JPH09117883A - Robot device and robot control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently operate a robot automated line by this device. SOLUTION: Each of robot devices RS1, RS2, RS3... arranged along a conveyor 11 monitors pallets P1, P2, P3, P4, P5... before work by pallet detection sensors S11, S12, S13...S31 and moniors operating states of the other robot devices RS1, RS2, RS3... through a network line L. When residence and delay of the pallets P1, P2, P3, P4, P5... are caused, works on the pallets P1, P2, P3, P4, P5... are moved to work stock parts MS11, MS12, MS13 and finished products of finished product stock parts KS11, KS12, KS13... are moved to the pallets P1, P2, P3, P4, P5 respectively, and work of delivering them to the line downstream, or the like is carried out.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot device, and more particularly, to a robot device and a robot control method for improving the work efficiency of each robot device arranged in a robot automation line.

[0002]

2. Description of the Related Art In processing and assembling operations of industrial products, lines are being automated by introducing robots, thereby reducing work time and cost.

Conventionally, such a robot automation line is shown in FIG. In this robot automation line, the conveyor 1 that constitutes the line
Robots R1, R2, R3 ,.
.. are arranged, and a plurality of pallets 2 carrying work products are conveyed on the conveyor 1. Each robot R1, R
2, R3, ... are control devices C1, C2, C3, ...
Controlled by, robots R1 and R on the upstream side of the line
The work products sent from the pallet 2 from 2, R3, ... Are transferred to the work tables T1, T2, T3, ... And the parts are supplied by the component supply devices B1, B2, B3 ,. Use to perform assembly work. Each robot R1, R2,
Upon completion of the assembling work, R3, ... Transfers the finished products from the worktables T1, T2, T3, ... To the pallet 2 and conveys them to the downstream robots R1, R2, R by the conveyor 1.
.. are carried as a pallet 2 having work pieces mounted thereon.

The robots R1, R2, R3, ... Of such a conventional robot automation line each independently perform a work operation, and when a pallet 2 carrying work products before work is conveyed. , The assembly work is performed on the work products mounted on the pallet 2 and the finished product is pallet 2
It is mounted on the robot and is transported to the downstream robots R1, R2, R3, ....

In the robot automation line, how to secure a stable production amount of the entire line and achieve the target production amount is an important issue.

For that purpose, the target work time of each of the robots R1, R2, R3, ... Is set according to the production amount of the entire line, and each robot R1, R2 is set according to the work content.
The work contents assigned to the individual robots R1, R2, R3, ... Are determined by equalizing the work time of R2, R3 ,.

[0007] Each robot R1, R at the target work time
Efficient work can be performed without mistake in the work contents assigned to 2, R3, ..., but the production amount of the entire line can be secured, but due to seasonal fluctuations and variations due to different lots of parts, etc. Robots R1, R2, R3, ...
It is difficult to secure a stable operating state of, and the work of one robot R1, R2, R3, ... Is stopped due to mistakes of the robots R1, R2, R3 ,. Then, the work efficiency of each robot on the line is affected, and it becomes difficult to achieve a stable production amount of the entire line.

Therefore, in the conventional robot automation line, the working time of each robot R1, R2, R3, ... Is set with a large margin with respect to the working time of the entire line. Each robot R1, R2,
The interval (buffer between robots) between R3, ... And the robots R1, R2, R3, ... Is set to be wide, and errors or the like occur in the individual robots R1, R2, R3 ,. Even if the robots R1, R2, R3, ... Are temporarily stopped, the influence on the operation of the work of the other robots R1, R2, R3 ,. It is designed to be able to.

[0009]

However, in the robot of the conventional robot automation line as described above, an assembly work or the like is simply performed on the work on the pallet sent by the conveyor, and the robot is transferred to the next robot. Since the finished product was sent out, in order to secure the operating rate of the whole line, it is necessary to allow a sufficient working time for each robot and set a wide inter-robot buffer. The production time of the entire line decreases due to the extra time, and the line length increases due to the wider buffer between robots, which requires a larger facility area and the work content of each robot is sophisticated. On the contrary, there is a problem that work efficiency is lowered.

Therefore, according to the present invention, each robot apparatus is provided with a stock portion for a work product and a finished product, and not only the work for the work product on the line but also the stock portion for the work product is performed according to the work flow of the entire line. Provided are a robot device and a robot control method for improving the work efficiency of each robot device by performing work on a work product or putting a finished product of a stock section into a line, and also improving work efficiency of the entire line. Is intended.

[0011]

According to a first aspect of the present invention, there is provided a robot apparatus in which a plurality of robot apparatuses are arranged side by side at a predetermined interval along a conveyor and are conveyed by the conveyor on a pallet. In the robot device of the robot automation line that performs a predetermined work preset to the robot device in the downstream, each robot device stocks the finished product stock of the completed work by the robot device. Unit and a work product stock unit for stocking work products for the robot apparatus to perform the work, and when the number of the pallets loaded with the work products before the work exceeds a predetermined number, the work products are removed from the pallet. Is transferred to the work product stock section,
The above object is achieved by transferring the finished product from the finished product stock section onto the pallet and sending it to the robot device on the downstream side.

Here, each robot device performs the work such as assembling and processing given to the work product conveyed from the upstream side of the line to generate a finished product of the work, and to produce the finished product of the work. It is sent out as a work item for robot equipment.

Then, the finished product stock section stocks the finished products of the work of each robot apparatus, and the work article stock section stocks the unfinished work articles of each robot apparatus.

Each robot device uses a predetermined sensor or the like (for example, an optical sensor) for the pallet on which the work product before the work is mounted.
When the number of pallets before the work exceeds a predetermined number, the work product before the work and the finished product are exchanged on the pallet, and the pallet is sent to the robot apparatus downstream of the line.

According to the above construction, if the pallet before the work is retained for some reason, the work product and the finished product can be exchanged and sent to the downstream robot apparatus, and the work of the entire robot automation line is delayed. Can be prevented. As a result, the workability of the entire robot automation line can be improved and the productivity can be improved.

In this case, for example, as described in claim 2, in each of the robot devices, when the work is temporarily stopped and then restored, the number of the pallets carrying the work product before the work is less than a predetermined number. Until the above, the work product is transferred from the pallet to the work product stock unit, and the finished product is transferred from the finished product stock unit to the pallet and sent to the robot device on the downstream side. You may

According to the above construction, even if the work is temporarily stopped due to an error or a malfunction of the parts, the work can be promptly supplied to the downstream robot device after the recovery, and the work of the entire robot automation line is delayed. Can be prevented. As a result, the workability of the entire robot automation line can be improved and the productivity can be improved.

Further, for example, as described in claim 3, in each of the robot devices, when the number of the pallets on which the work products before the work are mounted is less than a predetermined number, the finished product stock unit moves the finished products to the finished products. May be transferred onto the pallet and sent to the robot device on the downstream side.

According to the above construction, even if the number of pallets before the work is reduced due to the reason that the work efficiency is better than that of the upstream robot device, the work can be performed without stopping. Therefore, the workability of the entire robot automation line can be improved and the productivity can be improved.

Further, for example, as described in claim 4, each of the robot devices monitors the operation status of each of the other robot devices, and the robot device on the upstream side or the downstream side of the robot device once When stopped, the work is performed on the work product before the work on the pallet or the work product of the work product stock unit until the robot apparatus is restored, and the work product is stocked in the finished product stock unit. Good.

According to the above construction, even if the upstream robot apparatus is temporarily stopped, work can be performed without stopping the downstream robot apparatus, the workability of the entire robot automation line is improved, and the production is improved. It is possible to improve the sex.

Further, for example, as described in claim 5, in each of the robot devices, after the operation of the robot automation line is completed, the work product on the pallet or the work product of the work product stock section is The above-mentioned work may be performed to stock the finished product in the finished product stock unit until the amount of the finished product in the finished product stock unit reaches a predetermined amount.

According to the above construction, it is possible to prepare in advance for the next operation, and it is possible to improve the work efficiency of the entire robot automation line.

According to a sixth aspect of the robot control method of the present invention, a plurality of robot devices are arranged side by side on a conveyor at predetermined intervals, and are preset in the work product on the pallet conveyed by the conveyor. Do the prescribed work,
In a robot control method of a robot automation line for sending to a robot device downstream, when each of the robot devices has a predetermined number of pallets loaded with the work product before the work, the work product is The robot device transfers the work product for performing the work to a work product stock unit that stocks the work product, and also stocks the finished product of the work completed by the robot device from the finished product stock unit onto the pallet. The above-mentioned object is achieved by transferring and sending out to the robot device on the downstream side.

According to the above method, if the pallet before the work is retained for some reason, the work product and the finished product can be exchanged and sent to the downstream robot device, which delays the work of the entire robot automation line. Can be prevented. As a result, the workability of the entire robot automation line can be improved and the productivity can be improved.

In this case, for example, as described in claim 7, after each of the robot devices temporarily stops the work,
When restored, the work products are transferred from the pallet to the work product stock unit and the finished product stock unit is moved to the finished product until the number of the pallets carrying the work products before the work is reduced to a predetermined number or less. May be transferred onto the pallet and sent to the robot device on the downstream side.

According to the above method, even if the work is temporarily stopped due to an error or a malfunction of parts, the work can be promptly supplied to the downstream robot device after the recovery, and the work of the entire robot automation line is delayed. Can be prevented. As a result, the workability of the entire robot automation line can be improved and the productivity can be improved.

Further, for example, when the number of the pallets on which the work products before the work are mounted is less than a predetermined number in each robot apparatus, the finished product stock section moves the finished products to the finished products. May be transferred onto the pallet and delivered to the robot device on the downstream side.

According to the above method, the work can be performed without stopping even when the number of pallets before the work is reduced due to the reason that the work efficiency is better than that of the upstream robot apparatus. Therefore, the workability of the entire robot automation line can be improved and the productivity can be improved.

Further, for example, as described in claim 9, each of the robot devices monitors the operating status of each of the other robot devices, and the robot device on the upstream side or the downstream side of the robot device once When stopped, the work may be performed on the work product on the pallet or the work product of the work product stock unit and stocked in the finished product stock unit until the robot device is restored.

According to the above method, the work can be performed without stopping the downstream robot device even if the upstream robot device is temporarily stopped, the workability of the entire robot automation line is improved, and the production is improved. It is possible to improve the sex.

Further, for example, as described in claim 10, after each robot apparatus has completed the operation of the robot automation line, the work product on the pallet or the work product of the work product stock section is The above-mentioned work may be performed to stock the finished product in the finished product stock unit until the finished product stock unit reaches a predetermined amount.

According to the above method, the finished product can be prepared in advance for the next operation, and the work efficiency of the entire robot automation line can be improved.

[0034]

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

Since the embodiment described below is a preferred embodiment of the present invention, various technically preferable limitations are attached, but the scope of the present invention is particularly limited in the following description. Unless specifically stated to limit the present invention, the present invention is not limited to these embodiments.

1 and 2 are views showing a first embodiment of a robot apparatus and a robot control method of the present invention.

FIG. 1 is a system configuration diagram of a robot automation line system 10 to which a first embodiment of a robot apparatus and a robot control method of the present invention is applied.

In FIG. 1, a robot automation line system 10 is provided with a conveyor 11 that constitutes a line.
Robot devices RS1, RS2, RS3, ...
.. are provided for each robot device RS1, RS
2, RS3, ... Are work tables T11 and T1, respectively.
2, T13, ..., Control devices C11, C12, C1
3, ..., Component supply devices B11, B12, B13, ...
.., finished product stock departments KS11, KS12, KS1
3, ..., Work stock section MS11, MS12, M
, And a plurality of pallet detection sensors S11,
S12, S13, ..., S31, S3, etc. are provided.

The conveyor 11 includes the robots R11 and R1.
2, P13, ...
P2, P3, P4, P5, ... Are carried, and each robot R11, R12, R13 ,.
2, P3, P4, P5, ... By assembling the components of the component supply devices B11, B12, B13, ... To the work products on the robots R11, R12, R13 ,.
.. Finished products of the work assigned to, and mounted on pallets P1, P2, P3, P4, P5, ..., On the conveyor 11, the next robots R11, R12, R1
3 ... are transported as work items.

Pallet detection sensors S11, S12, S1
3, ..., S31, S3 are the robots R of the conveyor 11.
11, R12, R13, ... Are disposed on the front side of each of the pallet detection sensors S11, S12, S1.
3, ..., S31, S3 are the robots R11, R12,
R13, ... Pallets P1, P2, P
3, P4, P5, ... Are detected and the detection signals are detected by the control devices C of the robot devices RS1, RS2, RS3 ,.
It outputs to 11, C12, C13, .... In the present embodiment, the pallet detection sensors S11, S12, S13,
~, S31, S3 are the robots R11, R12, R1.
3 are provided in front of 3, ..., However, the robot automation line system 10 determines how many are provided.
Can be set as appropriate in the design.

Each robot R11, R12, R13, ...
Are controlled by the control devices C11, C12, C13, ..., And each control device C11, C12, C13 ,.
Are connected to each other by a network line L. The control devices C11, C12, C13, ... Of the robots R11, R12, R13, ...
The operating status information of R13, ... Is exchanged and the operating status of the other robots R11, R12, R13 ,.

Each robot R11, R12, R13, ...
Indicates the pallet P1, from the robots R11, R12, R13, ...
The work items sent by P2, P3, P4, P5, ... Are transferred to work tables T11, T12, T13 ,. Perform assembly work using parts. Upon completion of the assembling work, the robots R11, R12, R13, ...
・ From pallets P1, P2, P3, P4, P5, ...
And transfer to the robot R1 on the downstream side by the conveyor 11.
.. are carried as pallets P1, P2, P3, P4, P5 ,.

Each robot R11, R12, R13, ...
・ The robots R11, R12, R13, and
The finished product stock section KS11, KS12, KS13, ... that stocks the finished product in the work of ... And the work product stock that stocks the work products that the robots R1, R2, R3 ,. Department MS11, M
, S12, MS13, ... are installed, and the finished product stock sections KS11, KS12, KS13 ,.
The finished product sensors SE11, SE12, SE13, ... Which detect the number of finished products in S13 ,.

Finished product sensors SE11, SE12, SE1
3, ... are finished product stock parts KS11, KS12,
The quantity of the finished product in KS13, ... Is detected, and the detection result is used as quantity data.
Output to C12, C13, ....

Next, the operation will be described.

The robot automation line system 10 according to the present embodiment includes the robot devices RS1, RS2, RS3,
..., but the pallets P1, P being transported to them
Depending on the number of sheets 2, P3, P4, P5, ..., Finished product stock parts KS11, KS12, KS13, ... are finished pallets P1, P2, P3, P4, P5 ,.
・ Transfer to and quickly pallets P1, P2, P3, P
The characteristic is that the retention of 4, P5, ... Is eliminated and the work efficiency is improved.

That is, each robot device RS1, RS2, RS3, ... Of the robot automation line system 10 is ...
2, the control devices C11, C12, C13, ... Of the robots set work targets and the like when the work is started, and the other robots R11, R12, R13, ...
The initial data is read in order to set general line information such as the operating status of ... (Step S
1) When the reading of the initial data is completed, the pallets P1, P2, P3, P4, P on which the work products before the work are mounted are installed.
.., that is, the number P of pre-work pallets, the pallet detection sensors S11, S12, S13,
, S31, and S3 are read by the detection signals (step S2).

Next, it is checked whether the number of pre-work pallets P is a preset number, for example, 3 or less (step S3), and if it is 3 or less, the control device C1 is selected.
1, C12, C13, ... Are unworked pallets P
It is determined that 1, P2, P3, P4, P5, ... Are not retained, and a normal assembly work operation is performed (step S
4). That is, each robot R11, R12, R13,
... are pallets P1, P2, P3, P4, P5, ...
Remove the work item from the work table T11, T12, T1
3, ..., Parts supply devices B11, B12, B1
Assembling work is performed by using the parts supplied from 3, ...
2, P3, P4, P5, ..., Further, the robots R11, R12, which are downstream of the conveyor 11, as work items.
A unit assembling operation for carrying to R13, ... Is performed.

Each control device C11, C12, C13, ...
Checks whether or not the operation of the line is completed at every predetermined timing (step S5), and when the operation of the line is not completed, returns to step S2 and performs the same processing as above.

When the number P of pre-work pallets exceeds 3 in step S3, the robots R11, R12, R13, ...
The control devices C11, C12, C13, ... Perform the transfer operation between the stock section and the pallet (step S6), and the pre-work pallet number P is again determined by the pallet detection sensor S11,
It is read from S12, S13, ..., S31, S3 (step S7), and it is checked whether the number P of pre-work pallets is a predetermined number, for example, 1 or less (step S7).
8).

That is, when the number P of pre-work pallets exceeds 3, the controller C1 of the robots R11, R12, R13, ...
1, C12, C13, ... Are robots R11, R1
2, Pallets P1, P staying in R13, ...
2, P3, P4, P5, ... Take out the work products from the work product stock parts MS11, MS12, MS13,
Move to ... and stock parts KS11, KS12,
The finished product is taken out from the KS 13, ... And the pallets P1, P2, P3, P4, P5 from which the work product is taken out,
... is performed by the robots R11, R12, R13, ...
Pallet detection sensors S11, S12, S13, ..., S3
The robots R11, R12, R13, ... Are caused to perform this stock section / pallet transfer operation until the number of pre-work pallets P becomes 1 or less in response to signals from S1 and S3.

That is, the pallets P1, P2, P3, P
4, P5, ... Robots R1, R2, R staying
3, ... omits the assembly work for assembling the work product into a finished product, and uses pallets P1, P2, P3, P4, P5, ...
・ The work item above is the work item stock section MS11, MS12,
The finished products are placed on the pallets P1, P2, P3, P4, P5, ... Robots R11, R12, R13, ...
・ To be transferred as a work item.

In step S8, when the number of pre-work pallets P becomes 1 or less, the control devices C11, C12, C13 of the robots R1, R2, R3, ... It is judged that the pallet accumulation has been eliminated, the stock section / pallet transfer operation is completed, and it is checked whether the line operation is completed (step S5), and the line operation is completed. If not, the process returns to step S2 and the same process is performed.

When the operation of the line is completed in step S5, the control devices C11, C12, C13, ...
Ends the robot control process.

Therefore, according to the present embodiment, the robot automation line system 10 includes the robots R11,
R12, R13, ... Are pallets P before their own work
It is monitored whether 1, P2, P3, P4, P5, ... Have accumulated over a predetermined number of sheets, and when the number of pre-work pallet sheets P exceeds a predetermined number, the accumulated pallets P1, P
2, P3, P4, P5, ... Take out the work products from the work product stock parts MS11, MS12, MS13,
Stocked in ..., finished product stock section KS11, KS
12, KS13, ... Finished products are taken out, and the work products are taken out from pallets P1, P2, P3, P4,
Robots R11, R mounted on P5, ... Downstream of the line
12, R13, ...

As a result, for some reason, the pallet P1,
Even when P2, P3, P4, P5, ...
As before, the individual robots R11, R12, R1
The retention time can be promptly eliminated and the entire line can be eliminated without giving a margin to the working time of 3, ... and without widening the interval (buffer) between the robots R11, R12, R13 ,. The work efficiency can be improved, the productivity of the robot automation line system 10 can be improved, and the installation space can be reduced.

FIG. 3 is a diagram showing a second embodiment of the robot apparatus and the robot control method of the present invention. This embodiment improves the work efficiency when the robot is temporarily stopped due to a mistake or the like. It is intended.

This embodiment is applied to a robot automated line system similar to the above-mentioned embodiments.
Therefore, in the description of the present embodiment, the reference numerals used in FIG.

In this embodiment, in the robot automation line system 10, the robots R11 and R1 are used.
When one of R2, R13, ... Stops (hereinafter referred to as a chocolate stop) for some reason such as a mistake, the robot R11, R12, R13 ,. A member repairs and restores.

Each robot device RS1, RS2, RS3,
Of the control devices C11, C12, C13, ...
When the operation is started, as shown in FIG. 3, first, the initial data is read (step P1), and it is checked whether or not the chocolate stop is restored (step P2).

At step P2, when it is not after the recovery from the chocolate stop, the control devices C11, C12, C13, ...
A normal unit assembling operation is performed (step P3), and it is checked whether the line operation is completed (step P4).

When the operation of the line is not completed, the control devices C11, C12, C13, ... Return to step P2 to check whether or not after the chocolate stop is restored (step P2). The number P of pallets before work is set to the pallet detection sensors S11, S12, S13, ...
By reading the detection signals from S31 and S3 (step P5), the number of pre-work pallets P is a predetermined number, for example,
It is checked whether the number is one or less (step P6).

If the number of pre-work pallets P exceeds 1 in step P6, the control devices C11, C12, C1
, ... are pallets P1, P2, P due to chocolate stop
3, P4, P5, ... Determine that the robots R11, R12, R13 ,.
Perform transfer operation between pallets (step P7), and then
After detecting the number of pre-work pallets P, it is checked whether the number of pre-work pallets P is 1 or less (step P
5, P6).

Controllers C11, C12, C13, ...
Causes the robots R11, R12, R13, ... to perform the stock section / pallet transfer operation until the number of pre-work pallets P is 1 or less, and in step P6, the number of pre-work pallets P is 1 Robots R11 and R
The operation of 12, R13, ... Is returned to the normal unit assembling operation (step P3).

After that, the control devices C11, C12, C1
.. check whether the operation of the line is completed (step P4). If the operation of the line is not completed, the process returns to step P2 and the same processing as described above is performed.

At step P4, when the line operation is completed, the control devices C11, C12, C13, ...
The robot control processing ends.

As described above, according to this embodiment, when the chocolate stop occurs, the pallets P1, P2, P3, P
4, P5, ... Are checked for a predetermined number of pallets, and when pallets P1, P2, P3, P4, P5, ... are retained, pallets P1, P2, P3, P
4, P5, ... Until the number of sheets falls below a predetermined number, that is, until the stay is eliminated, the pallets P that are staying
Workpiece stock parts MS11, MS12, MS1 are taken out from 1, P2, P3, P4, P5, ...
Stocked in 3, ..., finished product stock section KS11,
Take out the finished product from KS12, KS13, ...
Pallets P1, P2, P3, P from which the work item is taken out
The finished products can be placed on 4, P5, ... And delivered to the robots R11, R12, R13 ,.

As a result, even when the pallets P1, P2, P3, P4, P5, ... Stagnate due to some reason and the pallets P1, P5, ...
The robots R11, R12, R13, ...
... The stagnation can be promptly eliminated without increasing the interval between them, the work efficiency of the entire line can be improved, the productivity of the robot automated line system 10 can be improved, and the installation space can be improved. Can be made smaller.

FIG. 4 is a diagram showing a third embodiment of the robot apparatus and the robot control method of the present invention. This embodiment improves the work efficiency when the number of pre-work pallets is reduced. It is intended.

This embodiment is applied to a robot automated line system similar to the above embodiments.
Therefore, in the description of the present embodiment, the reference numerals used in FIG.

In the present embodiment, one of the robot devices RS1, RS2, RS3, ... upstream of the line is temporarily stopped (chocolate stop) for some reason such as a mistake, or the robot devices RS1, RS2, RS3 ,. The robots RS1, RS2, RS3, ... whose work efficiency is upstream
If the number of pallets before work is reduced due to better work efficiency than the above, the finished product stock section KS11,
By passing the finished products from the KS12, KS13, ... To the line, the robot devices RS1, RS2, RS3 ,.
The productivity of the robot automation line system 10 is improved without stopping the line.

That is, each robot device RS1, RS
2, RS3, ... Control devices C11, C12, C1
As shown in FIG. 4, when the operation is started, 3, ...
1), the number of pallets before work P is detected by the pallet detection sensor S1
It is read by the detection signals from 1, S12, S13, ..., S31, S3 (step Q2), and it is checked whether the number P of pre-work pallets is a predetermined number, for example, 3 or less (step Q3).

At step Q3, when the number of pre-work pallets P is 3 or less, the control devices C11, C12, C1.
3, ... are pallets P1, P2, P3, P4, P
5, it is judged that the number of pre-work pallets P is less than a predetermined number, for example, 0 (step Q4), and the number of pre-work pallets P is 0 in step Q4. When the number of sheets is not set, the pallets P1, P2, P3, P4, P can be smoothly fed from the upstream of the line.
.. is judged to be flowing, and the normal unit assembling operation is performed (step Q5).

After that, the control devices C11, C12, C1
.. checks whether or not the operation of the line is completed (step Q6), and when the operation of the line is not completed, returns to step Q2 to read the number P of pre-work pallets and perform the same processing as described above. If the number P of pre-work pallets exceeds 3 in step Q3, the robots R11, R12, R having the number P of pre-work pallets exceeding 3
Control devices C11, C12, C13, ...
Indicates the stock section / pallet transfer operation (step Q7), the pre-work pallet number P is read again from the pallet detection sensors S11, S12, S13, ..., S31, S3 (step Q8), and the pre-work pallet is read. It is checked whether or not the number P of sheets has become a predetermined number, for example, 1 or less (step Q9).

At step Q9, when the number of pre-work pallets P becomes 1 or less, the control devices C11, C12, C13 of the robots R1, R2, R3, ... It is judged that the pallet accumulation has been eliminated, the stock section / pallet transfer operation is completed, and it is checked whether the line operation is completed (step Q6), and the line operation is completed. If not, the process returns to step Q2 and the same process is performed.

When the number P of pre-work pallets is 0 in step Q4, the robots R11, R12, R13, ...
・ The control devices C11, C12, C13, ... Perform the unit assembling operation of the work stock unit MS11, MS12, MS13, ... (Step Q10), and complete the assembled product into the finished product stock unit. KS11, KS12,
It is transferred to KS13, ... (Step Q11).

That is, the control devices C11, C12, C13, ... Of the robots R11, R12, R13 ,. Stock section MS11, MS1
2, MS13, ... Take out the work product from the product, assemble it, and complete the finished product.
1, unit KS12, KS13, ...

The control devices C11, C12, C13, ...
.. When performing a unit assembly operation between stock units for one unit, the number P of pre-work pallets is detected by pallet detection sensors S11, S12, S13, ..., S31, S3.
It is read from the table, and it is checked whether the number of pre-work pallets P has reached a predetermined number, for example, 2 or more (step Q1
3) If the number of pre-work pallets P is not 2 or more, it is judged that it is too early to start the normal unit assembling operation, and the process returns to step Q10 to carry out unit assembly between stock parts in the same manner as above. Perform an operation (steps Q10, Q
11).

Controllers C11, C12, C13, ...
In step Q12, the number of pre-work pallets P is read again to check whether the number of pre-work pallets P is 2 or more (step Q13). When the number of pre-work pallets P is 2 or more, the stock section After the assembling operation is completed, the process proceeds to step Q6, and it is checked whether the operation of the line is completed (step Q6).

When the operation of the line is not completed in step Q6, the control devices C11, C12, C13 ,.
.. returns to step Q2 and performs similar processing.

At step Q6, when the operation of the line is completed, the control devices C11, C12, C13, ...
The robot control processing ends.

As described above, according to the present embodiment, when the pallets P1, P2, P3, P4, P5, ... Retain more than the predetermined number, the pallets P1, P2, P3 ,.
The pallets P that are retained until P4, P5, ...
Workpiece stock parts MS11, MS12, MS1 are taken out from 1, P2, P3, P4, P5, ...
Stocked in 3, ..., finished product stock section KS11,
Take out the finished product from KS12, KS13, ...
Pallets P1, P2, P3, P from which the work item is taken out
4, P5, ..., Robot R1 downstream of the line
Transferring between the stock section and pallet for sending to 1, R12, R13, ..., Pallets P1, P2, P3, P
4, P5, ... When the number is below a predetermined number, that is, pallets P1, P2, P3, P4, P from the upstream of the line.
If the conveyance of 5, ... is delayed, the work stock section MS1 is operated until the number of pre-work pallets P reaches a predetermined number.
1, MS12, MS13, ... Take out the work products and perform the assembly work, and stock the finished products into the finished product stock parts KS11, KS12, KS13 ,. It can be carried out.

As a result, for some reason, the pallet P1,
Even when the P2, P3, P4, P5, ... Are accumulated or the pallets P1, P2, P3, P4, P5 ,.
, R12, R13, ... Without giving a margin to the working time of the robots R1, R12, R13 ,.
The work efficiency of the entire line can be improved without stopping 3, ..., The productivity of the robot automated line system 10 can be improved, and the installation space can be reduced.

FIG. 5 is a diagram showing a fourth embodiment of the robot apparatus and the robot control method of the present invention. In this embodiment, the operating status of the upstream and downstream robots is grasped by the network line. When a chocolate stop occurs in another robot, the unit assembling operation using the work product stock section and the finished product stock section is performed until the chocolate stop is resolved to improve the work efficiency when the chocolate stop occurs. It is a thing.

The present embodiment is applied to a robot automated line system similar to the above embodiments.
Therefore, in the description of the present embodiment, the reference numerals used in FIG.

That is, the robots R11, R12, R1
Control devices C11, C12, C13, ...
As shown in FIG. 5, when the operation is started, first, the initial data is read (step R1), and the robot R1 on the upstream side and the robot R1 on the downstream side via the network line L are read.
The operation status of 1, R12, R13, ... Is read (step R2), and the robot R1 upstream or downstream is read.
It is checked whether a chocolate stop has occurred at 1, R12, R13, ... and the line has been temporarily stopped (step R
3).

At step R3, when the chocolate stop has not occurred in the upstream and downstream robots R11, R12, R13, ..., The control devices C11, C12, C13 ,.
.. indicates that the number of pallets before work P is a predetermined number, for example, 3
It is checked whether the number of sheets exceeds the number (step R4). If the number P of pallets before work is three or less, a normal unit assembling operation is performed (step R6) to check whether the operation of the line is completed (step R6). ).

At step R6, when the operation of the line is not finished, the control devices C11, C12, C13, ...
Returns to step R2, and the other robots R11, R12, R1 are connected via the network line L in the same manner as above.
Read the operating statuses of 3, ... (Step R2),
It is checked whether or not a chocolate stop has occurred in the other robots R11, R12, R13, ... (Step R3). If a chocolate stop has occurred, the above stock part unit assembling operation is performed (steps R7, R8). ).

Controllers C11, C12, C13, ...
Performs the unit assembly operation between stock units for one unit, reads the operating status of the other robots R1, R2, R3, ... Via the network line L (step R9), and the occurrence of the chocolate stop occurs. It is checked whether the robots R1, R2, R3, ... Which had been operating have been recovered and the operation of the line has been restored (step R10).

When the line operation is not restored,
The control devices C11, C12, C13, ... Return to step R7 and perform the inter-stock unit assembling operation (steps R7, R8) in the same manner as described above (steps R7, R8). R12, R1
Read the operating status of 3, ... (Step R9),
It is checked whether the operation of the line has been restored (step R1
0).

When the line operation is restored in step Q10, the control devices C11, C12, C13, ... Check whether the line operation is completed (step R6). If the line operation is not completed, step R2 Then, the processing similar to the above is performed.

The same processing as above is performed, and step R4
Then, the pallet detection sensors S11, S12, S13, ...
From the detection results of S31 and S3, if the number of pre-work pallets P exceeds 3 and stays, the controller C11 of the robots R1, R2, R3, ... , C12, C13, ... represent work products from the pallets P1, P2, P3, P4, P5, ... Work product stock parts MS11, MS12, MS13 ,.
.. Moved to finished product stock section KS11, KS12, K
The finished products of S13, ... Are pallets P1, P2, P3,
Perform the transfer operation between the stock section and the pallet to be placed on P4, P5, ... (Step R11), and then perform Step Q again.
In step 12, the number P of pre-work pallets is read and it is checked whether or not the number P of pre-work pallets becomes a predetermined number, for example, 1 or less (step Q13).

At step Q13, the number of pre-work pallets P
When the number of sheets is not less than one, the control device C11,
C12, C13, ... Return to step Q11,
The above-mentioned stock section / pallet transfer operation is performed (step Q11), the number of pre-work pallets P is read again from the pallet detection sensors S11, S12, S13, ..., S31, S3 (step Q12), and the number of pre-work pallets is calculated. P
Check if the number is less than 1 (Step Q1
3).

At step Q13, the number of pre-work pallets P
When the number of sheets becomes 1 or less, the control devices C11, C12, C1
.. are judged to be able to return to the normal unit assembly operation, the process proceeds to step R6, and it is checked whether the operation of the line is completed (step R6).

At step R6, when the operation of the line is not finished, the control devices C11, C12, C13, ...
Returns to step R2 and performs the same processing as described above, and when the operation of the line ends in step R6, the robot control processing ends as it is.

As described above, according to this embodiment, the other robots R11 and R1 are connected via the network line L.
2, R13, ... When the operation status of the other robots R1, R2, R3, ... Is temporarily stopped due to a chocolate stop or the like, the other robots R1, R2, R3 ,.
・ Until the chocolate stop is cleared and the line is restored, the work products of the work stock parts MS11, MS12, MS13, ... Are taken out and assembled, and the completed work is completed product stock part KS11. , KS12, KS13,
.. Stock unit between stock parts is assembled, and pallets P1, P2, P3, P4, P5,
If pallets exceed the specified number, the pallet P
Work is performed from the pallets P1, P2, P3, P4, P5, ... that are staying until 1, P2, P3, P4, P5 ,. Take out the product, work product stock section MS11, M
S12, MS13, ... Stocked, finished product stock section KS11, KS12, KS13 ,.
It is possible to perform transfer between the stock section and the pallet, which is placed on P2, P3, P4, P5, ... And sent to the robots R11, R12, R13 ,.

As a result, the other robots R11, R12,
R13, ... Monitors the operating status of other robots R
Even when 1, R2, R3, ... Are stopped for some reason, the stopped robots R11, R12, R1
Robots R11, R12, R13 other than 3, ...
・ ・ The work can be continued without stopping, and the work efficiency of the entire line can be further improved. As a result, the robot automation line system 10
The productivity of can be further improved.

FIG. 6 is a diagram showing a fifth embodiment of the robot apparatus and the robot control method of the present invention. In the present embodiment, the unit is assembled and assembled even after the operation of the line is completed. The assembling operation of stocking finished products in the finished product stock section is performed until the finished product stock section is fully loaded to improve the work efficiency of the next line operation.

This embodiment is applied to a robot automated line system similar to the above embodiments.
Therefore, in the description of the present embodiment, the reference numerals used in FIG.

That is, each robot device RS1, RS2, RS3, ... Of the robot automation line system 10 is ...
6, the control devices C11, C12, C13, ... Read the initial data when the work is started (step T1), and when the reading of the initial data is completed, the pre-work pallet The number P of sheets is read by the detection signals from the pallet detection sensors S11, S12, S13, ..., S31, S3 (step T2).

Next, it is checked whether the number P of pre-work pallets is a preset number, for example, 3 or less (step T3), and if it is 3 or less, each robot R1
1, R12, R13, ... Control devices C11, C1
2, C13, ... Perform normal assembly work operation, judging that the pallets P1, P2, P3, P4, P5, ... T4).

Each control device C11, C12, C13, ...
Checks whether or not the operation of the line is completed at every predetermined timing (step T5), and when the operation of the line is not completed, returns to step T2 and performs the same processing as above.

When the number P of pre-work pallets exceeds 3 at step T3, the robots R11, R12, R13, ...
The control devices C11, C12, C13, ... Perform the transfer operation between the stock section and the pallet (step T6), and the pre-work pallet number P is again detected by the pallet detection sensor S11.
It is read from S12, S13, ..., S31, S3 (step T7), and it is checked whether the number P of pre-work pallets has reached a predetermined number, for example, 1 or less (step T).
8).

At step T8, when the number of pre-work pallets P becomes 1 or less, the control devices C11, C12, C13 of the robots R1, R2, R3, ... It is judged that the pallet accumulation has been eliminated, the transfer operation between the stock section and the pallet is completed, and it is checked whether the line operation is completed (step T5), and the line operation is completed. If not, the process returns to step T2 and the same process is performed.

When the operation of the line is completed at step T5, the control devices C11, C12, C13, ... Of the robots R11, R12, R13 ,. The quantity data is read from (step T9), and it is checked whether the finished products are stocked in the finished product stock sections KS11, KS12, KS13, ... Up to a predetermined amount, for example, the full amount (step T10).

At step T10, when the finished product is not fully stocked in the finished product stock section KS11, KS12, KS13, ..., The robot R11,
Control devices C11, C12, C for R12, R13, ...
13 perform a unit assembling operation, that is, when the number P of pre-work pallets P is not 0, a work product assembling operation on the pre-work pallets P1, P2, P3, P4, P5 ,. (Step T11), the finished product is stocked (transferred) to the finished product stock section KS11, KS12, KS13, ... (Step T12), and when the pre-work pallet number P is 0, the work product stock Part M
The work pieces are taken out from S11, MS12, MS13, ... And the assembling operation is performed (step T11) to obtain the finished goods from the finished goods stock parts KS11, KS12, KS13 ,.
.. is stocked (step T12).

When one unit assembling operation and transfer to the finished product stock section KS11, KS12, KS13, ... Are carried out, the control devices C11, C12, C13 ,. Product sensor SE11, SE1
2, SE13, ... Importing the quantity data from the stock parts KS11, KS12, KS13, ...
Is checked to see if it is full (step T10), and if it is not full, a unit assembling operation is performed in the same manner to transfer the finished product stock sections KS11, KS12, KS13, ... (Steps T11, T12).

At step T10, the finished product stock section KS
When 11, 11, KS12, KS13, ... Are filled with finished products, the control devices C11, C12, C13, ... Cause the robots R11, R12, R13 ,. The control process ends.

Therefore, according to the present embodiment, the robot automation line system 10 has the finished product stock sections KS11 and KS1 even after the line operation is completed.
The robots R11, R12, R13, ... Can perform the assembly operation of the unit until 2, KS13 ,.

As a result, the operation of the next line, for example, the operation of the next day can be prepared in advance, and the robot automation line system 10 can be operated stably. As a result, the line can be operated more stably, and the productivity can be further improved.

Although the invention made by the present inventor has been specifically described based on the preferred embodiments, the present invention is not limited to the above, and various modifications can be made without departing from the scope of the invention. It goes without saying that it is possible.

For example, in the fifth embodiment, the pallet P1, P2, P3, P before the work is used.
4, P5, ... Transfer operation between stock section / pallet when stocked and stock operation for finished product stock section KS11, KS12, KS13, ... However, it goes without saying that the combination operation is not limited to this.

[0113]

According to the robot apparatus of the first aspect of the present invention, if the pallet before the work stays for some reason, the work product and the finished product can be exchanged and sent to the downstream robot device. It is possible to prevent the work of the entire robot automation line from being delayed. As a result, the workability of the entire robot automation line can be improved,
Productivity can be improved.

According to the robot apparatus of the second aspect of the present invention, even if the robot apparatus is once stopped due to a mistake or a defect in parts, after the restoration, the work item can be promptly supplied to the robot apparatus in the downstream side. It is possible to prevent the work of the entire automation line from being delayed. As a result, the workability of the entire robot automation line can be improved and the productivity can be improved.

According to the robot apparatus of the third aspect of the invention, even when the number of pallets before the work is reduced due to the reason that the work efficiency is better than that of the upstream robot apparatus, the robot apparatus is stopped. You can do the work without
It is possible to improve workability of the entire robot automation line and improve productivity.

According to the robot apparatus of the fourth aspect of the invention, even if the upstream robot apparatus temporarily stops, the work can be performed without stopping the downstream robot apparatus.
It is possible to improve workability of the entire robot automation line and improve productivity.

According to the robot apparatus of the fifth aspect of the present invention, the finished product can be prepared in advance for the next operation, and the work efficiency of the entire robot automation line can be improved.

According to the robot control method of the sixth aspect of the present invention, if the pallet before the work is retained for some reason, the work product and the finished product can be exchanged and sent to the downstream robot device. It is possible to prevent the work of the entire automation line from being delayed. As a result, the workability of the entire robot automation line can be improved,
Productivity can be improved.

According to the robot control method of the seventh aspect of the present invention, even if the robot is once stopped due to a mistake, a defect in parts, etc., the work item can be promptly supplied to the downstream robot device after the restoration. It is possible to prevent the work of the entire robot automation line from being delayed. As a result, the workability of the entire robot automation line can be improved,
Productivity can be improved.

According to the robot control method of the eighth aspect of the invention, even when the number of pallets before the work is reduced due to the reason that the work efficiency is better than that of the upstream robot device, the work is stopped. Work can be performed without increasing the workability of the entire robot automation line.
Productivity can be improved.

According to the robot control method of the invention described in claim 9, even if the upstream robot device is temporarily stopped, the work can be performed without stopping the downstream robot device, and the entire robot automation line can be operated. Improve workability,
Productivity can be improved.

According to the robot control method of the tenth aspect of the present invention, the finished product can be prepared in advance for the next operation, and the work efficiency of the entire robot automation line can be improved.

[Brief description of the drawings]

FIG. 1 is a system configuration diagram of a robot automation line system to which a first embodiment of a robot apparatus and a robot control method of the present invention is applied.

FIG. 2 is a flowchart showing a robot control process of each robot apparatus of the robot automation line system of FIG.

FIG. 3 is a flowchart showing a robot control process by the robot apparatus of the robot automation line system to which the second embodiment of the robot apparatus and the robot control method of the present invention is applied.

FIG. 4 is a flowchart showing a robot control process by the robot apparatus of the robot automation line system to which the third embodiment of the robot apparatus and the robot control method of the present invention is applied.

FIG. 5 is a flowchart showing robot control processing by the robot apparatus of the robot automation line system to which the fourth embodiment of the robot apparatus and the robot control method of the present invention is applied.

FIG. 6 is a flowchart showing a robot control process by the robot apparatus of the robot automation line system to which the fifth embodiment of the robot apparatus and the robot control method of the present invention is applied.

FIG. 7 is a system configuration diagram of a conventional robot device automation line system.

[Explanation of symbols]

10 Robot automation line system 11 Conveyors R11, R12, R13, ... Robots T11, T12, T13, ... Workbench P1, P2, P3, P4, P5, ... Pallets C11, C12, C13, ... Control device B11, B12, B13, ... Component supply device KS11, KS12, KS13, ... Finished product stock part Stock part MS11, MS12, MS13, ... Work product S11, S12, S13, ..., S31 , S3 Pallet detection sensor L Network line

Claims (10)

[Claims] 1. A plurality of robot devices are arranged side by side at a predetermined interval along a conveyor, and perform a predetermined work preset for a work product on a pallet conveyed by the conveyor, and perform the predetermined work on the downstream side. In the robot device of the robot automation line for sending to the robot device, each of the robot devices stocks a finished product stock section for stocking the finished product of the work completed by the robot device, and a work product for the robot device to perform the work. When the number of the pallets loaded with the work products before the work exceeds a predetermined number, the work products are transferred from the pallets to the work product stock unit and the finished product is A robot characterized by transferring the finished product from the stock section onto the pallet and sending it to the robot on the downstream side. Apparatus. 2. Each of the robot devices, when the work is once stopped and then restored, the work items are removed from the pallet until the number of the pallets carrying the work items before the work is reduced to a predetermined number or less. 2. The robot apparatus according to claim 1, wherein the robot apparatus transfers the finished product from the finished product stock unit onto the pallet and sends the finished product to the robot on the downstream side while the work device stock unit transfers the finished product. 3. Each of the robot devices transfers the finished product from the finished product stock section onto the pallet when the number of the pallets loaded with the work products before the work is reduced to a predetermined number or less, The robot apparatus according to claim 1 or 2, wherein the robot apparatus sends the robot to a downstream robot. 4. Each of the robot devices monitors the operating status of each of the other robot devices, and once the robot device on the upstream side or the downstream side of the robot device once stops, until the robot device is restored, 5. The work product before the work on the pallet or the work product in the work product stock section is subjected to the work and stocked in the finished product stock section. The robot device according to 1. 5. Each of the robot devices performs the work on the work product on the pallet or the work product in the work product stock section after the operation of the robot automation line is completed, and the finished product stock is obtained. 2. The finished product is stocked in the finished product stock section until the finished product of the unit reaches a predetermined amount.
5. The robot apparatus according to claim 4. 6. A plurality of robot devices are arranged side by side at a predetermined interval along a conveyor, and perform a predetermined work set in advance on a work product on a pallet conveyed by the conveyor, and the robot is installed on the downstream side. In a robot control method of a robot automation line for sending out to a robot device, when each of the robot devices has a predetermined number of pallets loaded with the work products before the work, the robot device outputs the work products from the pallet. While transferring the work product for performing the work to the work product stock unit, the robot device transfers the finished product from the finished product stock unit stocking the finished product of the work to the pallet. And sends it to the robot device on the downstream side. 7. When each of the robot devices recovers after the work is temporarily stopped, the work items are removed from the pallet until the number of the pallets carrying the work items before the work is reduced to a predetermined number or less. 7. The robot control method according to claim 6, further comprising transferring the finished product from the finished product stock unit onto the pallet and sending the finished product to the robot device on the downstream side, while transferring the finished product to the product stock unit. 8. Each of the robot devices, when the number of the pallets on which the work items before the work are mounted is less than a predetermined number,
8. The robot control method according to claim 6, wherein the finished product is transferred from the finished product stock section onto the pallet and sent to the downstream robot device. 9. Each robot device monitors the operating status of each of the other robot devices, and once the robot device on the upstream side or the downstream side of the robot device is stopped,
7. The work product on the pallet or the work product of the work product stock unit is subjected to the work and stocked in the finished product stock unit until the robot device is restored. 9. The robot control method according to any one of 8. 10. The finished product stock, wherein each of the robot devices performs the work on the work product on the pallet or the work product in the work product stock section after the operation of the robot automation line is completed. 10. The robot control method according to claim 6, wherein the finished product is stocked in the finished product stocking unit until the number of units reaches a predetermined amount.