JPS5927310A - Work cell control device - Google Patents

Abstract

PURPOSE:To connect easily each device in a cell to a high rank device, by providing an interface circuit corresponding to a signal form of a connected apparatus, on an interface device. CONSTITUTION:An interface device 100 connected to a cell group centralized control device CIC through a serial loop line SLN is provided with interface circuits 102a-102c and 102d corresponding to a signal form of a connected apparatus. Also, the interface circuits 102a-102c are connected to a numerical control device 2 of a machine tool 3, a robot control device 4 and a monitor device 6, respectively, and exchange a signal. Also, the interface circuit 102d is connected to a cell controller 1' and exchanges a signal. By forming in this way, each device in a cell can be connected easily to a high rank device.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a work cell control device for controlling a work cell composed of numerically controlled work machines, robots, and other automated equipment, and in particular to a work cell control device for controlling a work cell composed of numerically controlled work machines, robots, and other automated equipment, and particularly to a work cell control device for controlling a work cell. The present invention relates to a work cell control device that can be coupled to the device.

In recent years, many factory automation systems have been developed with the aim of unmanning manufacturing processes. For example, a processing cell consisting of an industrial robot, a numerically controlled machine tool, and automated equipment such as a monitor is set up, and when unprocessed parts are transported to the processing cell, the industrial robot picks up the parts. ,
Set it on a numerically controlled machine tool, process the parts with the machine tool,
A system has been developed in which an industrial robot picks up the machined part from the machine and machine after processing is completed, and carries it to a designated location repeatedly.

As shown in FIG. 1, this system includes a numerical control device (t2) that controls the machine 3, a robot control device 4 that controls the robot 5, and a monitor device 6 connected to the sequencer 1. 1 was to control these devices f&l)=fence to execute the desired work. On the other hand, when considering automation of the entire factory, a cell group central control device consisting of a host computer is installed in the center, and each cell is connected to it, work instruction information is given to the cells, and work status information is received from the cells to perform work. However, in the conventional configuration, the sequencer 1 itself does not have a high-level interface function, so it is impossible to overthrow this system. For this reason, it may be possible to provide the sequencer 1 with an interface function, but the sequencer 1 itself is 1/l)0 intern eight, and the numerical control work machine and robot control device are the same as the sequencer 1. It is possible to communicate using an efficient full-duplex H8-232C interface, but it is not a good idea to provide an interface rich in these interfaces in the noqueous source 1 itself as it would require significant modification. It is also possible to connect directly to the cell group central control device without providing the sequencer 1;
This is not a good idea as the load on the central control device becomes large.

Therefore, it is an object of the present invention to provide a work cell control device in which the sea fence control of the cell itself is carried out in 41 rows within the cell, and in which each device in the cell with different formats can be easily connected to a host device. There is something to do.

Hereinafter, the present invention will be explained in detail with reference to Examples.

Fig. 2d is a schematic diagram of an embodiment of the present invention, in which the same parts as in Fig. 1 are indicated by the same signals;
' is a cell group central control device consisting of a computer.
, issues 16 work instructions for each cell, receives signals indicating the work progress status of each cell, and grasps the progress status of the entire factory. SLN is a serial lube line, and the cable is wired in a loop. Cell Liver Intensive Tube (IC)
It is the Ata Highway that connects the cells. 100 is an interface device, a serial loose line l
, N, and is connected to [grave noal rule / δ1. N
f: Intermediate cell group centralized control embedded [('1'(') which exchanges information with each device in the cell and will be described later, 1' is a cell controller, numerical control device 2, robot control It is connected to the device 4 and the processing monitor 6 and controls these in sequence.Interface 1tt
i100 and cell controller 1' constitute a cell control device.

The operation of the embodiment configuration shown in FIG. 2 will be explained.

When the cell controller 1', which will be described later, controls the numerical control device 2, the robot control device, and the monitor device 6 to complete the work preparation process, it sends a preparation completion signal to the serial loop line SLN via the interface device 100, and the cell cluster Notify the middle management device CIC. serial loop 8
The LN is configured so that a signal is placed in an empty slot and the signal in that slot is received at a designated destination. Next, the cell group central control device CIC transmits the day's work instruction information (part number, quantity, etc.) to the interface device 100 via the serial loose line 8LN, and the interface device 100 sends it to the designated device 2.4. Thereafter, the cell controller 1' performs a sequence process to be described later, and controls the numerical control device 2, robot control device 4, and monitor device 6.
The machine tool 3 and the robot 5 are controlled in sequence to make the machine tool 3 and the robot 5 work on the supplied parts. Conversely, the numerical control device 2 and the robot control device 4 give a completion signal (work status information) for each task via the interface device 100 to the Norial loop line 5LNK, and the cell group central control device (“H
' Notify to. From this K, the cell group central control device CH' can grasp the progress status of the work. On the other hand, the cell group central control device (IC) transmits the control program that is the work content to each device 2.4.
In addition, the work contents of the machine tool 3 and robot 5 can also be changed. That is, the cell group central control f! J device CI (' is interface device 100 via Norial loop line SLN)
The control program is given to the interface device 1.
00 loads the control program into the memory of the designated numerical control device 2 or robot control device 4.

The interface device 100 and cell controller 1' that perform such functions will be explained.

FIG. 5 shows an interface device 10 having the configuration of the embodiment shown in FIG.
0, in which 101 is a network processor, which includes a network control unit 101a connected to the serial loop line SLN, an output buffer 101b for storing data sent to the serial loop line 8LN, and a serial loop line 8LN. When the information on the serial loop line 8LN indicates the address of the device connected to the interface device 100, the network control unit 101a inputs the information on the serial loop line 8LN.・Sofa 1
01C, while serial loop line 8LN
0 102 is an interface control unit, which has the function of detecting an empty slot above and sending out data from the output buffer 101b. An interface circuit 102a exchanges signals according to the R8-2S2C standard.
, 102b, 102c, and an interface circuit 102d that exchanges signals according to the DI/DO interface, and includes an interface circuit 102a,
102b.

102C are numerical control device 2, robot control device 4,
It is connected to the monitor device 6. On the other hand, the interface number j) fNo2d is the cell controller 1 of the Dl/DO interface, which is the interface standard of the sequencer.
To explain the operation of the configuration of the embodiment shown in FIG. 3, connected to is sent to the input buffer 101C, and the interface circuits 102a to 102d corresponding to the address are selected. This allows the selected interface circuit to connect to the device 2°A connected according to the R8-232C (full duplex transmission procedure) or DI/DO (contact interface procedure) interface.
I 611' and sends the data in the manual buffer 101C to the connected device by exchanging control signals. Conversely, in order to send data to the serial loop line SLN, a transmission request is sent from the connected device to each interface.
102a to 102d, the interface circuit processes the control signals according to the above-described interface standard, receives data from each device, and sends it to the output buffer 101b. Select an empty slot of the real loop line SLN and output the output buffer 101b.
data is sent to serial loop line 8LN.

In this way, the interface device 100 can collectively send signals with different interface standards to the transmission path, and can connect devices with different interface standards into one
This has the advantage that it can be connected to a transmission line with one interface device.

Next, Y2. r7←0−ra,・3. Just a4. . This will be explained using a 7° diagram.

In the figure, 1' is a cell controller, 10 is a processor, which performs predetermined arithmetic processing based on a pasting program, and 11 is a processor.・A memory that stores a control program executed by the processor 10. In the present invention, the control program includes: (1) a sequence program for work; (2+11 [turning/cutting program); (3) an initial 12 is a data memory (r), which stores the calculation results of the processor 10, 1 is an input/output port, and 14 is an operation panel. be. As shown in the front view of FIG. 5, the operation panel 14 includes a power switch PW that commands each device to turn on/off the frost source, and an initial switch () that commands each device to return to its origin. It has a run switch 1 (to J, a 7-do switch %JJ that instructs the input mode) that commands the start, and a numeric keypad TK that inputs the command value.The input modes include operation ti2I multi-person mode, program There are selection modes, etc., and after pressing the corresponding mode switch Ml), the number of commands (1) is input using the numeric keypad TK. Furthermore,
The operation panel 14 has display means, including a number 1 direct display DP that displays input data and output data, an alarm display section AL that displays alarm output, an operation mode display section CT that lights up when the input shade is in the operation count mode, and an input screen. It is equipped with a selection mode display part PS that lights up when the mode is program selection mode, and the numerical data when each display part AL, (:1',)'8 lights up is displayed on the numerical display ])P. be. 1
Reference numerals 5, 16, and 17 are input/output ports for connecting to the numerical control device 2, robot control device 4, and monitor device tree 6, respectively, and 18 is an address/data bus for connecting these. 19 is an interface circuit;
It is connected to the interface circuit 102d of the interface device 100 shown in the figure to transfer data.

20 is a control unit of the numerical control device 2, which numerically controls the machine tool 3; 21 is a memory, which stores numerical control data, etc.; 40 is a robot control unit #, the control unit of 4; A memory 41 controls the robot 5 and stores control data for the robot 5 and the like.

Next, one example of the configuration of the embodiment shown in FIG. 4 will be explained. "L is notified to the processor 10. As a result, the processor 10 sequentially reads and executes the name input/disconnection program from the program memory 11. That is, the processor 10 first turns on the robot control chain 4 and the power supply of the robot 5. In order to turn on the power, a power-on command is transmitted to the robot control device 4 via the bus 18 and the input/output boat 16, and the robot control device 4 and the robot 5 are powered on. When the power-on of the robot control device ied and the robot 5 is completed, , a power-on completion signal is notified from the robot control device 4 to the processor 10 via the input/output boat 16 and the bus 18.The processor 10 thereby confirms that the robot control device 4 and the robot 5 are powered on, and then issues a power-on command. is transmitted to the monitor device 6 via the bus 18 and the input/output boat 17, and the '1 source of the monitor device 6 is turned on.

The monitor device 6 has an overload detection function of the spindle motor of the machine tool 6 and a detection display function of the dimension measurement sensor of the machine tool 6. When the power-on of the monitor device 6 is completed, a power-on completion signal is notified to the processor 10 via the input/output board 17 and the bus 18, and this is confirmed. Finally, the processor 10 power-on command is sent to bus 18 and input/output board 1.
5 to the numerical control device 2 to turn on the power to the numerical control device 2 and the machine tool 3. When the power-on of the numerical control device 2 and the machine tool 3 is completed, a power-on completion signal is notified from the vinegar value system #V: device 2 to the processor 10 via the input/output boat 15 and the bus 18, and the power-on sea fence is completed. If the power-on completion signal is not notified even after a predetermined period of power-on command transmission waves have elapsed, the processor 10 displays the alarm indicator AI on the operation panel 14 via the input/output boat 13 on the bus 1st, The corresponding alarm code is displayed on the numerical display 51)P and notified to the operator. In case of power cut, 1i? @Switch PW is turned off, and the processor 10 sequentially issues power-off commands in the reverse order as described above. In this case, instead of the Sharin insertion completion signal, 6 M2, 4
.

From 6 onwards, a reception signal is issued when a 'III: source disconnection finger all disconnection command is issued, and the processor 10 issues the next power disconnection command.

(2) Initial processing After the power is turned on, when the operator presses the initial switch OR, the initial signal is sent to input/output port 13 and bus 1.
8 to the processor 1o, and the processor 10 sequentially reads out the initial processing program from the program memory 11 and executes it.

That is, the processor 10 transmits the home return command to the robot control device 4 via the bus 18 and the input/output boat 16. The robot control device 4 causes the robot 5 to perform a return-to-origin operation. Next, the processor 10Fi transmits the home return command to the numerical control device 2 via the bus 18 and the input/output board 15 to cause the machine tool 3 to return to the home position. In the shell layer, the processor 1o gives a clear command to the monitor device 6 via the input/output port 17 on the bus 1, causing the monitor device 6 to clear.

After the power-on process described above, the initial process may be automatically executed without pressing the initial switch OR. Work preparation is completed by the power-on processing and initial processing described above, and these are referred to as work preparation processing.

(3) Work content setting process When these are completed, a control program for executing the work according to the work schedule for the day is selected.

A plurality of control programs are stored in the memory 41 of the robot control device 4 and the memory 21 of the numerical control device 2 in accordance with the work contents. Therefore, the operator presses the mode switch kLD to instruct the program selection mode. , enter the program selection mode, and input the program number using the numeric keypad TK. As a result, the selection mode display section P8 lights up and the input program number is displayed on the numerical display DP. The selection mode command and program number are transmitted to the processor 10 via the input/output port 13 and the bus 18, and the processor 10 sequentially reads out the work content setting processing program from the program memory 11 and executes it. That is, the processor 10 transmits the program number to the numerical control device 2 and the robot control device 4 via the bus 18 and the input/output ports 15 and 16, and causes each control section 20.40 to select the memo 1J21.41.

Next, the number of work operations, that is, the number of parts to be worked on, is similarly input according to the work schedule. In this case, the control unit 40 of the robot control device 4 usually takes the number of operations as an argument.

Therefore, the operator presses the mode switch MI) which instructs the operation count manual mode to set the operation count manual mode, and inputs the operation count using the numeric keypad TK.

As a result, the operation mode display section P8 lights up, and the number of input operations is displayed on the numerical display 1)H. The operation mode command and the number of operations are transmitted to the processor 1o via the input/output port 13 and the bus 18, and the processor 10 sequentially reads out the work content setting processing program from the program memory 11 and executes it. That is, the processor 10 stores the number of operations on the bus 18.
, to the robot control device 4 via the input/output boat 16,
The number of command operations is written and stored in the control unit aoFi memory 41.

(4) v-fence processing After completing these processes, when the operator presses the run switch RUN, a work start command is sent to the input/output boat 13 and the bus 18.
is transmitted to the processor 10 via. From this K, the processor 10 sequentially reads and executes the sequence program in the program memory 11. In other words, the processor 10 gives a work start command to the robot control device 4 via the bus 18 and the input/output board 16, and the robot control device 4 performs control. Part 4
0 executes the aforementioned selected control program in the memory 41 to control the robot 5. For example, if the robot 5 picks up a part and transfers it to the chuck of the machine tool 3, a completion signal is sent to the input/output boat 16 and the bus 18 after the transfer is completed.
to the processor 10 via. Next, the processor 10 connects to the numerical control unit fIt via the bus 18 and the input/output port 15.
2, and in the numerical control device 2, the control section 20
executes the selected control program in the memory 21 to control the machine tool 3 and process the parts attached by the robot 5. During this time, the monitor device 6 monitors the operation of the machine tool 3, and if any abnormality is found, it is notified to the processor 10 via the input/output port 17 and the bus 18.

The processor 10 is connected to the numerical control device 2 (s 1
8. When giving a work stop command via the input/output boat 15 to stop the operation of the machine tool 3, the alarm display AL on the operation panel 14 is lit via the bus 1B and the input/output boat 13, and the corresponding alarm code is output. is displayed on the numerical display section 1)P.

When the machining of the parts by the machine tool 6 is completed, the numerical control device 2 notifies the processor 10 of a completion signal via the input/output port 15, bus 18,
In the robot control device 4 which gives work commands to the robot control device 4 via the input/output boat 16, the control unit 40 executes the control program in the memory 41 to control the robot 5, and the robot node 5 controls the machine tool 5. Remove the processed parts and transport them to the designated storage location. As a result, a completion signal is transmitted from the robot control frame f4 to the processor 10 via the input/output boat 16 and the bus 18. Next, processor 10
gives the above-mentioned work start command to the robot control device 4 and repeats the same operation. As mentioned above, the robot control device 4 counts the number of operations and compares it with the number of command operations set in the memory 41 every time the operation is completed. If they match, a work end signal is notified to the processor 10 via the input/output port 16 and the bus 18, and the processor 10 does not execute sea fence processing thereafter until the next work start command is input. Processor 10 is bus 1
8. Light up the work completion indicator on the operation panel 14 via the input/output boat 15 to notify the operator.

Sea fence processing is as described above, but the status of each device can be centrally monitored on the operation panel 14 using the completion signal described above. That is, when the processor 10 receives the aforementioned completion signal, the processor 10 displays the progress status in numerical values on the numerical display section DP of the operation panel 14 via the bus 18 and the input/output board 13. Similarly, the number of operations is also displayed.

Furthermore, the commands and control programs of the cell group central control device CI C are transmitted to the interface circuit 1 of the cell controller 1'.
9. Control unit 20 of numerical control device 2, robot control device 4
The control unit 401. A notification is sent to the cell group central control device CIC via the interface device 100 so that the monitor device 6 can understand the information.

As explained above, according to the present invention, as a work cell control device that controls a work cell including a numerically controlled work machine and an industrial robot, the line f,
It consists of a cell controller, a cell controller, and an interface device that exchanges data between each device in these work cells and the host device, and is connected to the interface device.

Since an interface circuit is provided according to the signal format of the device, it is possible to connect to a host device without changing the interfaces of cell controllers, work machines, etc., which have different signal formats. In addition, compared to the conventional configuration of a 7-controller and a working machine, connection with a host device can be made by simply providing an interface device, and additional configurations for connection can be minimized.

Furthermore, since the work cell and the cell controller are connected to the host device through one interface device, there is also the effect that the number of work cells to which the host device can connect does not decrease.

Moreover, since the sea fence control within the work cell is performed by a dedicated cell controller, in addition to the effect of enabling quick and efficient control of the work cells, the cell group centralized control device also controls the work cells of the entire factory. Since you can concentrate on control, you can manage the work and production of the entire factory, which has the effect of creating an overall more efficient factory automation system.

Although the present invention has been described using one embodiment, the present invention is not limited to the above-described embodiment, and various modifications can be made in accordance with the spirit of the present invention, and these are excluded from the scope of the present invention. It's not a thing.

[Brief explanation of the drawing]

FIG. 1 is a conventional system configuration diagram, FIG. 2 is a configuration diagram of an embodiment of the present invention, FIG. 3 is a block diagram of an interface device of the embodiment in FIG. 2, and FIG. 4 is a cell diagram of the embodiment in FIG. The controller block diagram, FIG. 5, is an explanatory diagram of the operation panel configured in FIG. 4. In the figure, CI C...Cell group central management device, SLN...
- Serial loop line, 100... Interface device, 1'... Cell controller, 2... Numerical control device, 3... Machine tool, 4... Robot control device, 5... Robot. Patent Applicant Fanuc Co., Ltd. Patent Attorney Sangai Tsuji 1 No. 2 @ 3rd No. 5 Concave

Claims (1)

[Claims] (1) In a work cell control device that controls a work cell including a numerically controlled work machine and an industrial robot, the work cell control device is connected to the numerically controlled work machine and the industrial robot, and is connected to the numerically controlled work machine and the industrial robot. control,
It has a cell controller that performs a desired work, the numerically controlled work machine and industrial robot, and an interface device that is connected to the cell controller and exchanges data between the connected equipment and a host device. A work cell control device characterized in that the interface device is provided with an interface path corresponding to the signal form of the connected equipment. (What is the interface device described in 21M and the cell controller?) l/l)0 interface, and the previous interface device and the numerically controlled work machine and the industrial robot exchange data using the MS-252C interface. A work cell control device according to item (1) of the scope of Patent M, characterized in that: