WO2017130286A1 - ジョブ作成装置および作業システム並びに作業ロボットの制御装置 - Google Patents
ジョブ作成装置および作業システム並びに作業ロボットの制御装置 Download PDFInfo
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- WO2017130286A1 WO2017130286A1 PCT/JP2016/052111 JP2016052111W WO2017130286A1 WO 2017130286 A1 WO2017130286 A1 WO 2017130286A1 JP 2016052111 W JP2016052111 W JP 2016052111W WO 2017130286 A1 WO2017130286 A1 WO 2017130286A1
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- 238000003860 storage Methods 0.000 claims abstract description 20
- 238000012937 correction Methods 0.000 claims description 16
- 238000012545 processing Methods 0.000 description 45
- 238000000034 method Methods 0.000 description 42
- 230000008569 process Effects 0.000 description 42
- 238000007726 management method Methods 0.000 description 29
- 238000003384 imaging method Methods 0.000 description 15
- 230000032258 transport Effects 0.000 description 11
- 238000002360 preparation method Methods 0.000 description 6
- 238000013523 data management Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45063—Pick and place manipulator
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- circuit board data and mounting machine management data are stored and managed separately, an operation program for causing the mounting machine to perform mounting work must be created each time, and there is still room for improvement. There is.
- the present invention adopts the following means in order to achieve the main object described above.
- the job creation apparatus of the present invention A job creation device for creating a job for instructing a work robot to perform work, An operation program storage unit that pre-stores an operation program in which an operation content that can be executed by the work robot is described in a manner in which work object related data related to the work object of the work robot can be referred to; A work object related data acquisition unit for acquiring the work object related data; A job creation unit that creates a job including the stored operation program and the acquired work object related data and outputs the job to the work robot; It is a summary to provide.
- the job creation apparatus stores in advance an operation program in which operation contents that can be executed by the work robot are described in a manner in which work object related data related to the work object can be referred to.
- the job creation device acquires work object related data, creates a job including the stored operation program and the acquired work object related data, and outputs the job to the work robot.
- the user can cause the work robot to perform an operation suitable for the work object simply by changing the work object-related data referred to by the operation program.
- the job creation apparatus can cause the work robot to perform an operation suitable for the work target while further reducing the burden on the user.
- the work system of the present invention A job creation device for creating a job for instructing the work robot to perform work; A control device for a work robot that controls the work robot based on a job created by the job creation device;
- a work system comprising:
- the job creation device includes: An operation program storage unit that pre-stores an operation program in which an operation content that can be executed by the work robot is described in a manner in which work object related data related to the work object of the work robot can be referred to;
- a work object related data acquisition unit for acquiring the work object related data;
- a job creation unit that creates a job including the stored operation program and the acquired work object related data and outputs the job to the control device of the work robot;
- the control device for the working robot is: A job input unit for inputting a job including the operation program and the work object related data from the job creation device;
- a job execution unit that controls the work robot by executing an operation program included in the input job while referring to work object related data included in the job; It is a summary
- the work system of the present invention includes a job creation device and a work robot control device.
- the job creation apparatus stores in advance an operation program in which operation contents that can be executed by the work robot are described in a manner in which work object related data related to the work object can be referred to.
- the job creation device acquires work object related data, creates a job including the stored operation program and the acquired work object related data, and outputs the job to the control device of the work robot.
- the control apparatus for the work robot inputs a job including an operation program and work object related data, and executes the operation program included in the job with reference to the work object related data included in the job. Control.
- the user can cause the work robot to perform an operation suitable for the work object simply by changing the work object-related data referred to by the operation program.
- the work system can cause the work robot to perform an operation suitable for the work object while further reducing the burden on the user.
- the control device for the work robot of the present invention includes: A control device for a work robot that controls a work robot that performs a predetermined work on a work object, An operation program storage unit that pre-stores an operation program that describes the operation contents that can be executed by the work robot in a manner that allows reference to work object related data related to the work object of the work robot; A job acquisition unit for acquiring a job including the work object related data; When the job is acquired, the operation program stored in the operation program storage unit is read, and the read operation program is executed while referring to work object related data included in the acquired job.
- a job execution unit for controlling the work robot It is a summary to provide.
- the control apparatus for a work robot stores in advance an operation program that describes the operation content that can be executed by the work robot in a manner in which work object related data related to the work object can be referred to.
- the work robot control device acquires a job including work object related data
- the work robot control device reads the stored operation program and executes the read operation program with reference to the work object related data included in the acquired job. By doing so, the work robot is controlled.
- the control apparatus of a work robot can control a work robot by operation
- FIG. 5 is a flowchart illustrating an example of job creation processing executed by the management apparatus 40. It is explanatory drawing which shows an example of a menu screen. It is explanatory drawing which shows a work data input screen. It is explanatory drawing which shows a part data input screen. It is explanatory drawing which shows the structure of job data.
- 4 is a flowchart illustrating an example of job execution processing executed by control devices 24 and 34; It is a flowchart which shows an example of a component pick process. It is explanatory drawing which shows the mode of the components picking work by the working robot. It is a flowchart which shows an example of a voltopic process.
- 5 is an explanatory diagram showing a state of a voltopic work by the work robot 20. It is a flowchart which shows an example of a seal
- FIG. 1 is a configuration diagram showing an outline of a configuration of a work system 10 as an embodiment of the present invention.
- the left-right direction is the X-axis direction
- the front-rear direction is the Y-axis direction
- the up-down direction is the Z-axis direction.
- the work system 10 of the present embodiment includes a supply device 12 that supplies parts (workpieces), a conveyance device 14 that conveys a placement member 13 on which the components are placed, and a conveyance device 14 interposed therebetween.
- Two work robots 20 and 30 arranged to face each other and a management device 40 for managing the entire work system are provided.
- the “component (work)” include a mechanical component, an electronic component, an electrical component, and a chemical component.
- placement includes mounting, alignment, assembly, fitting, fastening, and the like.
- the supply device 12 is suitable for the type of component to be supplied. For example, supplying electronic components by feeding out a tape containing electronic components (IC chips, resistors, capacitors, etc.) at predetermined intervals or a tray storing electronic components in an aligned state (tape feeder, tray feeder) Or supply the mechanical parts by transporting the storage part in which the mechanical parts (bolts, screws, etc.) are stored, and supply the adhesive by transporting the sheet with the adhesive (sponge seal) attached The thing etc. can be mentioned.
- the conveying device 14 is configured by a belt conveyor device, and conveys the placing member 13 into the work area of the work robots 20 and 30 and fixes the placed placing member 13.
- Each of the work robots 20 and 30 includes robot arms 22 and 32 and control devices 24 and 34 that drive and control the robot arms 22 and 32.
- the work robots 20 and 30 receive a job including an operation program from the management device 40, and perform various operations by extracting and executing the operation program from the received job. For example, a part supplied by the supply device 12 is collected and placed at a specified position on the placement member 13, or a machine part supplied by the supply device 12 is taken and aligned on the placement member 13. Work, fastening work (bolts, screws, etc.) supplied by the supply device 12 and fastening a plurality of members placed on the placement member 13; sponge sponge supplied by the supply device 12; The seal peeling operation
- work etc. which are peeled off and placed on the placing member 13 can be exemplified.
- the robot arms 22 and 32 are configured as articulated robot arms. Each joint can be rotated or rotated in the direction of an arrow in FIG. 1 by driving a motor (not shown).
- the robot arms 22 and 32 are equipped with tools 23 and 33 at their tips, and collect the parts (workpieces) supplied by the supply device 12 using the tools 23 and 33, and transport the collected parts by the transport device 14. It can be placed on the placed placing member 13.
- Tools 23 and 33 can be attached to and detached from the distal ends of the robot arms 22 and 32, and the robot arms 22 and 32 are replaced with tools 23 and 33 suitable for the type of parts to be collected.
- Examples of the tools 23 and 33 include a mechanical chuck that collects a part by gripping, an electromagnetic chuck that collects a part including a magnetic body by a magnetic force, and a suction nozzle that collects a part by a suction force.
- an imaging camera 28 is attached to the tip of the robot arm 22 for imaging a part as a work object and grasping its position and posture.
- the control devices 24 and 34 are configured as a microprocessor including a CPU, ROM, RAM, HDD, input / output port, and communication port.
- the control devices 24 and 34 can communicate with the management device 40 via a communication port, and can exchange various data with the management device 40.
- the control devices 24 and 34 include job receiving units 25 and 35, storage units 26 and 36, and job execution units 27 and 37 as functional blocks.
- the job receiving units 25 and 35 receive a job transmitted from the management device 40 via a communication port.
- the storage units 26 and 36 are configured by an HDD or the like, and store correction parameters for correcting errors (such as assembly errors and machining errors) that affect the positioning accuracy of the robot arms 22 and 32, respectively.
- the job execution units 27 and 37 drive and control the robot arms 22 and 32 by executing the job received by the job reception units 25 and 35.
- control devices 24 and 34 job execution units 27 and 37
- rotational positions and turning positions from position sensors (not shown) provided at the respective joints are input via input ports.
- an image signal from the imaging camera 28 attached to the tip of the robot arm 22 is also input to the control device 24 (job execution unit 27).
- the control devices 24 and 34 (job execution units 27 and 37) output drive signals to motors (not shown) that drive the joints of the robot arms 22 and 32 through output ports.
- the management device 40 includes a CPU, ROM, RAM, HDD, input / output port, and communication port, and a general-purpose device in which an input device such as a keyboard 51 and a mouse 52 and an output device such as a display 54 are connected via an input / output port.
- Computer includes an input reception unit 42, a storage unit 44, and a job creation unit 46 as functional blocks.
- the input receiving unit 42 receives input of data (such as work data and part data described later) from the user via the input device.
- the storage unit 44 is configured by an HDD or the like, and stores an operation program in which operation contents executable by the work robots 20 and 30 are described in addition to the data received by the input reception unit 42.
- the job creation unit 46 creates jobs for instructing the work robots 20 and 30 to perform work.
- FIG. 2 is a flowchart illustrating an example of a job creation process executed by the job creation unit 46 of the management apparatus 40. This process is executed when the operator gives an instruction to start the job creation program.
- the job creation unit 46 displays a menu screen and accepts input of various data (step S100).
- FIG. 3 shows an example of the menu screen.
- the menu screen has “data management” items and “data input” items as menu items.
- a “New” button for setting a file name for managing job data to be created
- an “Open Data” button for reading created job data
- a “save data” button is provided for saving job data in a designated folder location.
- a “work data edit” button that transitions to the work data input screen
- a “part data edit” button that transitions to the part data input screen
- a “mark” that transitions to the mark data input screen
- a “data editing” button and a “job transmission” button for creating and saving a job file from the set data and transmitting the job file to the corresponding work robots 20 and 30 are provided. The operator can select a menu item corresponding to the button by placing the cursor on the desired button and clicking with the input device (mouse 52).
- step S110 the job creation unit 46 executes a data management process (step S120).
- the process of step S120 is performed by executing a corresponding data management process according to a menu item selected from “new creation”, “open data”, and “save data”.
- step S140 the job creation unit 46 executes a data input process (step S140).
- the process of step S140 is performed by executing a corresponding data input process using a menu item selected from “work data edit”, “part data edit”, “mark data edit”, and the like.
- the job creation unit 46 displays a work data input screen and accepts input / editing of work data.
- the work contents for the supplied parts are registered for each work robot that performs the work.
- FIG. 4 An example of the work data input screen is shown in FIG.
- the work data input screen is provided with input items such as “work content”, “motion type”, “part number (part name)”, “work coordinate X”, and “work coordinate Y”. ing.
- input items such as “work content”, “motion type”, “part number (part name)”, “work coordinate X”, and “work coordinate Y”.
- work content” and “operation type” for example, one item can be selected from a plurality of items by a pull-down menu.
- the work data input screen of FIG. 4A is a work (parts pick A) for picking up part A on work robot 20 and a work (parts place) for placing picked up part A on work coordinates (X, Y).
- A) and an input example in the case of executing are shown. Further, the work data input screen of FIG.
- FIG. 4B is a work for collecting the bolt A on the work robot 20 (Voltopic A) and a work for placing (aligning) the collected bolt A on the work coordinates (X, Y).
- An example of input when executing (Bolt Place A) is shown.
- the work data input screen shown in FIG. 4C is a work for peeling the sponge seal A attached to the sheet to the work robot 20 (seal pick A) and the peeled sponge seal A is placed at work coordinates (X, Y).
- An input example in the case of performing the work to be performed (seal place A) is shown.
- the work data (for example, “part data”, “work position X”, “work position Y”, etc.) may be taken from graphic data of the CAD device.
- the parts that have been supplied are collected and the movement coordinates of the robot arms 22 and 32 from the work coordinates (X, Y) to the work coordinates (X, Y) are registered for work data by capturing each work and parts by motion capture. It is good.
- Part data edit when “Part data edit” is selected, the job creation unit 46 displays a part data input screen and accepts input of part data.
- supply part related data such as “external shape”
- information related to parts supply for example, “part supply type”, “part supply position”, etc. Supply related data).
- the part data input screen displays different input items for each “part number (part name)” selected on the work data input screen.
- part A is selected as the part
- outer shape X for inputting the width of the outer shape of the part
- outer shape Y for inputting the depth of the outer shape of the part
- imaging for example, when part A is selected as the part, as shown in FIG. 5A, “outer shape X” for inputting the width of the outer shape of the part, “outer shape Y” for inputting the depth of the outer shape of the part, and imaging.
- “Image processing type” for inputting an image processing algorithm for processing an image captured by the camera 28, “Shutter speed” for inputting an exposure time at the time of imaging, and “Soft pickup” for inputting a sampling speed (pickup speed) of parts.
- the input items when the bolt A is selected as the part include bolts in addition to “outer shape X”, “outer shape Y”, “image processing type”, and “shutter speed”.
- the input items when the bolt A is selected as the part include bolts in addition to “outer shape X”, “outer shape Y”, “image processing type”, and “shutter speed”.
- the input items when the bolt A is selected as the part include bolts in addition to “outer shape X”, “outer shape Y”, “image processing type”, and “shutter speed”.
- electromagnet pattern “component transport speed”, “component supply position” (not shown), etc. for inputting a magnetic force pattern when A is collected by an electromagnetic chuck.
- the job creation unit 46 displays a mark data input screen and accepts input of mark data.
- the “mark data editing” for example, a mark used for position correction related to the conveyance position of the placing member 13 is registered.
- step S150 the job creation unit 46 responds from a plurality of operation programs stored in the storage unit 44 based on the input work data (“work content”). An operation program is selected (step S160). Then, the job creation unit 46 creates a job including the selected operation program, work data, part data, and mark data (step S170), and transmits the job to the corresponding control devices 24 and 34 (step S180). Finish the creation process.
- FIG. 6 is an explanatory diagram for explaining the configuration of a job.
- the job includes part data (part A data, part B data) including work data (work contents), part data, etc. input in steps S130 and S140 of the job creation process, and an operation program.
- the operation program describes the operation contents that can be executed by the work robots 20 and 30, and causes the work robots 20 and 30 to execute work suitable for the supplied parts (work) by referring to the component data. be able to.
- This operation program is added and modified as appropriate by the operator, thereby adding work that can be executed by the work robots 20 and 30 (work contents that can be selected by the operator in “work data editing”), The operation accuracy of 30 can be increased.
- FIG. 7 is a flowchart illustrating an example of job execution processing executed by the job execution units 27 and 37 of the control devices 24 and 34.
- the job execution units 27 and 37 of the control devices 24 and 34 first determine whether or not a job is received from the management device 40 (step S200). If the job execution units 27 and 37 determine that the job has not been received, the job execution process ends, and if it is determined that the job has been received, an operation program is extracted from the received job (step S210). The operation program is executed (step S220), and the job execution process is terminated.
- the job execution units 27 and 37 receive the operation program corresponding to the work content input by the operator from the management device 40 and execute it. For example, when the job execution units 27 and 37 receive an operation program related to component pick processing and component place processing from the management device 40, the job execution units 27 and 37 sequentially execute the component pick processing and component place processing, and relate to the voltopic processing and bolt place processing. When the operation program is received, the Voltopic process and the bolt place process are sequentially executed. When the operation program related to the seal peeling process and the seal place process is received, the seal peeling process and the seal place process are sequentially executed.
- the job execution unit 27 executes each process of the component pick process, the voltaic process, and the seal peeling process will be described.
- FIG. 8 is a flowchart showing an example of the component pick process.
- a suction nozzle or a mechanical chuck capable of holding a component is attached to the tip of the robot arm 22 as the tool 23.
- the mounting of the tool 23 may be performed manually by an operator, or may be performed automatically by providing a tool station for storing a plurality of types of tools 23 and moving the tip of the robot arm 22 to the tool station. Good.
- the job execution unit 27 first executes a process of inputting various parameters necessary for the process such as a shutter speed parameter, an image processing type parameter, and a component transport speed parameter (step S300).
- the shutter speed parameter, the image processing type parameter, and the component transport speed parameter are input based on the “shutter speed”, “image processing type”, and “component transport speed” included in the job, respectively. It was.
- the job execution unit 27 moves the imaging camera 28 provided at the tip of the arm to the supply component imaging position (step S310), and the supply component is supplied by the imaging camera 28 according to the shutter speed based on the input shutter speed parameter. Is imaged (step S320).
- the job execution unit 27 calculates a component pick position by performing image processing on the captured image based on the input image processing type parameter (step S330).
- the component pick position can be calculated by correcting the component supply position obtained by the image processing using the correction parameter for canceling the error of the robot arm 22 described above.
- the job execution unit 27 moves the tool 23 (suction nozzle or mechanical chuck) to the calculated component pick position (step S340), and then picks up (collects) a supply component with the tool 23 (suction nozzle or mechanical chuck). (Step S350).
- the job execution unit 27 conveys the picked-up component at the conveyance speed based on the input component conveyance speed parameter to the place preparation position (step S360), and ends the component picking process.
- the job execution unit 27 executes the operation program included in the job while referring to the component data included in the job, thereby performing the specified work on the specified component (work).
- the work robot 20 is made to perform this.
- FIG. 9 shows a part picking operation.
- the job execution unit 27 carries the part placed at the work position (X, Y) by carrying out the part place process (not shown) included in the job after conveying the picked-up part to the place preparation position. To do.
- FIG. 10 is a flowchart showing an example of the Voltopic processing.
- an electromagnetic chuck capable of picking up a bolt as the tool 23 is attached to the tip of the robot arm 22.
- the bolt is entirely formed of a magnetic material and is supplied in a discrete state.
- Voltopic processing picks up the supplied bolts one by one by adsorbing the tip of the bolt to the electromagnetic chuck.
- the job execution unit 27 first executes processing for inputting various parameters necessary for processing such as a shutter speed parameter, an image processing type parameter, an electromagnet pattern parameter, and a component transport speed parameter ( Step S400).
- the shutter speed parameter, the image processing type parameter, the electromagnet pattern parameter, and the component conveyance speed parameter are based on “shutter speed”, “image processing type”, “electromagnet pattern”, and “component conveyance speed” included in the job. It was assumed that each set item was entered.
- the job execution unit 27 moves the imaging camera 28 provided at the tip of the arm to the supply bolt imaging position (step S410), and supplies the supply bolt with the imaging camera 28 according to the shutter speed based on the input shutter speed parameter. Is imaged (step S420).
- the job execution unit 27 calculates a volt topic position by performing image processing on the captured image based on the input image processing type parameter (step S430).
- the volt topic position can be calculated by correcting the bolt supply position obtained by the image processing with the correction parameter for canceling the error of the robot arm 22 described above.
- the job execution unit 27 moves the tool 23 (electromagnetic chuck) to the calculated volute position (step S440), and then picks up (collects) supply bolts with an electromagnet pattern (magnetic force) based on the input electromagnet pattern parameters. (Step S450).
- the job execution unit 27 conveys the bolt picked up at the conveyance speed based on the input component conveyance speed parameter to the place preparation position (step S460), and ends the volute processing.
- FIG. 11 shows the state of the Voltopic operation.
- the job execution unit 27 continues to execute a part place process (not shown) included in the job, thereby placing the bolt at the work position (X, Y). ).
- FIG. 12 is a flowchart showing an example of the seal peeling process.
- a mechanical chuck capable of gripping the sponge seal as the tool 23 is attached to the tip of the robot arm 22.
- the job execution unit 27 first inputs various parameters necessary for processing such as a shutter speed parameter, an image processing type parameter, a peeling angle pattern parameter, a peeling speed parameter, and a component conveying speed parameter. Processing is executed (step S500).
- the shutter speed parameter, the image processing type parameter, the peeling angle parameter, the peeling speed parameter, and the part conveyance speed parameter are “shutter speed”, “image processing type”, “peeling angle”, and “peeling speed” included in the job. , And those set based on the “part conveyance speed” were input.
- the job execution unit 27 moves the imaging camera 28 provided at the tip of the arm to the supply sticker imaging position (step S510), and the supply sticker is supplied by the imaging camera 28 based on the shutter speed based on the input shutter speed parameter. Is imaged (step S520).
- the job execution unit 27 calculates the seal peeling position by performing image processing on the captured image based on the input image processing type parameter (step S530).
- the seal peeling position can be calculated by correcting the seal supply position obtained by the image processing using the correction parameter for canceling the error of the robot arm 22 described above.
- the job execution unit 27 moves the tool 23 (mechanical chuck) to the calculated seal peeling position (step S540), and then peels off the supply seal at the peeling angle and peeling speed based on the inputted peeling angle and peeling speed parameters. (Step S550).
- the job execution unit 27 transports the seal peeled off at the transport speed based on the input component transport speed parameter to the place preparation position (step S560), and ends the seal stripping process.
- FIG. 13 shows the state of the seal peeling operation. Further, the job execution unit 27 places the peeled seal at the work position (X, Y) by carrying out the seal place processing (not shown) included in the job after the peeled seal is conveyed to the place preparation position. Work to do.
- the management device 40 corresponds to a job creation device
- the storage unit 44 corresponds to an operation program storage unit
- the input reception unit 42 that receives input of part data corresponds to a work object related data acquisition unit
- the job creation unit 46 corresponds to a job creation unit.
- the input receiving unit 42 that receives input of work data corresponds to a work content related data acquisition unit.
- the work system 10 corresponds to a work system
- the job reception units 25 and 35 correspond to job acquisition units
- the job execution units 27 and 37 correspond to job execution units.
- the storage units 26 and 36 correspond to a correction value storage unit.
- the management apparatus 40 stores an operation program that can be executed by the work robots 20 and 30 in the storage unit 44 in advance, and receives and receives input of part data via the input reception unit 42.
- a job including part data and an operation program is created and transmitted to the control devices 24 and 34 of the corresponding work robots 20 and 30.
- the control devices 24 and 34 of the work robots 20 and 30 that have received the job including the part data and the operation program execute the work by executing the operation program while referring to the part data.
- the management device 40 of the present embodiment stores a plurality of operation programs respectively corresponding to a plurality of work contents (work data) in the storage unit 44, receives input of work data via the input reception unit 42, and stores the operation data.
- the operation program corresponding to the received work data is selected from the plurality of operation programs stored in the unit 44 to create a job.
- the management device 40 stores operation programs that can be executed by the plurality of work robots 20 and 30, respectively, and component data (work data and part data) for the plurality of work robots 20 and 30. Since the job including the operation program is transmitted, the plurality of work robots 20 and 30 can be collectively managed.
- correction parameters for correcting errors that affect the positioning accuracy of the robot arms 22 and 32 are stored in the control devices 24 and 34 of the work robots 20 and 30, respectively. Therefore, it is not necessary to change the operation program in order to cope with individual differences between the work robots 20 and 30.
- the storage unit 44 stores an operation program corresponding to the work content, accepts input of component data (work data, part data, etc.), and includes a job including the component data and the operation program. Is transmitted to the control devices 24 and 34 of the work robots 20 and 30.
- the storage units 26 and 36 of the control devices 24 and 34 store a plurality of operation programs, and the management device 40 creates a job that does not include the operation programs and stores them in the control devices 24 and 34 of the work robots 20 and 30. It may be transmitted.
- the job execution units 27 and 37 of the control devices 24 and 34 may execute the job execution process shown in FIG. When the job execution process of FIG.
- the job execution units 27 and 37 determine whether or not a job has been received (step S600). If it is determined that the job has been received, work data is extracted from the received job (step S610). Then, the job execution units 27 and 37 select an operation program corresponding to the work data extracted from the plurality of stored operation programs (step S620), execute the selected operation program (step S630), and execute the job The execution process is terminated. Even in this case, the operator only needs to change the part data (work data, part data), and the operation suitable for the part (work) using the work according to the work content for the work robots 20 and 30. Can be executed. In this case, the control devices 24 and 34 of the work robots 20 and 30 may store correction parameters for correcting errors that affect the positioning accuracy of the robot arms 22 and 32 in advance.
- the correction parameters for correcting the error affecting the positioning accuracy for each work robot 20 and 30 are stored in the storage units 26 and 36.
- the correction parameters may be stored in the storage unit 44 of the management device 40 and managed by the management device 40. Further, such correction parameters may not be stored.
- the present invention is applicable to a job creation apparatus, a work system, a manufacturing industry of a work robot manufacturing apparatus, and the like.
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Abstract
Description
作業ロボットに対して作業を指示するジョブを作成するジョブ作成装置であって、
前記作業ロボットの作業対象物に関する作業対象関連データを参照可能な態様で前記作業ロボットが実行可能な動作内容が記述された動作プログラムを予め記憶する動作プログラム記憶部と、
前記作業対象物関連データを取得する作業対象物関連データ取得部と、
前記記憶された動作プログラムと前記取得された作業対象物関連データとを含むジョブを作成して前記作業ロボットに出力するジョブ作成部と、
を備えることを要旨とする。
作業ロボットに対して作業を指示するためのジョブを作成するジョブ作成装置と、
前記ジョブ作成装置により作成されたジョブに基づいて前記作業ロボットを制御する作業ロボットの制御装置と、
を備える作業システムであって、
前記ジョブ作成装置は、
前記作業ロボットの作業対象物に関する作業対象関連データを参照可能な態様で前記作業ロボットが実行可能な動作内容が記述された動作プログラムを予め記憶する動作プログラム記憶部と、
前記作業対象物関連データを取得する作業対象物関連データ取得部と、
前記記憶された動作プログラムと前記取得された作業対象物関連データとを含むジョブを作成して前記作業ロボットの制御装置に出力するジョブ作成部と、
を備え、
前記作業ロボットの制御装置は、
前記動作プログラムと前記作業対象物関連データとを含むジョブを前記ジョブ作成装置から入力するジョブ入力部と、
前記入力されたジョブに含まれる動作プログラムを該ジョブに含まれる作業対象物関連データを参照しながら実行することにより前記作業ロボットを制御するジョブ実行部と、
を備えることを要旨とする。
作業対象物に対して所定の作業を行なう作業ロボットを制御する作業ロボットの制御装置であって、
前記作業ロボットの作業対象物に関する作業対象物関連データを参照可能な態様で前記作業ロボットが実行可能な動作内容を記述した動作プログラムを予め記憶する動作プログラム記憶部と、
前記作業対象物関連データを含むジョブを取得するジョブ取得部と、
前記ジョブが取得されたとき、前記動作プログラム記憶部により記憶された動作プログラムを読み出し、該読み出した動作プログラムを前記取得されたジョブに含まれる作業対象物関連データを参照しながら実行することにより前記作業ロボットを制御するジョブ実行部と、
を備えることを要旨とする。
Claims (8)
- 作業ロボットに対して作業を指示するジョブを作成するジョブ作成装置であって、
前記作業ロボットの作業対象物に関する作業対象関連データを参照可能な態様で前記作業ロボットが実行可能な動作内容が記述された動作プログラムを予め記憶する動作プログラム記憶部と、
前記作業対象物関連データを取得する作業対象物関連データ取得部と、
前記記憶された動作プログラムと前記取得された作業対象物関連データとを含むジョブを作成して前記作業ロボットに出力するジョブ作成部と、
を備えることを特徴とするジョブ作成装置。 - 請求項1記載のジョブ作成装置であって、
前記作業ロボットが実行すべき作業内容に関する作業内容関連データを取得する作業内容関連データ取得部を備え、
前記動作プログラム記憶部は、前記動作プログラムとして、複数種類の作業内容にそれぞれ対応する複数種類の動作プログラムを予め記憶し、
前記ジョブ作成部は、前記作業内容関連データ取得部により取得された作業内容関連データに基づいて前記動作プログラム記憶部に記憶された複数種類の動作プログラムの中から対応する動作プログラムを選択し、該選択した動作プログラムと前記取得された作業対象物関連データとを含むジョブを作成する
ことを特徴とするジョブ作成装置。 - 請求項1または2記載のジョブ作成装置であって、
前記ジョブ作成部は、互いに協働して前記所定の作業を行なう複数の作業ロボットに対してそれぞれ前記ジョブを作成して対応する作業ロボットに出力する
ことを特徴とするジョブ作成装置。 - 作業ロボットに対して作業を指示するためのジョブを作成するジョブ作成装置と、
前記ジョブ作成装置により作成されたジョブに基づいて前記作業ロボットを制御する作業ロボットの制御装置と、
を備える作業システムであって、
前記ジョブ作成装置は、
前記作業ロボットの作業対象物に関する作業対象関連データを参照可能な態様で前記作業ロボットが実行可能な動作内容が記述された動作プログラムを予め記憶する動作プログラム記憶部と、
前記作業対象物関連データを取得する作業対象物関連データ取得部と、
前記記憶された動作プログラムと前記取得された作業対象物関連データとを含むジョブを作成して前記作業ロボットの制御装置に出力するジョブ作成部と、
を備え、
前記作業ロボットの制御装置は、
前記動作プログラムと前記作業対象物関連データとを含むジョブを前記ジョブ作成装置から入力するジョブ入力部と、
前記入力されたジョブに含まれる動作プログラムを該ジョブに含まれる作業対象物関連データを参照しながら実行することにより前記作業ロボットを制御するジョブ実行部と、
を備えることを特徴とする作業システム。 - 請求項4記載の作業システムであって、
前記作業ロボットの制御装置は、前記作業ロボットの制御パラメータの調整に用いられる補正値を記憶する補正値記憶部を備える
ことを特徴とする作業システム。 - 作業対象物に対して所定の作業を行なう作業ロボットを制御する作業ロボットの制御装置であって、
前記作業ロボットの作業対象物に関する作業対象物関連データを参照可能な態様で前記作業ロボットが実行可能な動作内容を記述した動作プログラムを予め記憶する動作プログラム記憶部と、
前記作業対象物関連データを含むジョブを取得するジョブ取得部と、
前記ジョブが取得されたとき、前記動作プログラム記憶部により記憶された動作プログラムを読み出し、該読み出した動作プログラムを前記取得されたジョブに含まれる作業対象物関連データを参照しながら実行することにより前記作業ロボットを制御するジョブ実行部と、
を備えることを特徴とする作業ロボットの制御装置。 - 請求項6記載の作業ロボットの制御装置であって、
前記動作プログラム記憶部は、前記作業ロボットの複数種類の作業内容にそれぞれ対応する複数種類の動作プログラムを予め記憶し、
前記ジョブ取得部は、前記作業内容に関する作業内容関連データを取得する作業内容関連データを含むジョブを取得し、
前記ジョブ実行部は、前記取得されたジョブに含まれる作業内容関連データに基づいて前記動作プログラム記憶部に記憶された複数種類の動作プログラムの中から対応する動作プログラムを読み出して実行する
ことを特徴とする作業ロボットの制御装置。 - 請求項6または7記載の作業ロボットの制御装置であって、
前記作業ロボットの制御パラメータの調整に用いられる補正値を記憶する補正値記憶部を備える
ことを特徴とする作業ロボットの制御装置。
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