JPH10138185A - Robot control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform the efficient work taking into consideration the optimum procedure such as return preparation of a robot on the way toward the stationary robot by making a movement and a stop to the posture capable of recognizing the error generation condition from the position far away. SOLUTION: In the assembly work of parts by a robot 5, if any abnormal assembly of the parts is detected by each parts checking sensor provided on a hand 10, it is checked whether or not the assembly when an error is generated is the insertion assembly after the operation speed of the robot 5 is changed from the normal speed to the evacuation speed. If the assembly when the error is generated is the insertion assembly, an arm 9 of the robot 5 is evacuated in the direction opposite to the insertion direction to realize the error expression posture.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling an industrial robot or an assembling robot, and more particularly, when stopping or restarting a robot in the event of a robot error, increases the operating rate of the line and safely controls the robot. The present invention relates to a method for controlling a robot to be operated.

[0002]

2. Description of the Related Art In various factories, products are assembled by using an automation line in which a large number of robots are introduced into a production line as shown in FIG. 16 in order to efficiently produce a large number of products with a small number of people. Often done. The automation line 101 shown in FIG. 1 includes a conveyor 102 serving as a transportation source of assembled parts, a plurality of pallets 103 on which the assembled parts are placed in a row on the conveyor 102, and the conveyor 102 A work table 104 which is arranged adjacent to the work table and serves as a jig during assembly work; and a part which is arranged near the work table 104 and which assembles parts on the work table 104 and has been assembled on the pallet 103. , A two-row parts feeder 106 arranged so that the tip thereof faces the work table 104 and supplies the robot 105 with components to be assembled, and a robot 105 arranged near the work table 104. A component supply device 107 for supplying components to be assembled to the robot 105 in a tray system, and the conveyor 102 to the component supply device Controls 07 preprogrammed assembly of components based on the contents, the control device 10 to perform the transportation task
8 is provided. The control device 108 controls the conveyor 102 to the component supply device 107 to supply the components by the part feeders 102 and the component supply device 107, to assemble the components by the robot 105, and to transfer the assembled components to the pallet 103. The process, the process of transporting each pallet 103 by the conveyor 102, and the like are repeatedly performed, and the processes of assembling and carrying out the components are performed. In this case, the robot 105 is configured to obtain multiple degrees of freedom by a plurality of arms 109 provided with a drive unit for each joint, and a target position designated from a current position by acceleration, constant speed, and deceleration operations. The operation such as machining and assembly is performed by repeating the positioning operation of being driven and stopped in a short time.

[0003]

By the way, in such an automated line 101, the target tact time of the line is determined so as to satisfy the daily production amount, and the working time of each robot 105 is determined in accordance with the tact. In addition to leveling, the assignment work of each robot 105 is determined. When various operations are automated by the robots 105, further high-speed operations and high-precision positioning operations are required in order to pursue lower processing and assembly costs, and the operating rate of the robots 105 is improved. The robot 1
It is also required to minimize the number of workers who maintain the 05. However, when performing a return operation, a restart operation, and the like when the robot 105 makes a mistake in the operation, the worker must enter the operation area of the robot 105. The work must be performed, and when the robot 105 makes a work mistake, the work efficiency is reduced at a stretch. In particular, when the operation of the robot 105 is complicated, such as when processing a large number of parts of various sizes and assembling by a single robot 105 equipped with various kinds of hands for small-lot production of various kinds, Robot 105
However, there has been a problem that work errors are likely to occur, and the maintenance work is complicated, resulting in extremely low production efficiency. Therefore, as a method of solving such a problem, the operation during the assembling work is performed in a direction opposite to that of the robot 105.
A method is provided in which a reverse direction mode is provided to return to the initial position (reference point) by operating the robot 105, and when the robot 105 makes a work mistake, the robot 105 is operated in the reverse direction mode to safely and quickly return to a stop. Has been proposed. However, in such a control method, the program in the reverse direction mode is required together with the program at the time of the assembling process. Therefore, the program amount is doubled, and the control becomes complicated at the same time. When the robot 105 is operated in the mode, the path required for the robot 105 to return to the reference point cannot be minimized, so that it takes time to perform the return operation, and further, it is not possible to guarantee the safety of the operation after the return. there were.

[0004] The present invention has been made in view of the above circumstances, and according to claim 1, what kind of error caused the robot to stop in the stop posture of the robot even when there is no worker near the robot. This makes it possible to consider the optimal procedure such as preparation for robot return on the way to a stopped robot, to perform efficient return work, and to stop multiple robots at the same time. However, an object of the present invention is to provide a robot control method capable of simultaneously recognizing the contents of each error, immediately determining the priority of the return work, and reducing unnecessary work. According to the second aspect of the present invention, the robot in which the error has occurred can be automatically retracted to the start position and returned to the standard posture, whereby the robot in which the error has occurred can be returned from the assembly error position without being manually operated. Work can be started, and complicated manual operations on the robot can be reduced to increase safety.Moreover, it is possible to return to the standard posture with the shortest path that is more efficient and finish the return operation in a short time. It is an object of the present invention to provide a control method of a robot that can be used. According to the third aspect, the robot in which the error has occurred can be automatically retracted and moved to the standard posture after the part gripped by the hand is placed at the specified position. It is possible to perform an efficient return operation by eliminating the need for operations such as moving the robot from a mis-assembly position to a standard posture by a manual operation from a user's manual operation and removing a hand grip part, and the like.
It is an object of the present invention to provide a control method of a robot, which can eliminate complicated manual operation on the robot, and further increase the safety by reducing the work that must enter the operation range of the robot.

According to a fourth aspect of the present invention, the robot in which the error has occurred is automatically retracted so that the part held by the hand is placed at a specified position, and the part on the work table being assembled is placed on the pallet. A series of return operations that move and move this pallet can be performed, so that even if an error occurs, the robot can be automatically assembled without stopping the robot and without requiring manual operation by the operator. It is an object of the present invention to provide a control method of a robot capable of coping with the problem. In claim 5,
The robot operation speed at the time of restart after a robot assembly error occurs can be lower than the normal assembly speed, so that assembly can be resumed at a safe speed even in the event of damage, misalignment, or defective parts By doing so, it is possible to prevent an unexpected situation from occurring, and further confirm that no assembly error occurs, and return to the original assembly speed,
It is an object of the present invention to provide a control method of a robot capable of making a temporal influence on an automation line almost zero. According to claim 6, when an assembly error occurs during the assembly of multiple parts, the robot assembly speed at the time of restart is reduced from the normal assembly speed for the component in which the assembly error has occurred to enhance safety, Robots that can perform efficient assembly at the same speed and efficient assembly speed for parts that do not cause assembly errors, thereby enabling assembly work while reducing the impact on tact time The purpose of the present invention is to provide a control method.

[0006]

According to a first aspect of the present invention, there is provided a drive control device having a teaching position or a registered assembly according to a program registered in a storage device. In a method of controlling a robot that repeats an assembling operation sequentially at a position, an assembling jig hand, a workbench, a work pallet is provided with a sensor for confirming the assembling operation on at least one of the work pallets, After moving the robot arm from the place where the error occurred to a position that does not interfere with the parts and retracted,
It is characterized in that the error occurrence situation is moved from a remote position to a recognizable posture and stopped. According to a second aspect of the present invention, in the method for controlling a robot according to the first aspect, a standard posture position at the start of the assembling work is provided, and when an error occurs in the assembling work, the position does not interfere with the part from the place where the error occurred After the robot arm is moved and retracted, the robot is moved to a standard posture at the start of the assembly work and stopped. According to a third aspect of the present invention, in the control method of the robot according to the first aspect, a standard posture position at the start of the assembling work and a place for assembling errors are provided, and when an error occurs in the assembling work,
Move the robot arm from the place where the error occurred to a position where it does not interfere with the parts, retract it, move it to the place where mis-assembly parts are placed, place the parts held by the assembly jig hand, and assemble It is characterized by moving to the standard posture at the start and stopping. According to a fourth aspect of the present invention, in the method for controlling a robot according to the first aspect, a standard posture position at the start of the assembly operation and a place for misassembly parts are provided, and when an error occurs in the assembly operation, a place where the error occurs After moving the robot arm to a position where it does not interfere with the parts and retracting it, move it to the place where misassembly parts are placed, place the parts held by the assembly jig hand, and on the work table in the middle of assembly The parts are held by the assembly jig hand and placed in the place where mis-assembly parts are placed or transferred to a pallet, and the conveyor is moved as an unfinished product, and after these processes are completed, assembly work is started It is characterized in that it is moved to the standard posture at the time and the assembling process for the next unit is automatically continued.
According to a fifth aspect of the present invention, in the method for controlling a robot according to the first aspect, when the robot is restarted after performing a repair operation on the robot stopped due to an assembly error, the number of units after the restart is reduced by several units. During the assembling operation, the operation speed of the robot is made lower than the normal assembling speed, the assembling operation is performed, and after confirming that no error occurs in the assembling operation, the operation speed is returned to the normal operating speed. According to a sixth aspect of the present invention, in the method for controlling a robot according to the first aspect, when the robot performing the assembly of multiple parts in one unit is stopped due to an assembly error, the robot is repaired and restarted. Only in the assembling process of the misassembled parts, the assembling work is performed with the operation speed of the robot lower than the normal operating speed, and in the assembling process of the parts without assembling errors, the assembling work is performed at the normal operating speed. It is characterized in that when it is confirmed that no error occurs in the work, assembly of all parts is started at a normal operation speed.

According to the above configuration, in the first aspect, even when no worker is present near the robot, the robot is stopped by judging what kind of error the robot has stopped in the stopped posture of the robot. On the way to the robot, consider the optimal procedure such as preparation for robot return and perform efficient return work, and even if multiple robots stop at the same time, simultaneously recognize the contents of each error and return. Immediately prioritize work and reduce wasteful work. According to claim 2, the robot in which the error has occurred is automatically retracted to the start position,
By returning the robot to the standard posture, it is possible to start the return operation without manually returning the robot where the error occurred from the assembly error position, reduce the complicated manual operation on the robot, improve safety, and improve efficiency Return to the standard attitude in the shortest path and complete the return operation in a short time.
According to a third aspect of the present invention, the robot in which the error has occurred is automatically retracted and moved to the standard posture after the part held by the hand is placed at the specified position.
Eliminates the need for the robot operator to manually move the robot from the misassembly position to the standard posture, remove the hand gripped parts, and perform other tasks such as efficient return work and complex manual operations on the robot. Increases safety by eliminating the need for tasks that need to be within the operating range of the robot. According to the fourth aspect of the present invention, the robot in which the error has occurred is automatically retracted and moved, and the parts held by the hand are placed at the designated position. Further, the parts on the work table being assembled are moved to the pallet. Even if an error occurs by performing a series of return operations for moving the pallet, an assembling error is automatically dealt with without stopping the robot and without requiring manual operation by an operator. According to the fifth aspect of the present invention, the robot operation speed at the time of restarting after the occurrence of a robot assembly error is made lower than the normal assembly speed, so that even if damage, misalignment, or defective parts should occur, a safe speed can be achieved. Then, the assembly is restarted to prevent an unexpected situation from occurring, and further, it is confirmed that no assembly error has occurred, and the assembly speed is returned to the original one, so that the time influence on the automation line is almost zero. Further, according to the present invention, when an assembly error occurs during the assembly of multiple parts, the robot assembly speed at the time of restart of the part where the assembly error has occurred is lowered from the normal assembly speed, thereby improving safety. Enhance
For the parts in which no assembly error has occurred, the assembling work is performed while reducing the influence on the tact time by performing the efficient assembling at the conventional and efficient assembling speed.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail based on an embodiment shown in the drawings. FIG. 1 is a configuration diagram showing an example of an automation line to which one embodiment of a robot control method according to the present invention is applied. Automation line 1 shown in this figure
Is a conveyor 2 serving as a transportation source of assembled parts,
Pallets 3 with a plurality of component confirmation sensors on which the assembled components are placed in a row on the conveyor 2
A work table 4 having a parts confirmation sensor disposed adjacent to the conveyor 2 and serving as a jig during assembly work; and assembling parts on the work table 4 arranged near the work table 4. A robot 5 for transferring the assembled parts on the pallet 3, and supplying the parts to be assembled to the robot 5, with the leading end facing the worktable 2 2
A part feeder 6 in a row, a part supply device 7 arranged near the work table 4 for supplying parts to be assembled to the robot 5 in a tray type, and a conveyor 2 to a part supply device 7 are controlled and programmed in advance. And a control device 8 for assembling and transporting the components based on the contents. Then, the control device 8 controls the conveyor 2 to the component supply device 7 to supply the parts by the respective part feeders 6 and the component supply device 7, assemble the components by the robot 5, and transfer the assembled components to the pallet 3. The process of loading, the process of transporting each pallet 3 by the conveyor 2, and the like are repeatedly performed, and the processes of assembling and carrying out the components are performed.

In this case, the robot 5 is configured so as to obtain multiple degrees of freedom by a plurality of arms 9 provided with a drive unit for each joint, and is designated from a current position by acceleration, constant speed, and deceleration operations. 2 and 3, the hand 10 provided at the tip of the arm 9 is operated at each component take-in location to repeat the positioning operation of stopping and driving to the target position in a short time. 4 and gripped by the parts feeder aligning unit 11, and the bearing component 12 is securely gripped by the component confirmation sensor 13 provided in the hand 10 as shown in FIG. 4. Check if. Thereafter, if the bearing component 12 is securely gripped, the arm 9 is moved so that the bearing component 12 gripped by the tip of the hand 10 at the next stop position.
The shaft holding unit 1 placed on the work table 4 as shown in FIG.
In this state, the bearing component 12 is pushed into the shaft 15 and the insertion of the bearing component 12 is confirmed by the component confirmation sensor 13. Do.

Next, the operation of this embodiment will be described with reference to flow charts and schematic diagrams shown in FIGS. <Operation of Claim 1> First, as shown in the flowchart of FIG. 6, when the assembling operation of the robot 5 is started in a state where the operation of claim 1 is designated, initial data is read (step ST1). The operation speed of the robot 5 is set to the normal speed “V _n ” based on the data (step ST2), and each arm 9 of the robot 5 is driven based on the initial data, and the hand provided at the tip of the arm 9 is operated. The operation of gripping the component supplied by each part feeder 12 or the component supplied by the tray of the component supply device 7 at the leading end of the component 10 and assembling the component to the component to be assembled on the work table 4 is repeated. Each time the assembly of the parts is completed, the parts to be assembled are transferred as finished products onto the pallet 3 on the conveyor 2 and Ri is carried out. Hereinafter, this operation is repeatedly performed until the operation of the robot 5 is completed, the designated parts are incorporated, and the product obtained by this is transferred onto the pallet 3 and carried out by the conveyor 2. (Steps ST3 to ST5).

During the assembling operation of the parts by the robot 5 described above, if an assembling abnormality (error) of the parts is detected by the parts confirmation sensors 13 provided on the hand 10, the worktable 4, the pallet 3, etc. Step ST
4) After the operation speed of the robot 5 is changed from the normal speed “V _n ” to the retreat speed “V _n2 ” (V _n2 <V _n ) (step ST6), the assembling operation when an error occurs is performed. It is checked whether it was an insertion assembly operation,
If the assembling operation when the error occurs is the insertion assembling operation (step ST7), the arm 9 of the robot 5 is retracted in the direction opposite to the insertion direction (step ST8),
If an error expressing posture is set (step ST10), and the assembling operation when an error occurs is not the inserting and assembling operation (step ST7), the arm 9 of the robot 5 is retracted upward (step ST9), and the error expression is performed. The posture is set (step ST10). In this case, when a component gripping error occurs, the robot 9 is raised to the maximum point in the upward direction as an error expressing posture, and the arm 9 is set in a straightened posture, and when a component assembling error occurs, an error occurs. The expression posture is such that the arm 9 is folded in a state where the robot 5 is raised to the maximum point in the upward direction, so that the type of error that has occurred can be recognized even when the worker is viewed from a distance. As described above, in this embodiment, when an error occurs during assembly, the arm 9 of the robot 5 is driven in a direction opposite to the assembly direction to move it to a position where it does not interfere with the parts, and then the type of error that has occurred. Is set according to the error expression posture, so that even if there is no worker near the robot 5, the robot 5 can be viewed simply by looking at the stop posture of the robot 5.
Can be determined by what kind of error the robot has stopped, so that on the way to the stopped robot 5, an optimal procedure such as preparation for robot return can be considered and an efficient return operation can be performed. be able to. further,
Even if a plurality of robots 5 stop at the same time, the contents of each error can be recognized at the same time, and the priority of the return work can be immediately determined, thereby reducing unnecessary work.

<Operation of Claim 2> As shown in the flowchart of FIG. 7, when the assembling operation of the robot 5 is started in a state where the operation of claim 2 is designated, initial data is read (step ST11). The operating speed of the robot 5 is set to the normal speed “V _n ” based on the initial data (step ST12), and each arm 9 of the robot 5 is driven based on the initial data and provided at the tip of the arm 9. The operation of repeatedly gripping the component supplied by each part feeder 6 or the component supplied by the tray of the component supply device 7 at the leading end of the hand 10 and assembling the component to the component to be assembled on the work table 4 is repeated. Every time the assembly of all parts is completed, the parts to be assembled are transferred to the pallet 3 on the conveyor 2 as finished products. It is carried out by the conveyor 2. Thereafter, this operation is repeatedly performed until the operation of the robot is completed, and the designated parts are incorporated. The product obtained by this operation is transferred onto the pallet 3 and is carried out by the conveyor 2 (step). ST13 to ST1
5). When the assembling work of all the parts is completed (step ST15), the arm 9 of the robot 5 is retracted upward, the robot 5 is set to the standard posture, and then stopped (step ST16). Also, during the assembly work of parts by the robot 5 described above, the hand 1
0, the work speed of the robot 5 is retracted from the normal speed “V _n ” when the assembly error (error) of the components is detected by the component confirmation sensors 13 provided on the work table 4, the pallet 3 and the like (step ST14). Speed “V _n2 ” (however, V _n2
<V _n ) (step ST17), it is checked whether the assembling operation when an error occurs is an insertion assembling operation, and if the assembling operation when the error occurs is an inserting and assembling operation (step ST17). ST1
8) The arm 9 of the robot 5 is retracted and moved in the direction opposite to the insertion direction (step ST19), brought into a standard posture (step ST21), and the assembly operation when an error occurs is not the insertion assembly operation (step ST21). Step ST1
8) The arm 9 of the robot 5 is retracted upward (step ST20), and is brought into the standard posture (step S20).
T21).

As described above, in this embodiment, when an error occurs during assembly, the arm 9 of the robot 5 is driven in a direction opposite to the assembly direction to move it to a position where it does not interfere with the parts, and then set to the standard posture. Since the robot 5 is stopped, the robot 5 in which the error has occurred can be automatically retracted to the start position and returned to the standard posture, whereby the robot 5 in which the error has occurred can be manually returned from the assembly error position. And a return operation can be started. This can reduce the number of complicated manual operations on the robot 5 and improve safety, and can return to the standard posture with an efficient shortest path, thereby completing the return operation in a short time.

<Operation of Claim 3> As shown in the flowchart of FIG. 8, when the operation of Claim 3 is designated,
When the assembling operation of the robot 5 is started, initial data is read (step ST22). Based on the initial data, the operating speed of the robot 5 is set to the normal speed "Vn" (step ST23), and the initial data is read. Each arm 9 of the robot 5 is driven based on the
The components supplied by the respective parts feeders 6 or the components supplied by the tray of the component supply device 7 are gripped by the distal end of the hand 10 provided at the distal end of the hand 10 and assembled to the component to be assembled on the work table 4. Is repeated, and every time the assembly of all the components is completed, the assembly target component is transferred as a finished product onto the pallet 3 on the conveyor 2 and carried out by the conveyor 2. Hereinafter, this operation is repeatedly performed until the operation of the robot 5 is completed, the designated parts are incorporated, and the product obtained by this is transferred onto the pallet 3 and carried out by the conveyor 2. (Steps ST24 to ST2
6). Then, when all the assembling work of all the parts is completed (step ST26), the arm 9 of the robot 5 is retracted upward, the robot 5 is brought to the standard posture, and then stopped (step ST27). .

Also, during the assembly of parts by the robot 5 described above, if a component assembly abnormality (error) is detected by each of the component confirmation sensors 13 provided on the hand 10, the worktable 4, the pallet 3, etc. Step ST
25) After the operation speed of the robot 5 is changed from the normal speed “V _n ” to the retreat speed “V _n2 ” (V _n2 <V _n ) (step ST28), the assembling operation when an error occurs is performed. It is checked whether or not the operation is the insertion and assembling operation. If the assembling operation when the error occurs is the insertion and assembling operation (step ST29), the arm 9 of the robot 5 is retracted and driven in the direction opposite to the inserting direction (step ST29).
30), is moved to the assembly error parts storage space 16 arranged near the work table 4 as shown in FIG. 9 (step ST).
32) Then, after the chuck is opened and the component gripped by the hand 10 is placed on the mis-assembly component storage space 16 (step ST33), it is moved again to the standard posture (step ST34). If the assembling operation at the time of occurrence of the error is not the inserting and assembling operation (step ST29), the arm 9 of the robot 5 is retracted upward (step ST31), and an assembling error arranged near the work table 4 is performed. After being moved to the component storage 16 (step ST32), the chuck is opened, and the component held by the hand 10 is placed on the mis-assembled component storage 16 (step ST33). The standard posture is set (step ST34).

As described above, in this embodiment, when an error occurs during the assembly, the arm 9 of the robot 5 is driven in the direction opposite to the assembly direction, and the parts gripped by the hand 10 are stored in the wrong parts storage area. After being placed on the robot 16, the robot is moved again to a position where it does not interfere with the parts and stopped in the standard posture, so that the operator of the robot 5 manually assembles the robot 5 from the mis-assembly position to the standard posture. This eliminates the need for operations such as movement of the robot, removal of parts held by the hand 10, and allows efficient return work, and eliminates the need for complicated manual operations on the robot 5 and the operation of the robot 5. The work required to enter the range can be reduced and safety can be increased.

<Operation of Claim 4> When the assembling operation of the robot 5 is started with the operation of claim 4 specified as shown in the flowchart of FIG. 10, initial data is read (step ST41). ), The operating speed of the robot 5 is set to the normal speed “V _n ” based on the initial data (step ST42), and each arm 9 of the robot 5 is driven based on the initial data, Parts or parts supply device 7 supplied by each parts feeder 6 at the tip of the provided hand 10
The operation of gripping the parts supplied by the trays and assembling the parts on the work table 4 on the side of the parts to be assembled on the work table 4 is repeated, and every time all parts are assembled, the parts to be assembled are regarded as finished products on the conveyor 2. It is transferred onto an upper pallet 3 and carried out by the conveyor 2. Hereinafter, this operation is repeatedly performed until the operation of the robot 5 is completed, the designated parts are incorporated, and the product obtained by this is transferred onto the pallet 3 and carried out by the conveyor 2. (Step ST43
To ST45). Then, when all the assembling work of all parts is completed (step ST45), the arm 9 of the robot 5 is retracted upward, the robot 5 is brought to the standard posture, and then stopped (step ST46). .

During the assembly of the parts by the robot 5 described above, if an abnormality in the assembly of the parts (error) is detected by the respective parts confirmation sensors 13 provided on the hand 10, the worktable 4, the pallet 3, etc. Step ST
44) After the operation speed of the robot 5 is changed from the normal speed “V _n ” to the retreat speed “V _n2 ” (V _n2 <V _n ) (step ST47), the assembling operation when an error occurs is performed. It is checked whether or not the operation is the insertion and assembling operation. If the assembling operation when the error occurs is the insertion and assembling operation (step ST48), the arm 9 of the robot 5 is retracted in the direction opposite to the insertion direction (step STST).
49) Then, it is moved to the mis-assembled parts storage 16 arranged near the work table 4 (step ST51), where the chuck is opened, and the parts gripped by the hand 10 are placed on the mis-assembled parts storage 16. (Step S
T52). If the assembling operation when the error occurs is not the inserting and assembling operation (step ST48), the arm 9 of the robot 5 is retracted upward (step S48).
T50), it is moved to the mis-assembled parts storage 16 arranged near the work table 4 (step ST51), where the chuck is opened, and the parts held by the hand 10 are placed on the mis-assembled parts storage 16 It is placed (step ST52).

Next, the arm 9 of the robot 5 is
The hand 10 is moved up again (step ST53).
The part being assembled on the worktable 4 is gripped by the tip of the work table 4 (step ST54), transferred onto the pallet 3 (step ST55), moved again to the standard posture (step ST56), operation speed of the robot 5 is changed to normal speed "V _n" from the retracted velocity "V _n2" (step ST57), the pallet 3 is carried out by the conveyor 2 (step ST58). Thereafter, the operation of assembling the remaining parts is repeatedly performed until the operation of the robot 5 is completed, and the designated parts are incorporated. The product obtained by this is transferred to the pallet 3 and is transferred to the conveyor 2. (Step ST43)
To ST45). Then, when all the assembling work of all parts is completed (step ST45), the arm 9 of the robot 5 is retracted upward, the robot 5 is brought to the standard posture, and then stopped (step ST46). . As described above, in this embodiment, when an error occurs during the assembly, the arm 9 of the robot 5 is driven in the direction opposite to the assembly direction, and the component held by the hand 10 is placed on the assembly error component storage space 16. After placing, the parts that are still being assembled on the worktable 4 are transferred to the pallet 3 and are carried out. After returning to the standard posture, an error occurs because the normal assembly processing is resumed. Even if the robot 5 is not stopped, and the manual operation of the operator is not required, the assembly error can be automatically dealt with.

<Operation of Claim 5> As shown in the flow chart of FIG. 11, when the assembling operation of the robot 5 is started with the operation of claim 5 specified, initial data is read (step ST61). It is checked whether the current assembly cycle is the first assembly cycle. If the current assembly cycle is the first assembly cycle (step ST62), the operation speed of the robot 5 is set to the normal speed “V _n ”. (Step ST6
3). If the current assembly cycle is the second or subsequent assembly cycle, it is checked whether or not an assembly error has occurred in the last several assembly cycles, for example, in the past one to three assembly cycles. in if assembled miss has occurred (step ST62), the operation speed of the robot 5 is held in the normal speed "V _n" (step ST63), also if assembled miss occurs in the assembly cycle up to the previous time ( step ST62), the operation speed of the robot 5 is changed from the normal speed "V _n" in the assembly miss confirmation velocity "V _n3" (where, V _n3 <V _n) (step ST64).

Thereafter, each arm 9 of the robot 5 is driven based on the initial data, and a component or a component supply device 7 supplied by each of the parts feeders 6 is provided at the tip of a hand 10 provided at the tip of the arm 9. The operation of gripping the components supplied by the trays and assembling the components to be mounted on the worktable 4 on the work table 4 is repeated, and every time when all the components have been mounted, the components to be mounted are regarded as finished products as a conveyor. Is transferred onto the pallet 3 on the pallet 2 and carried out by the conveyor 2 (step S
T65 to ST67). Hereinafter, this operation is repeatedly performed until the operation of the robot 5 is completed, the designated parts are incorporated, and the product obtained by this is transferred onto the pallet 3 and carried out by the conveyor 2. (Steps ST62 to ST67). Then, when all the assembling work of all the parts is completed (step ST67), the arm 9 of the robot 5 is retracted upward, the robot 5 is brought to the standard posture, and then stopped (step ST68). .

During the assembly of the parts by the robot 5 described above, if an abnormality in the assembly of the parts (error) is detected by the respective parts confirmation sensors 13 provided on the hand 10, the worktable 4, the pallet 3 and the like ( Step ST
66) After the operating speed of the robot 5 is changed from the normal speed “V _n ” to the retreat speed “V _n2 ” (V _n2 <V _n ) (step ST69), the assembling operation when an error occurs is performed. It is checked whether or not the insertion and assembling operation has been performed. If the assembling operation at the time of occurrence of the error is the insertion and assembling operation (step ST70), the arm 9 of the robot 5 is retracted in the direction opposite to the insertion direction to return to the standard posture. (Steps ST71 and ST73), and if the assembling operation at the time of occurrence of the error is not the inserting and assembling operation (Step ST70), the arm 9 of the robot 5 is retracted upward and set to the standard posture ( Step ST7
2, ST73), the content of the assembly error is stored, and thereafter,
The assembling speed at the time of restart is determined based on the stored contents (step ST74). As described above, in this embodiment, when an error occurs during assembly, the arm 9 of the robot 5 is driven in the direction opposite to the assembly direction to return to the standard posture, and the contents of the assembly error are stored.
1 to 3 times, the robot 5 is operated at the assembly error confirmation speed “V _n3 ”. Therefore, the robot operation speed at the time of restart after the assembly error of the robot 5 occurs should be lower than the normal assembly speed. As a result, even in the event of breakage, misalignment, or defective parts, assembly can be restarted at a safe speed to prevent an unexpected situation from occurring. Further, it can be confirmed that no assembly error occurs, and the assembly speed can be returned to the original assembly speed, thereby making it possible to make the time influence on the automation line 1 almost zero.

<Operation of Claim 6> As shown in the flowchart of FIG. 12, when the assembling operation of the robot 5 is started with the operation of claim 6 specified, initial data is read (step ST81). ), It is checked whether the current assembly cycle for part A is the first assembly cycle. If the current assembly cycle is the first assembly cycle for part A (step ST82), the operation speed of robot 5 is set to the normal speed. V _n ”
Is set (step ST83). If the current assembly cycle for the part A is the second or later assembly cycle, it is checked whether or not an assembly error has occurred in several previous assembly cycles, for example, in the past one to three assembly cycles. If no assembly error has occurred in the assembly cycle (step ST82), the operation speed of the robot 5 is maintained at the normal speed “V _n ” (step ST82).
83) Also, if an assembly error has occurred in the previous assembly cycle (step ST82), the operation speed of the robot 5 is changed from the normal speed “V _n ” to the assembly error confirmation speed “V”.
_n3 "(However, V _n3 <V _n) is changed to (step ST
84). Next, each arm 9 of the robot 5 is driven based on the initial data, and the tip of the hand 10 provided at the tip of the arm 9 is used to drive the parts A supplied by the respective parts feeders 6 or the tray of the parts supply device 7. The supplied part A is gripped and assembled on the part to be assembled on the worktable 4 (step ST8).
5) It is checked whether or not a component assembly abnormality (error) is detected by the component confirmation sensors 13 provided on the hand 10, the worktable 4, the pallet 3, and the like.

If no error has been detected by each of these component confirmation sensors 13 (step ST8)
6) It is checked whether the current assembly cycle for the next assembly part, ie, part B, is the first assembly cycle, and if the current assembly cycle is the first assembly cycle for part B (step ST87),
The operation speed of the robot 5 is set to the normal speed “V _n ” (step ST88). If the current assembly cycle for part B is the second or later assembly cycle,
It is checked whether an assembly error has occurred in several cycles up to the previous time, for example, in the past one to three cycles, and if no assembly error has occurred in the previous assembly cycle (step ST87), the operation of the robot 5 is performed. speed is held at normal speed "V _n" (step ST88), also assembled from if assembled miss occurs in the assembly cycle up to the previous (step ST87), the operation speed of the robot 5 is normal speed "V _n" Miss confirmation speed “V _n3 ” (However, V
_n3 <is changed to V _n) (step ST89).

Next, each arm 9 of the robot 5 is driven based on the initial data, and the component B or the component supply device 7 supplied by each of the parts feeders 6 at the tip of the hand 10 provided at the tip of the arm 9. The component B supplied by the tray is gripped and assembled to the assembly target component side on the work table 4 (step ST90), and each component confirmation sensor provided on the hand 10, the work table 4, the pallet 3, and the like. It is checked by 13 whether or not an assembly error (error) has been detected. If no error has been detected by each of these component confirmation sensors 13 (step ST91), it is checked whether or not the current assembly cycle for the next assembly component, that is, component C, is the first assembly cycle, and the current assembly cycle is performed. If the cycle is the first assembly cycle for the part C (step ST92), the operation speed of the robot 5 is set to the normal speed “V _n ” (step ST93). If the current assembly cycle for the part C is the second or subsequent assembly cycle, it is checked whether or not an assembly error has occurred in the last several cycles, for example, in the past one to three cycles. If an assembly error has not occurred in the assembly cycle (step ST92), the operation speed of the robot 5 becomes the normal speed “V _n ”.
(Step ST93), and if an assembly error has occurred in the previous assembly cycle (step S93).
T92), the operation speed of the robot 5 is changed from the normal speed “V _n ” to the assembly error confirmation speed “V _n3 ” (where V _n3 <V _n ) (step ST94).

Next, each arm 9 of the robot 5 is driven based on the initial data, and the tip of the hand 10 provided at the tip of the arm 9 is used to drive the component C or the component supply device 7 supplied by each part feeder 6. The components C supplied by the tray are gripped and assembled on the assembly target component side on the work table 4 (step ST95), and the component confirmation sensors provided on the hand 10, the work table 4, the pallet 3, and the like. It is checked by 13 whether or not an assembly error (error) has been detected. If no error has been detected by each of these component confirmation sensors 13 (step ST96), the above-described components A, B, and C until the operation of the robot 5 ends.
Are repeatedly performed, and the product obtained by this is transferred onto the pallet 3 and carried out by the conveyor 2 (steps ST82 to ST97). Then, when all the assembling work of all parts is completed (step ST
97), the arm 9 of the robot 5 is retracted upward, and the robot 5 is brought to the standard posture, and then stopped (step ST98).

Also, the parts A,
During one of the assembly operations B and C, the hand 1
0, if the component confirmation sensor 13 provided on the workbench 4, the pallet 3 or the like detects a component assembly abnormality (error) (steps ST86, ST91, ST96).
As shown in the flowchart of FIG. 13, the operation speed of the robot 5 is changed from the normal speed “V _n ” to the retreat speed “V _n2 ” (where V
_n2 <after being changed to V _n) (step ST99), checks whether the assembly operation when an error occurs was inserted assembling operation, if the assembling operation to insert the assembly operation when an error occurs ( Step ST10
0), the arm 9 of the robot 5 is retracted in the direction opposite to the insertion direction, and is set to the standard posture (step ST103),
If the assembling operation at the time of occurrence of the error is not the inserting and assembling operation (step ST100), the arm 9 of the robot 5 is retracted upward and brought to the standard posture (step ST102). Is stored, and the assembling speed at the time of restart is determined based on the stored contents (step ST104).
In this manner, in this embodiment, when an error occurs during the assembly of each of the parts A, B, and C, the arm 9 of the robot 5 is driven in the direction opposite to the assembly direction, and is returned to the standard posture and then assembled. Memorize the content of the mistake, and once to three times,
Since the robot 5 is operated at the assembly error confirmation speed “V _n3 ”, when an assembly error occurs during the assembly of multiple parts, the robot assembly speed at the time of restarting the part where the assembly error occurred is determined. For parts with lower safety than normal assembly speed and no assembly errors, efficient assembly can be performed at the same speed and efficient assembly speed as before, thereby reducing tact time. Assembly work can be performed with less influence.

<Other First Operation> As shown in the flowchart of FIG. 14, when the assembling operation of the robot 5 is started in a state where another first operation is designated, initial data is read (step ST111). It is checked whether the current assembly cycle is the first assembly cycle. If the current assembly cycle is the first assembly cycle (step ST112), the operation speed of the robot 5 is set to the normal speed “V _n ”. (Step ST1
13). Also, if the current assembly cycle is the second or later assembly cycle, several times up to the previous
Assembly mistakes in times to 3 times of the cycle is checked whether or not occurred, unless assembled miss occurs in the assembly cycle of up to the previous time (step ST112), the operating speed of the robot 5 to normal speed "V _n" held (step ST113), also if assembled miss occurs in the assembly cycle up to the previous (step ST 112), the assembly operation speed of the robot 5 from the normal speed "V _n" miss confirmation velocity "V _n3" (where It is changed to V _n3 <V _n) (step ST114). Thereafter, each arm 9 of the robot 5 is driven based on the initial data, and the parts supplied by the respective parts feeders 6 at the tip of the hand 10 provided at the tip of the arm 9 or supplied by the tray of the component supply device 7. The operation of holding the assembled component and assembling it on the assembly target component side on the work table 4 is repeated, and each time all components are assembled, the assembly target component is on the conveyor 2 as a completed product. It is transferred onto the pallet 3 and carried out by the conveyor 2. Less than,
This operation is repeated until the operation of the robot 5 is completed, the designated parts are incorporated, and the product obtained by this is transferred onto the pallet 3 and carried out by the conveyor 2 (step). ST112 to ST11
7). When the assembling work of all the parts has been completed (step ST117), the arm 9 of the robot 5 is retracted upward, the robot 5 is brought to the standard posture, and then stopped (step ST118).

During the assembly of the parts by the robot 5 described above, if an abnormality in assembly of the parts (error) is detected by the parts confirmation sensor 13 provided on the hand 10, the worktable 4, the pallet 3, etc. Step ST
116), after the operating speed of the robot 5 is changed from the normal speed “V _n ” to the retreat speed “V _n2 ” (V _n2 <V _n ) (step ST119), the assembling operation when an error occurs is performed. It is checked whether or not the operation is the insertion and assembling operation. If the assembling operation when the error occurs is the insertion and assembling operation (step ST120), the arm 9 of the robot 5 is retracted in the direction opposite to the inserting direction (step ST121). Is moved to the mis-assembly parts storage 16 arranged near the worktable 4 (step ST12).
3) At this point, the chuck is opened, and the parts held by the hand 10 are placed on the mis-assembly parts storage 16 (step ST124). Also, the assembling operation when the error occurs is not the insertion assembling operation (step S
T120), the arm 9 of the robot 5 is retracted upward (step ST122), and is moved to the mis-assembled parts storage 16 arranged near the work table 4 (step ST123), where the chuck is opened. Hand 10
Is placed on the mis-assembly parts storage 16 (step ST124).

Next, the arm 9 of the robot 5 is
It is moved up again (step ST125), and hand 1
The part being assembled on the work table 4 is gripped by the leading end of the work table 4 (step ST126), and is transferred onto the pallet 3 (step ST127), and then moved again to the standard posture (step ST127). ST128), the operation speed of the robot 5 is changed from the retreat speed “V _n2 ” to the normal speed “V _n ”.
(Step ST129), the pallet 3 is carried out by the conveyor 2 (Step ST130), and the contents of the assembly error are stored.
The assembling speed at the time of restart is determined based on the stored contents (step ST131). Hereinafter, this operation is repeatedly performed until the operation of the robot 5 is completed, the specified parts are incorporated, and the product obtained by this is transferred to the pallet 3 and is transferred to the conveyor 2.
(Steps ST112 to ST11)
7). Then, when all the assembling work of all parts is completed (step ST117), the arm 9 of the robot 5 is retracted upward, the robot 5 is brought to the standard posture, and then stopped (step ST118). . As described above, in this embodiment, in the automatic error recovery work operation of the robot 5, the assembling speed is reduced in the assembly cycle next to the assembly cycle in which the assembly error has occurred, so that the operator is present in the error recovery processing. Even when it is not, the assembling work can be continued while confirming the safety after a trouble such as a large damage.

<Other Second Operation> When the assembling operation of the robot 5 is started in a state where another second operation is designated as shown in the flowchart of FIG. 15, initial data is read (step S1). In step ST141), it is checked whether or not the current assembly cycle is the first assembly cycle. If the current assembly cycle is the first assembly cycle (step ST142), the operation speed of the robot 5 is set to the normal speed “V _n ”. (Step ST
143). If the current assembly cycle is the second or subsequent assembly cycle, it is checked whether or not an assembly error has occurred in the previous several cycles, for example, in the past one or two cycles, and in the previous assembly cycle. if assembled miss has occurred (step ST142), the operation speed of the robot 5 is held in the normal speed "V _n" (step ST143), also if assembled miss occurs in the assembly cycle up to the previous time (step ST142), the operation speed of the robot 5 is changed from the normal speed "V _n" in the assembly miss confirmation velocity "V _n3" (where, V _n3 <V _n) (step ST144).

Thereafter, each arm 9 of the robot 5 is driven based on the initial data, and the parts supplied by the respective parts feeders 6 at the tip of the hand 10 provided at the tip of the arm 9 or the parts supply device 7 The operation of gripping the component supplied by the tray and assembling the component on the side of the assembly target component on the worktable 4 is repeated,
Each time the assembly of all the components is completed, the assembly target component is transferred as a finished product onto the pallet 3 on the conveyor 2 and carried out by the conveyor 2. Hereinafter, robot 5
This operation is repeatedly performed until the operation of is completed, the designated parts are incorporated, and the product obtained by this is transferred onto the pallet 3 and carried out by the conveyor 2 (steps ST142 to ST147). ). Then, when all the assembling work of all the parts is completed (step ST147), the arm 9 of the robot 5 is retracted upward, the robot 5 is set to the standard posture, and then stopped (step ST148). .

During the assembly of parts by the robot 5 described above, if an abnormality in assembly of parts (error) is detected by the parts confirmation sensors 13 provided on the hand 10, the worktable 4, the pallet 3, etc. Step ST
146) After the operation speed of the robot 5 is changed from the normal speed “V _n ” to the retreat speed “V _n2 ” (V _n2 <V _n ) (step ST149), the assembling operation when an error occurs is performed. It is checked whether or not the operation is the insertion and assembling operation. If the assembling operation when the error occurs is the insertion and assembling operation (step ST150), the arm 9 of the robot 5 is retracted in the direction opposite to the insertion direction (step ST151). Is moved to the mis-assembled parts storage 16 arranged near the worktable 4 (step ST15).
3) At this point, the chuck is opened, and the component held by the hand 10 is placed on the mis-assembly component storage 16 (step ST154). Also, the assembling operation when the error occurs is not the insertion assembling operation (step S
T150), the arm 9 of the robot 5 is retracted upward (step ST152), and is moved to the mis-assembled parts storage 16 arranged near the work table 4 (step ST153), where the chuck is opened. Hand 10
Is placed on the mis-assembly parts storage 16 (step ST154).

Next, the arm 9 of the robot 5 is
It is moved up again (step ST155), and the hand 1
The part that is being assembled on the work table 4 is gripped by the leading end of Step 0 (Step ST156), and is transferred onto the pallet 3 (Step ST157), and then moved again to the standard posture (Step ST158). ), Robot 5
Is changed from the retreat speed “V _n2 ” to the normal speed “V _n ” (step ST159), and the pallet 3 is carried out by the conveyor 3 (step ST16).
0), the content of the assembly error is stored, and thereafter the assembly speed at the time of restart is determined based on the stored content (step ST161). Thereafter, the number of consecutive assembly errors is stored, and it is determined whether an assembly error has occurred consecutively three or more times. If an assembly error has occurred consecutively three or more times (step ST16)
3) The arm 9 of the robot 5 is returned to the standard posture and is stopped (step ST164).

If no assembly error has occurred consecutively three or more times (step ST163), the robot 5
The above-mentioned operations are repeatedly performed until the operation of the conveyor is completed, the designated parts are incorporated, the product obtained by this is transferred onto the pallet 3, and the conveyor 2
(Steps ST142 to ST14)
7). When the assembling work of all the parts is completed (step ST147), the arm 9 of the robot 5 is retracted upward, the robot 5 is brought to the standard posture, and then stopped (step ST148). As described above, in this embodiment, in the automatic error recovery work operation of the robot 5, the assembling speed is reduced in the assembling cycle next to the assembling cycle in which the assembling error has occurred, and the assembling error occurs continuously three times or more. The robot 5 is returned to the standard posture and stopped when it is done, so when no worker is present at the error recovery processing, assembly work is continued while confirming safety after a major damage or other trouble. When an assembly error occurs three or more times in a row, the robot is returned to the standard posture and stopped, thereby ensuring higher safety.
Useless defective assembly work can be prevented from continuing.

[0036]

As described above, according to the present invention, according to the first aspect, even if there is no worker near the robot, it is possible to determine what kind of error the robot has stopped in the stopped posture of the robot. In the course of heading for a stopped robot, the optimal procedure such as preparation for robot return can be considered and efficient return work can be performed. However, it is possible to simultaneously recognize the contents of each error, immediately determine the priority order of the return work, and reduce unnecessary work. According to the second aspect, the robot in which the error has occurred can be automatically retracted to the start position and returned to the standard posture, so that the robot in which the error has occurred does not need to be manually returned from the assembly error position. In addition to being able to start the return work, it is also possible to reduce the complicated manual operation on the robot and improve the safety, return to the standard posture with the shortest efficient path, and finish the return operation in a short time Can be done.

According to the third aspect, the robot in which the error has occurred can be automatically retracted and moved to the standard posture after the part held by the hand is placed at the designated position. By the robot operator,
Eliminates the need for manual operations such as moving the robot from the misassembly position to the standard posture, removing the hand gripped parts, etc., allowing efficient return work, and eliminating the need for complicated manual operations on the robot. In addition, the number of operations that need to enter the operation range of the robot can be reduced, and safety can be improved. According to a fourth aspect of the present invention, the robot in which the error has occurred is automatically retracted, the parts held by the hand are placed at the designated position, and the parts on the work table being assembled are moved to the pallet. A series of return operations to move the lever pallet can be performed, and even if an error occurs, the robot can be automatically assembled without stopping the robot and without requiring manual operation by the operator. Can be dealt with.

According to the fifth aspect of the present invention, the operation speed of the robot at the time of restarting after a robot assembly error occurs can be made lower than the normal assembly speed, which may cause breakage, misalignment and defective parts. Even when assembly is resumed at a safe speed, unexpected situations can be prevented, and after confirming that no assembly errors have occurred, the assembly speed can be returned to the original assembly speed, and the time required for the automation line can be reduced. Effect can be reduced to almost zero. Further, according to the present invention, when an assembly error occurs during the assembly of multiple parts, the robot assembly speed at the time of restart of the part where the assembly error has occurred is lowered from the normal assembly speed, thereby improving safety. For components that have been raised and assembly errors have not occurred, efficient assembly can be performed at the conventional speed and efficient assembly speed, thereby performing assembly work while reducing the effect on tact time. be able to.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing an example of an automation line to which an embodiment of a robot control method according to the present invention is applied.

FIG. 2 is a plan view showing an example of a component supply operation by the parts feeder shown in FIG.

FIG. 3 is a plan view showing an example when the part shown in FIG. 2 is gripped by a robot hand.

FIG. 4 is a cross-sectional view when the component is gripped by the hand shown in FIG. 3 and viewed from the side.

FIG. 5 is a cross-sectional view of an operation when inserting a bearing component into a shaft arranged long in the lateral direction by the robot shown in FIG. 1 when viewed from above.

FIG. 6 is a flowchart showing an operation example corresponding to claim 1 among operations of the automation line shown in FIG. 1;

FIG. 7 is a flowchart showing an operation example corresponding to claim 2 among the operations of the automation line shown in FIG. 1;

FIG. 8 is a flowchart showing an operation example corresponding to claim 3 among the operations of the automation line shown in FIG. 1;

FIG. 9 is a schematic diagram showing an operation example corresponding to claim 3 among the operations of the automation line shown in FIG. 1;

FIG. 10 is a flowchart showing an operation example corresponding to claim 4 among the operations of the automation line shown in FIG. 1;

FIG. 11 is a flowchart showing an operation example corresponding to claim 5 among the operations of the automation line shown in FIG. 1;

FIG. 12 is a flowchart showing an operation example corresponding to claim 6 among the operations of the automation line shown in FIG. 1;

FIG. 13 is a flowchart showing an operation example corresponding to claim 6 among the operations of the automation line shown in FIG. 1;

FIG. 14 is a flowchart showing an operation example corresponding to another first operation among the operations of the automation line shown in FIG. 1;

FIG. 15 is a flowchart illustrating an operation example corresponding to another second operation among the operations of the automation line illustrated in FIG. 1;

FIG. 16 is a configuration diagram showing an example of a conventionally known automation line.

[Explanation of symbols]

1 ... Automation line, 2 ... Conveyor, 3 ... Pallet, 4 ...
Work table, 5: robot, 6: parts feeder, 7: parts supply device, 8: control device, 9: arm, 10: hand,
11: Parts feeder alignment section, 12: Bearing parts, 13 ...
Parts confirmation sensor, 14: Shaft holder, 15: Shaft, 16: Place for mis-assembly parts

Claims (6)

[Claims] 1. A method for controlling a robot having a drive control device and repeatedly performing an assembling operation sequentially at a teaching position or a registered assembling position according to a program registered in a storage device, comprising: an assembling jig hand; In one or more of the work pallets, a sensor for confirming the assembling work is provided, and when an error occurs in the assembling work, the robot arm is moved and evacuated from the place where the error occurred to a position where it does not interfere with the parts. A method of controlling a robot, comprising: moving an error occurrence situation from a remote position to a recognizable posture and stopping the robot. 2. The robot control method according to claim 1, wherein a standard posture position at the start of the assembly work is provided, and when an error occurs in the assembly work, a position from the place where the error occurred to a position that does not interfere with the parts is provided. A method for controlling a robot, comprising moving an arm of the robot to retreat, moving the arm to a standard posture at the start of assembly work, and stopping the robot. 3. The robot control method according to claim 1, wherein a standard posture position at the start of the assembling work and a place for assembling errors are provided, and when an error occurs in the assembling work, the parts are removed from the place where the error occurred. Move the robot arm to a position where it does not interfere with the robot and retract it, then move it to the place where mis-assembly parts are placed, place the parts held by the assembly jig hand, and return to the standard posture at the start of assembly work A robot control method characterized by moving and stopping. 4. The robot control method according to claim 1, wherein a standard posture position at the start of the assembling work and a place for assembling misplaced parts are provided, and when an error occurs in the assembling work, the parts are removed from the place where the error occurred. After moving the robot arm to a position where it does not interfere with the robot and retracting it, move it to the place where mis-assembly parts are placed, place the parts held by the assembly jig hand, and place the parts on the work table in the middle of assembly With the assembly jig hand, put it in the place where misassembly parts are placed, or transfer it to a pallet,
A robot control characterized by performing a process of moving a conveyor as an unfinished product, and after completing these processes, moving the conveyor to a standard posture at the start of assembly work and automatically continuing the assembly process for the next unit. Method. 5. The robot control method according to claim 1, wherein after performing a repairing operation on the robot stopped due to an assembly error, when the robot is restarted, a number of units equivalent to several units after the restart are provided. A method of controlling a robot, comprising, during an assembling operation, performing an assembling operation with the operation speed of the robot lower than a normal assembling speed, confirming that no error occurs in the assembling operation, and returning to an ordinary operation speed. . 6. The robot control method according to claim 1, wherein when the robot for assembling a multi-part by one unit is stopped due to an assembly error, the robot is repaired and restarted by performing a repair operation. Only in the assembly process of parts, the operation speed of the robot is slower than the normal operation speed and assembly work is performed.In the assembly process of parts without assembly errors, assembly work is performed at the normal operation speed, and errors occur in this assembly work A method for controlling a robot, comprising: starting assembly of all parts at a normal operation speed when it is confirmed that the operation is not performed.