, equipment and workers in a time band for executing production work, to mutually synchronize a production plan and instruction information and to attain proper production. CONSTITUTION:This system is provided with plural working robots 2-1 to 2-3, 3-1, 3-2 respectively arranged in respective working places and a working controller 4 arranged in the vicinity of respective working places to control the working of respective robots 2-1 to 2-3, 3-1, 3-2. The system is also provided with plural terminal equipments 7-1 to 7-n respectively distributed on remote places from respective working places and a centralized controller 5 for registering the working contents, process composition, etc., of the robots which are inputted from respective terminals 7-1 to 7-n, sending the registered contents to the controller 4, sending working instructions corresponding to the working contents to respective terminals 7-1 to 7-n, and receiving the working states or the like of the working places from the controller 4 to execute the centralized control of respective robot working.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot remote distributed arrangement operation system having a remote operation function and the like.

[0002]

2. Description of the Related Art In order to enable proper production when producing products, it is necessary to have goods, equipment, and workers available at the same time as production work and to synchronize production plans and instruction information. is there.

However, proper production is becoming impossible due to the following problems. First, (a) the work site is dirty, the work is tough, and it is dangerous, so-called 3K.
Therefore, the workers avoid it. (b) If each worker employs so-called flextime, which has different working hours, it is difficult for these workers to carry out production work continuously. (c) The work contents are difficult for elderly people. (d) Further, the work content requires skill, so that an unskilled person takes time to work and the work results vary. (e) It is difficult to synchronize the work of each work department because each work department is separated from each other.

[0004]

As described above, there are problems in 3K, flextime, aging, lack of skilled personnel, and synchronization of working departments.

Therefore, the present invention is to provide a robot remote distributed arrangement operation system capable of producing an appropriate product because the production plan and instruction information are synchronized while the goods, facilities and workers are prepared during the time when the production work is performed. To aim.

[0006]

SUMMARY OF THE INVENTION The present invention is a work for controlling a plurality of work robots respectively arranged at respective work stations and work robots arranged near the respective work stations for controlling the work. The controller, a plurality of terminal devices that are respectively distributed and arranged remotely at each work station, and the work contents and process organization of the work robot input and operated by these terminal devices are registered and sent to the work controller. Achieve the above-mentioned objectives by sending a work instruction according to the above to each terminal device, and by having a centralized controller that centrally manages the work of each work robot in response to the work status of the work department from the work controller, etc. This is a remote distributed placement operation system for robots.

[0007]

With the provision of such means, the work contents and process organization of the work robot inputted by operation from a plurality of operating terminals respectively distributed at remote locations of the respective work stations where the respective work robots are arranged. Etc. are sent to the work controller and work instructions according to the work content are sent to each terminal device, and the work status of each work robot is received from the work controller, and the work of each work robot is centrally managed by the controller. To do.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a configuration diagram of a robot remote distributed arrangement operation system. A plurality of manipulator type robots (MR) 2-1 to 2-3 and work facilities 3-1 and 3-2 in which a manipulator type robot and an automatic machine are integrated are arranged in each work section of the production site 1. Has been done.

These manipulator type robots 2-1 to 2
-3 includes a multi-axis manipulator and a robot controller, respectively, and further has a wireless communication function and a television (TV).
It is equipped with a camera and a traveling mechanism. As a result, each of the manipulator robots 2-1 to 2-3 has a remote power operation function. Further, the robot controller of each of the manipulator type robots 2-1 to 2-3 has a condition section (I
F) and a result (THEN) type simple rule type expert function is provided, and work contents are taught.

Each of the work equipments 3-1 and 3-2 is equipped with a multi-axis manipulator and a robot controller, like the manipulator type robots 2-1 to 2-3, and further has a wireless communication function and a television (TV). It is equipped with a camera and a traveling mechanism. Further, the robot control devices of the work equipments 3-1 and 3-2 include those equipped with a condition part (IF) and result (THEN) type simple rule type expert function, and those in which the work content is taught. ..

A work controller 4 is provided at the production site 1. The work controller 4 includes manipulator type robots 2-1 to 2-3 and work facilities 3-1.
3-2 has a function of issuing a work instruction to control the work. The work controller 4 has a wireless communication function, and each manipulator robot 2-1 to 2-
3 and the work equipments 3-1 and 3-2 wirelessly send work instructions. Further, the work controller 4 is used for each manipulator type robot 2-1 to 2-3 and each work facility 3.
-1, 3-2 has a function of receiving a video signal from each TV camera and transmitting it to the central control controller 5.

A plurality of terminal devices (T) 7-1 to 7-n for manipulators are arranged at a remote position 6 from the production site 1. These terminal devices 7-1 to 7-n are provided with a controller with a CRT display, and follow the movements of the manipulator robots 2-1 to 2-3 and the manipulators of the work facilities 3-1 and 3-2. Function, each TV
It has an operation function of operating the field of view and magnification of the camera, and a traveling operation function when moving to another work section. All of these terminal devices 7-1 to 7-n are connected to the centralized management controller 5.

The centralized control controller 5 is provided for each terminal device 7
-1 to 7-n, the work contents of the manipulator robots 2-1 to 2-3 and the work equipments 3-1 and 3-2 input by the operation input and the process organization are sent to the work controller 4 and the work contents are written. A work instruction corresponding to each terminal device 7-1 to
7-n, and each manipulator type robot 2 in response to the work status of each work section from the work controller 4
It has a function of centrally managing the work of 1-2 to 3 and each work equipment 3-1 and 3-2. In addition, central control controller 5
Is the knitting data of the production process suitable for each product type, which is operated and input by each terminal device 7-1 to 7-n, each worker and each manipulator type robot 2-1 to 2-3, and each work facility 3-1. 3-2 receives the work arrangement data in which the work portions 3-2 are arranged in appropriate work departments, the production sequence data indicating the production sequence, and registers, and based on the registration data, each terminal device 7-1.
It has a function of giving a production instruction to 7-n. Next, the operation of the system configured as described above will be described.

Through the respective terminal devices 7-1 to 7-n, the organization data of the production process suitable for various kinds of products, each worker and each manipulator type robot 2-1 to 2-3 and each work facility 3-1 and 3 are provided. When the work arrangement data in which -2 is arranged in an appropriate work place, the production sequence data indicating the production sequence, and the work time zone of each worker are input, these data are sent to the central control controller 5. The centralized management controller 5 registers the knitting data, the work arrangement data, and the production sequence data among the input data. Further, the centralized management controller 5 calculates and obtains a comprehensive schedule of each worker from the work time zone of each worker, and returns this comprehensive schedule to each of the terminal devices 7-1 to 7-n. As a result, the comprehensive schedule made up of the respective workers is displayed on the CRT display on each of the terminal devices 7-1 to 7-n.

Here, when a certain product type flows into the production line, the centralized management controller 5 takes out the knitting data, the work arrangement data, and the production order data of this product type, and of these, the work data and the work arrangement data are obtained from the work controller 4. And the production sequence data is transmitted to each terminal device 7
-1 to 7-n.

Of these, when the work controller 4 receives the knitting data and the work arrangement data, the work controller 4 arranges the manipulator type robots 2-1 to 2-3 and the work facilities 3-1 and 3-2 on the basis of the data. Issue the instructions. Receiving this instruction, each manipulator robot 2-1
2 to 3 and each of the work equipments 3-1 and 3-2 move to the instructed work site by the operation of the traveling mechanism.

Further, the central control controller 5 gives the production sequence data and the work instruction of the production product flowing from the general schedule of each worker to the production line to each of the terminal devices 7-1 to 7-.
n, and the work instruction of each worker is extracted from the production sequence data of this product type and sent to each terminal device 7-1 to 7-n, and each manipulator robot 2-1 to which the teaching is performed. 2-3 and each work equipment 3-1 and 3
Each work instruction for -2 is transmitted to the work controller 4. Upon receiving the work instruction, the work controller 4 gives the work instruction to the corresponding manipulator type robots 2-1 to 2-3 and the work equipments 3-1 and 3-2. As a result, each manipulator robot 2 that has been taught
1-2-3 and each work facility 3-1 and 3-2 perform work.

On the other hand, the CRT of each terminal device 7-1 to 7-n
As described above, the work instruction of each worker is displayed on the display. Thereby, each worker operates the operation function according to the work instruction displayed on the CRT display to follow the manipulators of the manipulator robots 2-1 to 2-3 and the work equipments 3-1 and 3-2. To do. In this case, each manipulator robot 2-1 to 2-
3 and each of the work equipments 3-1, 3-2 include images captured by the TV cameras, and the terminal devices 7-1 to 7-n.
The image is displayed on the CRT display, and the worker looks at this image and follows the manipulator. Thus, the manipulator type robots 2-1 to 2-3 and the work equipments 3-1 and 3-2 perform work to produce products.

As described above, in the above-described embodiment, the manipulator type robots 2-1 and 2-1 which are operated and input from the plurality of operation terminals 7-1 to 7-n which are respectively dispersed and arranged at the remote locations of the respective work sections. -3 and the work contents of the work facilities 3-1 and 3-2 and the process organization are sent to the work controller 4 for control, and work instructions corresponding to the work contents are sent to the terminal devices 7-1 to 7-n. In addition, each manipulator type robot 2-1 to 2-3 and each work facility 3-1 in response to the work status of each work section from the work controller 4 and the like.
Since the work of 3-2 is centrally managed by the centralized management controller 5, the work site is dirty and the work is tough.
So-called dangerous 3K can be avoided, and even if each worker adopts flextime, it is possible to carry out production work continuously by these workers, and even elderly people need only operate the terminal. .. Further, even an unskilled person can easily perform the work, and the product does not vary. Further, even if the respective work departments are separated, the work of each work department can be synchronized.

The present invention is not limited to the above-described embodiment, and may be modified within the scope of the invention. For example, the work robot is not limited to the manipulator, but may be any robot that can be remotely operated.

[0022]

As described above in detail, according to the present invention, a robot remote that can produce an appropriate product by preparing articles, facilities, and workers in a time zone for production work and synchronizing production plans and instruction information. A distributed arrangement operation system can be provided.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of a robot remote distributed arrangement operation system according to the present invention.

[Explanation of symbols]

2-1 to 2-3 ... Manipulator type robot, 3-1 and 3
-2 ... Work equipment, 4 ... Work controller, 5 ... Centralized management controller, 7-1 to 7-n ... Terminal device.

Claims (1)

[Claims] 1. A plurality of work robots respectively arranged at respective work sections, a work controller arranged near each work section for controlling work for the respective work bots, and each work. A plurality of terminal devices distributed in remote locations of the department, and the work contents and process organization of the work robot input and operated by these terminal devices are registered and sent to the work controller and according to the work contents. And a centralized management controller that sends a work instruction to each of the terminal devices, and that centrally manages the work of each of the work robots in response to the work status of the work unit and the like from the work controller. Robot remote distributed placement operation system.