JPH0885092A - Robot controlling system - Google Patents

Abstract

PURPOSE: To provide a robot controlling system capable of controlling the positions of robots through a process of loading respective robots on a plurality of traveling trucks provided on the same traveling device. CONSTITUTION: Traveling devices 2, 3 are so arranged that first to third traveling trucks 6 to 8 and fourth to sixth traveling trucks 9 to 11 to travel. on respective fixed parts 4, 5 may travel in the work conveying direction A. First to sixth robots are loaded on respective traveling trucks 6 to 11. The first to third robots are movably provided on the same traveling device 2, when a body 1 of an automobile arrives in a work area, the robots sequentially start to travel and they perform the specific work in relation to the body 1 while being moved in the work conveying direction A. A line computer 29 controls traveling of respective traveling trucks 6 to 11 on the traveling devices 2, 3, and manages respective robot controllers 22 to 27, so that respective robots may not interfere with each other.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot control system, and more particularly to a robot control system in which each robot is mounted on a plurality of traveling carriages provided on the same traveling device.

[0002]

2. Description of the Related Art For example, in a painting line for painting an automobile body, a door is attached to the body so that the door can be opened and closed, and the body is conveyed to perform painting work for the body and door or sealing work for applying a sealing material. In such an automobile manufacturing line, a plurality of traveling carriages provided on the same traveling device are equipped with robots such as a door opening / closing robot, a painting robot, and a sealing robot, and each robot follows a work transfer. However, a robot control system has been adopted which cooperates with each other to perform a predetermined work on a work.

[0003]

However, in the conventional robot control system, when a plurality of robots are installed on the same traveling device so that they can travel, the travelable stroke of each robot is set so as not to interfere with each other. The robots are classified, and the travel range of each robot is limited.

This is to allow another robot to work even if one of the plurality of robots fails. As a result, the stroke of the traveling device becomes longer, and the work area needs to be increased accordingly.
Equipment costs were high.

When the traveling ranges of a plurality of robots are set to overlap with each other, the stroke of the traveling device can be shortened, but even if one of the plurality of robots fails, another robot can work. So that
The failed robot had to be manually moved to a position where it did not interfere with other robots, and it took a considerable amount of time and labor to restore each robot so that it could operate normally.

Therefore, an object of the present invention is to provide a robot control system that solves the above problems.

[0007]

According to the present invention, each robot is mounted on a plurality of traveling carriages provided on the same traveling device,
In a robot control system in which the plurality of robots cooperate with each other to perform a predetermined work on the work while following the conveyance of the work, a travel position monitoring means for monitoring the travel positions of the plurality of robots, and the travel position monitoring Traveling position control means for controlling the traveling positions of the plurality of robots so that adjacent robots in the work transfer direction do not interfere with each other based on the traveling positions of the plurality of robots detected by the means. It is characterized by being prepared.

[0008]

According to the present invention, the traveling positions of a plurality of robots are controlled based on the traveling positions of the plurality of robots detected by the traveling position monitoring means so that the robots adjacent to each other in the work transfer direction do not interfere with each other. Thus, when the traveling ranges of a plurality of robots are set to overlap with each other, even if one of the plurality of robots fails, the failed robot is immediately moved to a position where it does not interfere with other robots.

[0009]

1 to 3 show an embodiment of a robot control system according to the present invention.

In each of the drawings, first and second traveling devices 2 and 3 are provided on both sides of a painting line for painting a body (work) 1 of an automobile so as to extend in a work conveying direction A. . The traveling devices 2 and 3 include fixed portions 4 and 5 fixed to the floor and a plurality of (three in this embodiment) first to third traveling carriages 6 to 6 traveling on the fixed portions 4 and 5. The 8th and 4th to 6th traveling carriages 9 to 11 are installed so as to be able to travel in the work transfer direction A.

The fixed carriages 4 and 5 are provided with traveling carriages 6 to 8,
Guide rails 4a and 5a for guiding 9 to 11 are provided, and each traveling carriage 6 to 11 moves in the work transfer direction A when four wheels 12 roll on the guide rails 4a and 5a.

Guide rails 4a and 5 are attached to the fixed portions 4 and 5, respectively.
Racks 4b and 5b extending parallel to a are provided. Further, each of the traveling carriages 6 to 11 is provided with drive motors 14 _{1 to} 14 ₆ for driving the pinions 13 _{1 to} 13 ₆ meshing with the racks 4b and 5b of the fixed portions 4 and 5, respectively. Therefore, the traveling vehicles 6 to 11 move on the guide rails 4a and 5a of the fixed portions 4 and 5 by a distance according to the rotation amount of the drive motor 14.

Each of the drive motors 14 _{1 to} 14 ₆ is provided with a rotation detector (not shown), and a detection signal from the rotation detector is used to detect the origin position of the fixed portions 4 and 5 (this embodiment). In, the movement position with the upstream end in the work transport direction) as a base point is detected.

The first to sixth traveling carriages 6 to 11 have first to sixth robots 16 to 16 used, for example, as door opening / closing robots, painting robots, sealing robots, etc.
21 is mounted. Each of the robots 16 to 21 is an articulated robot, and its use is divided depending on a jig (door opening / closing unit, painting gun, sealing nozzle, etc.) provided at the tip of the arm.

The first to third robots 16 to 18 are mounted on the first to third traveling carriages 6 to 8 of the first traveling device 2, and are numbered 1 and 2 in order from the upstream side in the work transfer direction A. Number three
Numbers are attached such as numbers. Also, the fourth to sixth
The robots 19 to 21 are the fourth to sixth robots of the second traveling device 3.
It is mounted on the traveling carriages 9 to 11 and has a work transfer direction A.
The numbers are assigned in order from the upstream side of No. 4, No. 5, No. 6, and so on.

Since the first to third robots 16 to 18 are movably provided on the same traveling device 2, when the body 1 of the automobile arrives at the work area, the traveling carriages 8, 7, 6 on the downstream side are provided. In this order, traveling is started in sequence, and a predetermined work is performed on the body 1 while moving in the work transport direction A.

Further, since the fourth to sixth robots 19 to 21 are also movably provided on the same traveling device 3, when the body 1 of the automobile arrives at the work area, the traveling carriages 11, 10 on the downstream side, The traveling is sequentially started in the order of 9, and a predetermined work is performed on the body 1 while moving in the work transport direction A. In this way, each robot 16-21
As the traveling carriages 6 to 11 travel, they follow the work transfer,
Perform predetermined work on the body 1.

As will be described later, when one robot breaks down, only the broken robot is stopped and the traveling carriages 6 to 11 are made to travel so as to follow the work transfer. Then, the work scheduled to be performed by the broken robot is performed by the worker in the next process instead.

Since three robots 16 to 18 and 19 to 21 can travel on the traveling devices 2 and 3, the work areas of the robots 16 to 18 and 19 to 21 operate in an overlapping manner. Accordingly, the total length of the traveling devices 2 and 3 is shortened, the installation space can be reduced, and the equipment cost can be kept low.

The robots 16 to 21 are controlled by the robot controllers 22 to 28, respectively, and operate so as to cooperate with each other to perform the work programmed in advance in the robot controllers 22 to 28.

Each of the robot control devices 22 to 28 has a line computer 29 for managing the entire robot control system.
Connected with. Therefore, each robot control device 22-
28 performs each work operation according to a command from the line computer 29.

The line computer 29 controls the traveling of the traveling carriages 6 to 11 of the traveling devices 2 and 3 described above. Therefore, in the ROM 29a of the line computer 29, a control program for managing the robot control devices 22 to 28, a control program for monitoring the traveling positions of the traveling vehicles 6 to 11 (traveling position monitoring means), and a traveling position of the robots. Based on the above, a control program (running position control means) for controlling the running positions of the plurality of robots is registered so that the robots adjacent to each other in the work transfer direction do not interfere with each other.

Next, the processing executed by the line computer 29 in the robot control system having the above configuration will be described.

The flowchart of FIG. 4 shows the traveling positions of the traveling vehicles 6 to 11 of the traveling devices 2 and 3, that is, the robots 16 to 16.
21 is a process for controlling the traveling position of 21. Also, FIG.
The flow chart of is a process for determining whether each of the robots 16 to 21 is operating normally.

The line computer 29 repeatedly executes the processing of FIGS. 4 and 5 every predetermined time. Figure 4
The process will be described.

In FIG. 4, step S1 (hereinafter "step")
First, the traveling carriage 6 on which the first robot 16 is mounted is located at the origin position of the traveling device 2 (traveling device 2).
Check whether it is waiting at the upstream end of the). When No. 1 of the robot 16 is not on standby at the home position by the position detection signal from the position sensor 15 _1, S2
Then, it is checked whether or not the first robot 16 is in the process of returning to the home position.

If in S2, the first robot 16
If is not in the middle of returning to the origin position, the process proceeds to S3, and it is checked whether the No. 1 robot 16 is operating following the carrying operation of the body 1 as a work.

However, in S1, the first robot 1
When 6 is waiting at the origin position or when the first robot 16 is in the process of returning to the origin position in S2, the process proceeds to S4 and the traveling carriage equipped with the robot 17 of the next stage (2nd) is installed. An origin position return permission signal is output to 7.

As a result, the second robot 17 can return to the origin position without interfering with the adjacent first robot 16.

Further, in S3, if the No. 1 robot 16 is operating following the carrying operation of the body 1, S
Proceeding to step 5, the follow-up command signal is output to the second robot 17. Therefore, the No. 2 robot 17 can perform the predetermined work following the carrying operation of the body 1 only when the No. 1 robot 16 is working at a position away from the origin position.

At the next step S6, the traveling carriage 7 on which the second robot 17 is mounted is moved to the origin position of the traveling device 2 (traveling device 2).
Check whether it is waiting at the upstream end of the). When the second robot 17 is not waiting at the origin position due to the position detection signal from the rotation detector provided in the drive motor 14 ₂ for driving the traveling carriage 7, the process proceeds to S7.
It is checked whether the robot No. 17 is returning to the origin position.

If, in S7, the second robot 17
If is not in the middle of returning to the origin position, the process proceeds to S8, and it is checked whether or not the No. 2 robot 17 is following the carrying operation of the body 1 as a work.

However, in S6, the second robot 1
When 7 is waiting at the origin position, or when the second robot 17 is in the process of returning to the origin position in S7, the process proceeds to S9, in which the next stage (third) robot 18 is mounted on the traveling carriage. The home position return permission signal is output to the signal No. 8.

As a result, the third robot 18 can return to the origin position without interfering with the adjacent second robot 17.

If the second robot 17 is operating following the carrying operation of the body 1 in S8,
In step 10, a follow-up command signal is output to the third robot 18. Therefore, the No. 3 robot 18 can perform the predetermined work following the carrying operation of the body 1 only when the No. 2 robot 17 is working at a position away from the origin position.

In this way, each traveling carriage 6 of the traveling device 2
Since the robots 16 to 18 mounted on the robots 8 to 8 are always monitored for their traveling positions to determine whether or not they can travel, they can be prevented from interfering with each other even when traveling by the same traveling device 2.

The flow chart of FIG. 4 is a process for managing the traveling positions of the robots 16 to 18 provided on one traveling device 2, but the line computer 29
The process for managing the traveling positions of the robots 19 to 21 provided on the other traveling device 3 is also executed in the same manner as the flowchart of FIG. However, the description is omitted because it is the same as above.

Next, the robot determination process of FIG. 5 will be described.

In FIG. 5, the line computer 29 uses S1
In No. 1, it is checked whether the No. 1 robot 16 can operate normally. If the first robot 16 can operate normally, the process proceeds to S12, and the first robot 1
The work permission signal is output to the robot controller 22 of No. 6.

However, if an abnormality occurs in the first robot 16 in S11, the process proceeds to S13, in which a stop signal is output to the robot controller 22 of the first robot 16 and an alarm is issued to notify the operator. . Even if the robot 16 breaks down, the traveling carriage 6 travels together with the robot 16 so as to follow the work transfer.

In the next step S14, it is checked whether the second robot 17 can operate normally. If the second robot 17 can operate normally, proceed to S15,
A work permission signal is output to the robot controller 23 of the second robot 17.

However, if an abnormality occurs in the second robot 17 in S14, the process proceeds to S16, in which a stop signal is output to the robot controller 23 of the second robot 17 and an alarm is issued to notify the operator. . Even if the robot 17 breaks down, the traveling carriage 7 travels together with the robot 17 so as to follow the work transfer.

In the next step S17, it is checked whether the third robot 18 can operate normally. If the third robot 18 can operate normally, proceed to S18,
A work permission signal is output to the robot controller 24 of the third robot 18.

However, if an abnormality occurs in the third robot 18 in S17, the process proceeds to S19, in which a stop signal is output to the robot controller 24 of the third robot 18 and an alarm is issued to notify the operator. . Even if the robot 18 breaks down, the traveling carriage 8 travels together with the robot 18 so as to follow the work transfer.

As described above, it is checked whether or not the robots 16 to 18 provided on the traveling device 2 can operate normally, and if there is an abnormality, the robot is made to be capable of only following the work transfer. , The other robots perform the work operation as they are. If an alarm is issued, production will be continued without stopping the line until break time,
Repair a robot that has failed during the break.

Therefore, when one of the three robots 16 to 18 fails, the work of the other robots can be performed by moving the traveling carriages 6 to 8 with the work operation of the robot stopped. It can be prevented from stopping.

The above-mentioned flow chart of FIG. 5 is a process for determining whether the robots 16 to 18 provided on the one traveling device 2 are normal.
Are robots 19 to 21 provided on the other traveling device 3.
The process for determining whether or not is normal is also executed in the same manner as the flowchart of FIG. However, the description is omitted because it is the same as above.

In the above embodiment, a plurality of robots for opening and closing the doors of automobiles, painting, sealing, etc. are provided in the same traveling device, but the present invention is not limited to this, and other workpieces. It is needless to say that the present invention can be applied to a line in which a robot is transported, and a robot other than the above may be provided in the same traveling device.

Further, in the above embodiment, the same traveling device has three
Although one robot is provided so as to be movable, the present invention is not limited to this, and for example, two robots may be provided, or four or more robots may be provided.

Further, the robot may be provided with a robot of any other type than the articulated robot, for example, a scalar type robot having a horizontal articulated structure.

[0051]

As described above, in the robot control system according to the present invention, the robots which are adjacent to each other in the work transfer direction do not interfere with each other based on the traveling positions of the plurality of robots detected by the traveling position monitoring means. Since the traveling positions of the plurality of robots are controlled as described above, the traveling ranges of the plurality of robots can be set to overlap. As a result, the overall length of the traveling device can be shortened and the installation space can be reduced, and the equipment cost can be reduced accordingly. Further, even if one of the plurality of robots breaks down, the other robots can be run to perform the work, so that the line stop time due to the breakdown can be shortened as much as possible, and the broken down robot can be run while stopped. This has the advantage that the work of other robots can be prevented from becoming stagnant.

[Brief description of drawings]

FIG. 1 is a plan view of a line to which an embodiment of a robot control system according to the present invention is applied.

FIG. 2 is a diagram for explaining a traveling device and a robot.

FIG. 3 is a block diagram of a robot control system.

FIG. 4 is a flowchart for explaining a process for controlling a traveling position of each robot.

FIG. 5 is a flowchart of a process for determining whether or not each robot is operating normally.

[Explanation of symbols]

1 body 2 first travel unit 3 and the second travel unit 4,5 fixing unit 6-11 first to sixth the traveling carriage 14 _{1-14 6} drive motor 16 to 21 first to sixth robot 22-28 robot control Equipment 29 line computer

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shuichi Mioka, 300 Takatsuka-cho, Hamamatsu City, Shizuoka Prefecture Suzuki Stock Company (72) Inventor Saburo Muto 1-3-6 Fujimi, Kawasaki-ku, Kanagawa Prefecture Tokiko Corporation Within

Claims (1)

[Claims] 1. A robot in which each robot is mounted on a plurality of traveling carriages provided on the same traveling device, and the plurality of robots cooperate with each other to perform a predetermined work on the workpiece while following the conveyance of the workpiece. In the control system, the traveling position monitoring means for monitoring the traveling positions of the plurality of robots and the robots adjacent to each other in the work transfer direction based on the traveling positions of the plurality of robots detected by the traveling position monitoring means interfere with each other. A robot control system comprising: traveling position control means for controlling traveling positions of the plurality of robots so that the positions do not match.