JPH07164285A - Returning method at trouble generation, and device therefor - Google Patents

Abstract

PURPOSE:To perform an easy return at trouble generation by judging whether operation can be restarted on the basis of a signal showing the motion restarting condition of an article supplying device in the state returned to the normal state to restart. CONSTITUTION:In a step S20, a trouble state is displayed on a display part. In a step S21, the motion restarting operation from the trouble generation is judged from the motion starting condition on the basis of the generated trouble. In a step S22, the content of the motion restarting operation judged in the step S21 is displayed on the display part. Thereafter, the procedure is advanced to a step S23. In the step S23, it is waited to push either an operation restart switch or an operation stop switch. Whether the operation restart is possible or not is judged depending on whether all motion restarting conditions are satisfied or not.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a failure recovery method and apparatus for detecting a trouble that occurs during the operation of an article supply apparatus such as an automatic assembly apparatus or an automatic processing apparatus, and quickly recovering the trouble. It is about.

[0002]

2. Description of the Related Art Conventionally, when a failure occurs during the operation of an automatic assembling apparatus or an automatic processing apparatus, the assembling apparatus is emergency stopped or an alarm or the like is used to notify the operator of the trouble so that the operator can The cause of the trouble of the stopped automatic assembly device was judged and the measures were taken.

Also, when an error state is displayed in the control unit of the apparatus when a failure occurs, all possible errors are programmed in the operation program of the control unit.

[0004]

However, in the above-mentioned conventional example, the following problems occur. Since the operator himself / herself determines the occurrence of equipment troubles, the degree of trouble may vary depending on the operator, and all operations of the equipment may be mistakenly stopped or the operation may be restarted by mistake. There was a problem of getting lost. In addition, it may cause a recurrence of trouble, which is very dangerous to the operator's own environment and may cause a serious accident.

Further, even if the worker recognizes the trouble, there is a problem that an inexperienced worker does not know how to deal with the trouble and spends a lot of time as well as an extra time and effort to recover the trouble. In addition, even if the error handling is written as a program, programming all the considered errors requires a great deal of effort, especially if an error handling program is added later, the error handling method is changed, and I had to do very troublesome work such as changing the error handling.

The present invention has been proposed in order to eliminate such a problem, and an object of the present invention is to provide a display means for inducing resumption of operation.
The operator can quickly grasp the trouble occurrence status, display the coping method after that, and proceed with the work according to it, to recover the normal state and restart the operation. It is to provide the device.

Further, even if an attempt is made to restart the operation without returning to the normal state, the operation restart condition is set. Therefore, it is possible to prevent the recurrence of the trouble that the operation cannot be restarted until all the conditions are satisfied. It is an object of the present invention to provide a recovery method and its device when an occurrence occurs. Further, since the error code setting means and the operation start condition setting means are provided for each operation block, all error processing can be set in one mode and on the display screen, and the error processing can be easily added or changed. It is an object of the present invention to provide a recovery method and a device thereof when a failure occurs.

[0008]

SUMMARY OF THE INVENTION In order to solve the above problems and to achieve the object, the present invention provides an article supply apparatus which sets an error code for each of a plurality of operation blocks and sets a start condition for each operation block. How to recover when a failure occurs,
A first step of detecting the error code corresponding to the fault that has occurred, and a second step of determining an operation block to be restarted from the state where the fault has occurred, based on the error code corresponding to the fault. A third step of guiding an operation until the article supply device is in a normal state based on the determined operation block, and an operation of the article supply device in a state of returning to the normal state to be restarted. And a fourth step of judging whether or not the operation can be restarted based on the signal indicating the restart condition.

Preferably, the method further comprises a fifth step of displaying an instruction comment for instructing the operator of the operation restart condition based on the signal indicating the operation restart condition of the article supply apparatus. Further, preferably, a recovery device at the time of failure of the article supply apparatus for setting an error code for each of a plurality of operation blocks, and setting a start condition for each operation block, wherein the error code corresponding to the failure that has occurred Detecting means for detecting the error, and setting means for determining an operation block to be restarted from the state where the failure has occurred, based on an error code corresponding to the failure,
Based on the determined operation block, operation means for guiding the operation until the article supply device is in a normal state, and an operation restart condition of the article supply device in a state where the article supply device is returned to the normal state to be restarted. And a control means for determining whether or not the driving can be restarted based on the signal indicating

Further, it is preferable that the apparatus further comprises display means for displaying an instruction comment for instructing an operator of the operation restart condition based on a signal indicating the operation restart condition of the article supply apparatus. Further, preferably, the setting of the error code for each operation block and the operation start condition for each operation block is performed for all operation blocks in one mode and one screen.

[0011]

As described above, since the method for recovering from a failure and the apparatus therefor according to the present invention are configured, by providing the display means for inducing the restart of operation,
The operator can quickly grasp the trouble occurrence status, display the coping method after that, and proceed with the work according to it, to recover the normal state and restart the operation. The device can be provided.

Further, even if an attempt is made to restart the operation in a state where the normal state is not restored, the operation restart condition is set, so that the trouble that the operation cannot be restarted until all the conditions are satisfied can be prevented from occurring again. It is possible to provide a recovery method and a device therefor upon occurrence. Further, since the error code setting means and the operation restart condition setting means are provided for each operation block, all error processing can be set in one mode and on the display screen, and the error processing can be easily added or changed. A recovery method and a device therefor when a failure occurs can be provided.

[0013]

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. FIG. 1 is an overall configuration diagram of an automatic assembly system of an embodiment to which the present invention is applied. The system 70 includes a robot assembly apparatus 300 having a finger (not shown) at a tip thereof for holding a component, and a pedestal 500 for fixing the robot apparatus 300.
It comprises a component supply device 600 called a "stocker", a robot assembly device 300, and a control device 400 for controlling the operation of the stocker 600.

The mount 500 is an assembly robot device 300.
And the stocker 600 for supplying the parts are fixed.
A CCD for detecting the position of a component is provided above the stocker 600.
A camera (not shown) is arranged. The stocker 600 includes a slave control unit 6 which is a drive unit for the stocker I / O.
30 is fixed. Further, the gantry 500 accommodates a master control unit 410 that controls the entire system, a robot slave control unit 420, and an image processing device 430.

Master controller 410 and slave controller 42
0 is connected by a cable with a connector as shown in FIG. The image processing apparatus 430 is connected to a camera (not shown) via a dedicated cable, the robot slave control unit 420 is connected to the robot assembly apparatus 300 with a dedicated cable, and the stocker slave control unit 630 is connected with a dedicated cable. It is connected to the stocker 600 and is connected to the NC device for fingers (not shown) from the servo circuit 425 via a dedicated cable. <Outline of Operations of Assembly Robot and Stocker> The assembly robot 300 can be moved in the front-rear direction and the up-down direction together with the fingers by a servo motor (not shown), and is further driven to rotate. In this way, articles (hereinafter, "work")
(Referred to as)) is moved to move the work to a desired place. Also, the overall operation of the stocker 600 will be described.

The actual magazines P stacked manually are
It is loaded from the side of the stocker 600. Magazine P
A large number of works 602 are stored in the stack, and the stacked magazines P are placed on a magazine guide plate (not shown) and pushed up onto a lift table (not shown). In this state, the insertion of the actual magazine is completed, the servo motor 610 is driven, and the lifting platform is moved to move the magazine P to the robot 30.
It is carried to the work supply position of 0. <Configuration of Control System> FIG. 2 is a block diagram showing the configuration of the control device. The operation of the above-described automatic assembly system is controlled by various control units shown in FIG.

The control device 400 controls the operation procedure of the entire system, and a robot position control section for performing positioning control of a servo motor (not shown) of the robot 300 according to an operation instruction from the upper control section 10. 20 and a stocker position control unit 30 that controls the positioning of the servo motor of the stocker 600.

The host controller 10 is well known, for example, RS23.
The personal computer 40 and the teaching pendant 50 (position teaching device) are connected via a 2C serial I / F communication cable. These edit the operation procedure program (described in the robot language) of each device and register the data and the like necessary for the program. Further, the robot position control unit 20 is connected to the host control unit 10 via a data communication signal cable 450, and the stocker position control unit 30 controls the host control via a data communication signal cable 460 of the same type. It is connected to the section 10. The data communication cables 450 and 460 are used to receive and transmit data described later.

On the other hand, the position control unit 20 uses the robot 300.
It is connected to a cable that sends a power control signal to a servo motor that drives a motor, a cable that sends an encoder control signal, and a signal cable that sends a signal to control an origin sensor, a limit sensor, and the like. Similarly, the position control unit 30 is connected to a servo motor that drives the stocker 600. The host controller 10 includes a CPU 11, a ROM 12, and a RAM 1.
3. Shared memory 17 and dedicated I for known serial transmission
I / O input / output circuit 16 realized by C and personal computer 4
The input / output circuits SIO14 and TIO15 for inputting / outputting data to / from 0 or the teaching pendant 50. <Data Structure on Memory> The ROM 12 stores a language interpretation execution program and a target position data teaching program for interpreting and executing the language (compiled intermediate code) of the operating procedure program.

The robot device 300 and the stocker device 60
The operation of each device such as 0 is assigned as a task. The robot device is a robot task RT (including finger operation), and the stocker device 600 is a stocker task ST.
1. The image processing device has an image task, and the jig device (not shown) has a jig task. These tasks can be processed in parallel, and each device operates in parallel. An error processing task is provided as one of the tasks to constantly monitor the error of each device.

The RAM 13 stores an operation program commonly used by all devices, an operation procedure program (described in robot language) for each device (each task), a teaching point, and a trouble recovery program. . The I / O 16 is connected to each input / output device and exchanges on / off data of each. CPU11
The operation programs stored in the RAM 13 are sequentially read and executed according to the language interpretation execution program.

The position control units 20 and 30 are connected to the host control unit 10.
The robot 300 according to the operation command from the robot and encoder information and sensor signals of the servo motors connected to the robot 300.
And the positioning control of the stocker 600 is executed. Further, one host controller 10 is prepared for each of the constituent devices of the automatic assembly system 70, but the constituent elements and the quantity thereof are not limited.

Data is exchanged between the host controller 10 and the position controllers 20 and 30 via a communication cable by a shared memory provided in each. That is, the same data can be stored at the same address, and the control units 20 and 30 individually read and write the data by using the shared memory. (Recovery Method When Trouble Occurs) FIG. 3 is a configuration diagram of data of a portion used in this embodiment in the configuration of one portion in the RAM.

In FIG. 3, an area 130 is an area for storing error codes of each device, and all error codes are written therein. The area 131 is an area for storing the next operation address when an error occurs. The area 132 is an area in which an error code for each operation block is stored. The area 133 is an area in which the operation restart condition for each operation block is registered. The area 134 is an area in which the display comment for each operation block is registered.

FIGS. 4 to 6 are flowcharts of a control procedure of an example of a recovery method when a trouble occurs. FIG. 4 shows an example of the operation of the automatic assembly system according to this embodiment. In step S1, all the works stored in the magazine are consumed, and the empty magazine is discharged.
In step S2, after ejecting the empty magazine,
A new magazine containing work pieces is set at the article supply position.

After that, in step S3, the lid of the magazine set at the article supply position is removed. If an error occurs during these driving differences, an error code is written in the error code storage area 130, an address is written in the area 131 shown in FIG. 3, and then the operation is stopped. FIG. 5 shows an error processing operation when an error occurs.

In step S10, it is determined whether an error has occurred. Specifically, the error code storage area 13
It is determined whether or not the error code of 0 is 0. If the error code is 0, it is considered that there is no error and the process returns. If the error code is not 0, the process proceeds to step S11. In step S11, the operation block in which the trouble has occurred is determined based on the error code in step S10. After that, the process proceeds to step S12. In step S12, the process proceeds to the trouble recovery processing routine corresponding to the error code detected in step S10.

In step S13, the error code detected in step S10 is cleared. In step S14, the address for restarting the operation is read from the area 131, and the address is activated. FIG. 6 shows the trouble recovery processing operation when the error code is 004.

In step S20, the trouble state is displayed on the display section. In step S21, an operation restart operation from the occurrence of a trouble is determined from the operation start condition based on the trouble that has occurred. In step S22, step S2
The content of the operation restart operation determined in 1 is displayed on the display unit. After that, the process proceeds to step S23.

In step S23, the process waits until either the operation restart switch or the operation stop switch is pressed. When the operation restart switch is turned on, the process proceeds to step S24.
In step S24, it is determined whether or not the operation can be restarted based on whether all the operation restart conditions are satisfied. When all the restart conditions are satisfied (YES in step S24)
If), go to step S25.

In step S25, the trouble recovery process is terminated, and the process proceeds to step S13 to clear the error code. After proceeding to step S14, step S1
It returns to 0 and restarts from the address next to the address where the error occurred. In step S24, when all the operation restart conditions are not satisfied and the operation cannot be restarted (when the determination in step S24 is NO), step S21
Return to.

When the operation stop switch is turned on in step S23, the process proceeds to step S26. In step S26, the operation of all systems including all operation programs is stopped. Thereafter, in step S27, each parameter such as position control and image processing and the process number are reset to the initial state.

If neither the operation resuming switch nor the operation stopping switch is turned on in step S23, the standby state is continued. Here, step S24
7 to 8 show an example in which the contents of the operation restart operation are displayed on the display unit based on the condition where the operation restart condition is not satisfied at. FIG. 7A is a flowchart showing a stocker operation when an error occurs when the magazine is set at the supply position. Figure 7B
3 is a flowchart showing an error processing procedure. Figure 7
C is a diagram showing an operation block.

(When an error occurs when the magazine is set to the supply position) When an error occurs when the magazine is set to the supply position in step S2, the RAM 1
004 is written as an error code in the error code storage area 130 inside 3 (step S4). At the same time, the address in which the error has occurred (in this case, the address in step S2) is set to the operation address storage area 131 next to the error occurrence.
(Step S5), the operation is stopped (step S6), and the command from the error processing routine shown in FIG. 7B is waited for.

In the error processing routine, step S10
Therefore, the error code storage area 130 is constantly monitored,
Waiting until a value other than "0" is written. When a value other than "0" is written in the error code storage area 130, the trouble occurrence operation area is determined in step S11, and the subroutine corresponding to the error code written in step S12 (label * 00 in step S20 and subsequent steps).
Program from 4). Then step S1
At 3, the address of the area 131 is activated.

In step S20, a trouble state "The magazine is not correctly set in the supply position" is displayed on the display section. In step S21, the operation start condition of the operation block is read from the table shown in FIG. 9, and IN (5) = ON and IN is set as the sensor input state.
(6) Determine which condition of OFF is not satisfied.

In step S22, the contents of the operation starting operation determined in step S21 are displayed on the display unit (see FIG. 8 for comments displayed on the screen). It is assumed that the operator sees the displayed content, removes the catch in the middle of the magazine, and adjusts it to the supply position again (the condition of IN (6) = OFF is satisfied). After that, the process proceeds to step S23.

In step S23, the worker works according to the displayed contents, and if he or she wants to start from the next operation in which an error has occurred, he pushes the operation restart switch,
If you want to stop all work, press the operation stop switch. When the operation restart switch is turned on, the process proceeds to step S24. In step S24, IN (5) = ON and IN
(6) Until the condition of OFF is satisfied, the operation content that may recover from the trouble is displayed. Specifically, in step S24, the operation restart condition IN (5) =
ON is not satisfied. Therefore, the comment as shown in FIG. 8 is displayed on the screen. After the operator operates according to the display, press the operation restart switch again. Here, the operation restart condition is compared again, and at the time when the conditions of IN (5) = ON and IN (6) = OFF are satisfied (when all the operation restart conditions are satisfied), the process proceeds to step S25.

In step S25, the trouble recovery process is completed, and the process returns to step S10 to read the address next to the address where the error has occurred (step S3 in this case) from the operation address storage area 131.
Further, in step S23, the operation stop switch is turned on.
If the answer is N, the process proceeds to step S26.

In step S26, the end address of the operation program is written in the operation address storage area, and the operation program is restarted to stop the operation of all the systems including all the operation programs. Then step S2
In step 7, parameters such as position control and image processing and process numbers are reset to initial states. The error code and the operation restart condition for each operation block are registered with the operation block name, the error code, the operation start condition, and the operation restart condition in association with the operation number when the system is constructed. Therefore, at the time of creating the operation program, the operation can be performed without taking the case of the error occurrence into consideration.

What has been described above is an operation example of an actual trouble recovery method. Here, FIG. 9 is a diagram showing a registration table of error codes and operation start conditions for each operation block. <Effects of Embodiment> By providing the display means for guiding the resumption of the operation,
The operator can quickly grasp the trouble occurrence situation, display the coping method after that, and proceed with the work according to it, to return to the normal state and restart the operation. It is to provide the device.

Further, even if an attempt is made to restart the operation in a state where the normal state has not been restored, the operation restart condition is set. Therefore, the trouble that the operation cannot be restarted until all the conditions are satisfied can be prevented from occurring again. It is an object of the present invention to provide a recovery method and its device when an occurrence occurs. Further, since the error code setting means and the operation restart condition setting means are provided for each operation block, all error processing can be set in one mode and on the display screen, and the error processing can be easily added or changed. A method of recovering from a trouble and a device therefor. <Modification> The present invention can be variously modified without departing from the spirit thereof.

For example, the system configuration is not limited to the robot, stocker, and mount. Furthermore, the number is not limited. Further, not limited to the automatic assembly apparatus of the present invention,
For example, it goes without saying that it can be applied to a component mounting device, a coating device, a member processing device, and the like. The display unit is not limited to the screen of a personal computer, and the present invention can be applied to any device having a display function such as a CRT or a liquid crystal.

Needless to say, the same effect can be obtained even if the display section is provided separately or integrally. Furthermore,
It goes without saying that the operation start condition and the restart condition may be different.

[0045]

As described above, according to the method for recovering from a failure and the apparatus therefor of the present invention, by providing the operation restart guide means, the operator can promptly grasp the trouble occurrence situation and take a countermeasure thereafter. There is an effect that it is possible to provide a restoration method and a device therefor in the event of a failure, which can return to a normal state and restart the operation simply by displaying the method and proceeding according to the work.

Further, even if an attempt is made to restart the operation without returning to the normal state, the operation restart condition is set. Therefore, it is possible to prevent the recurrence of the trouble that the operation cannot be restarted until all the conditions are satisfied. There is an effect that a recovery method and a device therefor can be provided upon occurrence. Further, since the error code setting means and the operation restart condition setting means are provided for each operation block, all error processing can be set in one mode and on the display screen, and the error processing can be easily added or changed. There is an effect that a recovery method and a device therefor can be provided when a failure occurs.

[Brief description of drawings]

FIG. 1 is an overall view of an automatic assembly system according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating the connection of each control unit used in the system of FIG.

FIG. 3 is a diagram showing a part of a data structure inside a RAM of the system of FIG.

FIG. 4 is a flowchart showing a control procedure of this embodiment.

FIG. 5 is a flowchart showing a control procedure of this embodiment.

FIG. 6 is a flowchart showing a control procedure of this embodiment.

FIG. 7A is a flowchart showing a control procedure of this embodiment.

FIG. 7B is a flowchart showing a control procedure of this embodiment.

FIG. 7C is a flowchart showing a control procedure of this embodiment.

FIG. 8 is a diagram showing an actual operating procedure of an operator and a display state of a screen at that time together with a flowchart showing a control procedure of the present embodiment.

FIG. 9 is a diagram showing a registration table of error codes and operation restart conditions for each operation block.

[Explanation of symbols]

600 ... Stocker device, 300 ... Robot device, 400
... Control device, 500 ... Stand, 410 ... Master control unit, 4
20 ... Slave control unit, 430 ... Image processing device, 602
... Work, 610 ... Servo motor, 630 ... Slave controller for stocker, P ... Magazine

Claims (5)

[Claims] 1. A method for recovering a failure of an article supply apparatus, wherein an error code is set for each of a plurality of operation blocks, and a start condition is set for each operation block, the error corresponding to the failure that has occurred. A first step of detecting a code; a second step of determining an operation block to be restarted from the state in which the failure has occurred, based on an error code corresponding to the failure; And a third step of inducing an operation until the article supply device is in a normal state, and based on a signal indicating an operation restart condition of the article supply device in a state of returning to the normal state to be restarted. And a fourth step of determining whether or not the operation can be resumed. 2. The method according to claim 1, further comprising a fifth step of displaying an instruction comment for instructing an operator of the operation restart condition based on a signal indicating the operation restart condition of the article supply apparatus. How to recover from the failure described in. 3. A recovery device at the time of failure of the article supply apparatus, which sets an error code for each of a plurality of operation blocks and sets a start condition for each operation block, wherein the error corresponding to the failure has occurred. Detection means for detecting a code, setting means for determining an operation block to be restarted from the state where the failure has occurred, based on an error code corresponding to the failure, and the article based on the determined operation block Operation means for guiding the operation until the supply device is in a normal state, and whether the operation can be restarted based on a signal representing the operation restart condition of the article supply device in a state where the operation device has returned to the normal state to be restarted A recovery device in case of failure occurrence, comprising: 4. The display device according to claim 3, further comprising display means for displaying an instruction comment for instructing an operator of the operation restart condition based on a signal indicating the operation restart condition of the article supply device. Recovery device in case of failure. 5. The method according to claim 3, wherein the error code for each operation block and the operation start condition for each operation block are set for all operation blocks in one mode and one screen. Recovery device in case of failure.