JP2940979B2 - How to start the operation system on the production line - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a method of starting an operation system in a production line.

[Prior Art] A program is specified in which an execution order of operations to be performed by output elements (for example, actuators) constituting an operation system of a facility to be controlled is designated, and each stage of control is sequentially advanced according to the program. The so-called sequence program control is generally well known. In this sequence program control, various devices for monitoring whether or not the control is performed normally have been devised. For example, in Japanese Patent Application Laid-Open No. 60-238906, the equipment was previously operated normally. The operation pattern of each component of the sequence control circuit at the time is sequentially stored, and when the facility is actually operated, it is determined whether or not the operation pattern of each of the above components matches the stored one. Match sequentially,
A proposal has been made to point out anomalies at the time of disagreement.

By the way, for example, when a failure occurs in the operation system of the equipment controlled by the sequence program control, the operation of the equipment is temporarily stopped in the middle of the cycle, and the equipment is operated again after repairing the failed part, in order to automatically start up,
The operation steps of all output elements constituting the operation system of this equipment are changed to operation steps capable of returning operation, that is, operation steps (so-called home positions) that can start operation without interfering with other output elements. Each must be returned manually.

[Problem to be Solved by the Invention] However, conventionally, the home position is set only in one initial state of one facility, and the operation step corresponding to the initial state is also performed for each output element. Only one location is set. For this reason, it takes time to return each output element to the home position (initial state), particularly when the equipment failure occurs at a considerably advanced step in a series of operation steps, and the equipment stoppage time is reduced. There is a problem that it becomes longer.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has an operation system in a production line capable of shortening a time required for each output element to return to a home position when an equipment failure is repaired and automatic start is performed. The purpose is to provide an activation method.

[Means for Solving the Problems] For this reason, according to the method of the present invention, various operations to be performed by a facility having a plurality of output elements in a production line are performed independently from start to finish under a normal state. The execution order of the operations to be performed by each of the above-described output elements under the condition that each of the plurality of operation blocks is divided into a plurality of operation steps while each of the plurality of operation blocks is divided into a plurality of operation steps. According to the specified sequence program, in the equipment is sequence-controlled to sequentially execute a plurality of operation steps in each of the plurality of operation blocks in a preset order,
The start enable state and end state of the block are set as home positions, and after the operation of the equipment is temporarily stopped during the cycle, when the operation system of the equipment is restarted, the operation system of the equipment is used. Is started by returning to the home position in the block whose operation has been stopped.

[Effects of the Invention] According to the method of the present invention, a series of operation steps of the operation system of the above facility is divided into blocks each having a plurality of independent steps having no interlock relation with each other. The end state is set as the home position, and when restarting, the operation system of the facility is returned to the home position in the deactivated block and started, so that the home position is only the initial state of the facility. As compared with the related art which is set only in the above, it is possible to shorten the time required for the equipment to return to the home position of the operation system, and to shorten the period in which the equipment is stopped.

[Embodiment] An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, in which an embodiment of the present invention is applied to an assembling apparatus for assembling suspension components such as a suspension and an engine to a vehicle body in an automobile assembly line.

As shown in FIG. 13, the assembling apparatus 1 according to this embodiment includes a positioning station S ₁ to be set in the positioned state accept vehicle body W loaded from the previous step, set at a predetermined position on the pallet P (in FIG. 13 shows only rear) suspension 3 of the engine 2 and the front and rear is a docking station S ₂ to combine the underbody parts and the vehicle body W such as, after being docked the engine 2 and suspension 3, etc. a screw fastening station S ₃ for fastening fixed to the vehicle body W is provided a. Moreover, transfer device Q ₂ overhead type which conveys the suspension of the vehicle body W is provided between the positioning station S ₁ and the docking station S _2, whereas, the docking station S ₂ and screwed station S ₃ pallet transport device Q ₅ for conveying the pallet P is provided between the.

Above the positioning station S ₁ is the vehicle body W supplied from the previous step to the transfer device Q ₂ is carried into the starting end, the movable base 12 for relay to reciprocally travel along the rails 11
Is provided on the movable base 12, a plurality of vehicle body receivers 13 supporting a lower end portion of the vehicle body W are provided so as to be able to move up and down,
Although not specifically shown, a front-rear positioning means for positioning the moving base 12 at a predetermined front-rear position,
The body receptacle 13, ..., 13 in the vertical direction positioning means for positioning in a predetermined vertical position, and the vehicle body by the positioning device Q ₁ is provided configured such in reference pins for positioning with respect to the movable base 12 I have.

Further, the transfer device Q ₂ are above the positioning station S ₁ and the docking station S _2, a guide rail 16 which extends spanned between both stations, in hanging state along the guide rail 16 As shown in FIG. 14, the carrier 17 includes a hanger frame 18 that can be moved up and down, and a carrier 17 that can move back and forth at four lower corners of the hanger frame 18 as shown in FIG. And a vehicle body holding arm 19 provided. The body holding arms 19,..., 19 are each operated to swing by, for example, an air cylinder (not shown), and an engagement pin 19a for engaging with the vehicle body W is provided at a tip end thereof. Have been.

Pallet transport device Q ₅ connecting the said docking station S ₂ and screwed station S _3, as shown in FIG. 15, the left and right side end face of the large number of support rollers 22 and the pallet P receive the left and right lower end portions of the pallet P A pair of left and right guide portions 21 having a number of side rollers 23 for guiding, a transport rail 24 extending parallel to the two guide portions 21 and 21, and a pallet locking portion 25a for locking the pallet P are provided. And a pallet transfer base 25 movably provided along the transfer rail 24.

Although not specifically shown, the guide portions 21 and 2
1 and the conveying rails 24, from a component supply station for supplying such as an engine 2 and suspension 3 to pcs with apparatus 1 (not shown), sequentially docking station S ₂ and the screw fastening work station S ₃ of pcs with device 1 After passing through, the vehicle body W after the screw fastening operation is formed in a loop shape which returns to the above-described component supply station (not shown) via a transfer station (not shown) for transferring the vehicle body W to the next process.
A plurality of pallet transport bases 25 are arranged on the transport rail 24, and each circulate and move in a predetermined cycle.

The aforementioned docking station S _2, when with the suspension 3 set in order until attached to the vehicle body W to hold the damper unit 3a serving as a floating state (see FIG. 13) to a predetermined position of the docking, the front and rear a portion corresponding to the mounting position of the suspension 3, clamp arm 26 for the front and rear paired across a guide portion 21, 21 of the pallet conveying apparatus Q _5, ..., 26 are arranged. Each of these clamp arms 26 has a claw 26a for clamping the damper unit 3a at the tip thereof, and a mounting plate 28 provided on each of mounting bases 27 provided on the left and right sides of the guides 21, 21, respectively. Is mounted so that it can move forward and backward in the left-right direction (vehicle width direction). Each of the mounting plates 28 is provided with an arm slide 29 formed of, for example, an air cylinder in order to slide the mounting plate 28 in the front-rear direction.
3a can be moved left and right and back and forth while being clamped. That is, the clamp arm 26, ..., 26 and the arms slide 29, ..., 29 constitute a part of the docking device Q ₃ for docking the engine 2 and suspension 3 and the vehicle body W.

Furthermore, the above-mentioned docking station S _2, a pair of left and right slide rails 31 disposed parallel to the guide portions 21, 21 of the pallet conveying apparatus Q _5, a movable sliding in the longitudinal direction along the slide rails 31 and 31 A slide device including a body 32 and an electric motor 33 for driving the movable body 32
Q ₄ is provided, as will be described in detail later, by longitudinal movement of the engine 2 on the pallet P in the sliding device Q _4, when docked, to avoid interference with the vehicle body W and the engine 2 I can do it.

The aforementioned screw fastening station S _3, with a plurality of robots Q ₆ to perform the screwing operation for fastening and fixing and the engine 2 and suspension 3 to the vehicle body W is arranged, the pallet P having been conveyed to the predetermined position A plurality of pallet reference pins 38 for positioning and locking are provided so as to be able to move up and down. Incidentally, the docking station S ₂ which is provided in the screw tightening station S ₃ to the same pallet reference pins 38 is provided with a plurality.

As shown in FIG. 16, the pallet is formed in a ladder shape by a pair of vertical frames 41 extending in the front-rear direction and a large number of horizontal frames 42 provided between the vertical frames 41, 41. A plurality of engaging holes 40 for engaging with the pallet reference pins 38 are provided in the vicinity of the front end and the rear end thereof. A locked portion 50 locked by the locking portion 25a is provided.

A front support substrate 43 for supporting a front base frame 5f on which the engine 2 and a front suspension (not shown) are mounted is provided on a front portion of the pallet P.
While f is provided, a rear support substrate 43r for supporting a rear base frame 5r on which the rear suspension 3 and the like are mounted is provided at the rear portion. Then, as shown in FIG. 17, these front and rear support substrates 43 are provided.
f, 43r, a large number of support members 44f, 44r for supporting the base frame 5f, 5r or the vehicle body W, and the body frame 5f, 5r
Multiple positioning pins 45f, 4 for positioning with respect to 43f, 43r
5r, vehicle body receivers 46f, 46r, etc., which support the vehicle body W via brackets (not shown) are provided. The support substrate 43r of the rear side, further attaching a number of nut holder 48r for holding a plurality of vehicle locating pins 47 and nuts to be tightened by screw fastening station S _3, for positioning the body W to the pallet P Have been.

On the other hand, at the front side of the pallet P, the same nut holders 48f,.
, 49 are directly attached to the pallet P and further provided with lock pins 51 for locking the front-side support substrate 43f at a predetermined position. The lock pin 51
Is biased toward the engagement side by a spring (not shown), and can be switched to the engagement release side by a release lever 52 provided. Further, a locking member 53 extending downward is integrally provided on the front-side support substrate 43f, and the locking member 53 is provided with a sliding device Q _4.
Locking claw provided on the upper surface of the movable body 32 (see FIG. 15)
It is designed to be locked by 32a. Above sliding device Q ₄ it is being attached air cylinder 34 for operating the release lever 52 to release the side, when the vehicle body W is lowered towards the docking station S _2, according to a predetermined descending timing, release the lock pin 51 disengaged by releasing the lever 52, via the locking element 53, the front-side supporting substrate 43f in the slide device Q ₄ (the ie engine 2) by back-and-forth movement, Interference between the vehicle body W and the engine 2 can be avoided.

As is clear from the above description, the assembling apparatus 1 according to the present embodiment includes a positioning device Q ₁ , a transfer device Q ₂ , a docking device Q ₃ ,
A slide device Q ₄ , a pallet transfer device Q ₅ , and a screw tightening robot Q ₆ are provided. Each of these output elements is controlled by a sequence program according to a program created in advance.

In the present embodiment, various operations to be performed by the facilities in the production line are divided into a plurality of operation groups by using a series of operation units that are independently performed from start to finish under a normal state as an operation group. And each of the plurality of operation groups is divided into a series of operation blocks that are to be independently performed from start to end under a normal state, and each of the operation blocks is divided into a plurality of operation steps. The plurality of operation blocks in each of the plurality of operation blocks are sequentially executed in a predetermined order, and the plurality of operation blocks in each of the plurality of operation groups are sequentially executed in a predetermined order. Sequence control is performed so as to execute sequentially.

Before describing a specific example of the assembling apparatus 1 for an automobile assembly line, first, the basic concepts of the operation groups, operation blocks, and operation steps in the present invention will be described.

FIG. 1 is a diagram for explaining the basic concepts of the operation groups, operation blocks, and operation steps. For example, for a continuous conveyor line and the conveyor line, loading or unloading of parts / products or the like by a tact transfer system is performed. It is a schematic explanatory diagram showing an example of a production line comprising a plurality of linear transport lines to perform, each transport line constitutes an independent station, as shown in this figure, for example, the continuous conveyor line The fourth station Stn4 has components and parts for the fourth station Stn4.
First and second stations St for loading products etc. respectively
n1 and Stn2, and a third station Stn3 for transferring parts, products, etc. to a station (not shown) in the next process in accordance with the unloading timing from the fourth station Stn4. Stn1 and Stn2
If the operations to be performed in the normal operation are normal, the fourth station Stn4 can be operated. Further, if the operations to be performed in the fourth station Stn4 and the third station Stn3 are normal, the next step A station (not shown) is configured to be operable.

Also, as shown in FIG.
The operations to be performed at 1, Stn2, Stn3, and Stn4, respectively, are operation groups as a unit of a series of operations that are performed independently from start to finish under normal conditions
GR1, GR2, GR3, and GR4, respectively, and each of these operation groups GR1, GR2, GR3, and GR4 is a unit of a series of operations that are independently performed from start to finish under a normal state. Are divided into a plurality of operation blocks, and each of the plurality of operation blocks is divided into a plurality of operation steps.

That is, for example, an operation group GR1 (first operation group) composed of a series of various operations of the first station Stn1.
For example, the first operation group GR1 is divided into a plurality of operation blocks BL1, BL2, BL3 and BL4, and each of these operation blocks is further divided into a plurality of operation steps. The operation group may be composed of a single operation block, and the operation block may be composed of substantially a single operation step.

Then, a plurality of operation steps in each of the operation blocks are sequentially executed in a predetermined order, and a plurality of operation blocks in each of the plurality of operation groups are sequentially executed in a predetermined order. Sequence control is performed to sequentially execute the operation groups GR1, GR2, GR3, and GR4 in a preset order.

Next, the basic concept of the production line failure diagnosis method according to the present invention will be described. As shown in FIG. 3, the failure diagnosis apparatus is provided with a step counter Csi and time registers Tsi and Tei for each operation block BLi, and the step counter Csi has an execution in an operation step in the block. Completed steps are sequentially input, and the time registers Tsi and Tei store the timer value at the start of the operation of the block BLi in the time register T based on the time of the internal clock of the microcomputer of the failure diagnosis device.
The timer value at the time of completion of the operation of the block is input to si in the time register Tei.

From the data input to the time registers Tsi and Tei, an operation time Txi (= Tei−Tsi) from the start to the end of a series of operation steps of the block BLi is calculated, and the measurement operation time Txi is calculated by the microcontroller. Stored in the computer's memory. On the other hand, in the microcomputer, for the block BLi, for example, a reference time Tsti defined by an average value Txim and a standard deviation value σ of measurement operation times for a predetermined number of cycles during normal operation.
(= Txim + 3σ) is input in advance,
More preferably, the data is stored while being updated every cycle, and the reference time Tsti and the measurement operation time Txi are stored.
By comparing with the above, it is possible to diagnose whether or not there is an abnormality in the block BLi. That is, the measurement operation time Txi
Is normal if the time is less than or equal to the reference time Tsti, and it is diagnosed that the operation of the operation block BLi is abnormal if the measurement operation time Txi exceeds the reference time Tsti.

When it is determined that the operation block BLi is abnormal, the operation step that caused the failure can be specified by reading the count value of the step counter Csi attached to the block BLi. That is,
The operation step following the operation step in which the operation is completed and the step number is counted by the step counter Csi is specified as a failure step. Then, by performing an inverse search of the sequence circuit for the specified failure step, it is possible to specifically detect which contact on the ladder diagram has failed.

The case of the first operation group GR1 composed of a series of operations to be performed in the first station Stn1 of the production line (see FIGS. 1 and 2) will be described as an example as shown in FIG. In addition, each operation block BL1, BL2, BL3
And BL4 are provided with step counters Cs1, Cs2, Cs3 and Cs4, respectively.
The measurement operation times Tx ₁ , Tx ₂ , Tx ₃ and Tx ₄ for each of the operation blocks BL 1, BL 2, BL 3 and BL 4 calculated from the input data to / Te 1, Ts 2 / Te 2, Ts 3 / Te 3 and Ts 4 / Te ₄ stored in the microcomputer in the memory, the reference time for these measurement operation time and each block Tst _1, Tst _2, Tst ₃ and Tst ₄
Are compared to monitor the occurrence of a failure in each block.

Although not specifically shown, each of the above groups
GR1, GR2, GR3 and GR4 are provided with time registers for measuring the operation time from the start to the end of each group, and monitor the measured operation time for each group while comparing the measured operation time with the reference time. Thus, an abnormality can be diagnosed for each group. For a group diagnosed as having an abnormality, the count value of a step counter attached to each block in the group is checked, and a block indicating a number other than the number (“999”) indicating the completion of the operation of the block is obtained. , And it can be specified that this block contains the cause of the abnormality. Further, from the count value of the step counter,
Failure steps are identified.

Next, a specific example of the assembling apparatus 1 (see FIGS. 13 to 17) of the automobile assembly line will be described.

Fig. 5, the operation system of the assembling apparatus 1, for example, mainly a transfer device Q ₂ together show the order of execution of the operation as an example, it is carried out independently from the start to the end under normal conditions This is a flowchart showing operation blocks as a unit of a series of operations, but as shown in this figure, various operations to be performed in each operation block are as follows.
It is divided into a plurality of operation steps whose execution order is fixed, and in each of the operation blocks, the operation steps from the first operation step to the last operation step in the block interfere with operation steps in other operation blocks. Can be executed independently without the need.

In this embodiment, the operation steps of each output element of the operation system of the assembling apparatus 1, the six work blocks A to F are divided into blocks, in order from the left in Figure 5, the positioning device Q ₁ , Transfer device Q ₂ , docking device Q ₃ , slide device Q ₄ , pallet transport device Q ₅ , and screw tightening robot
The operation blocks of the operation of Q ₆ are shown respectively. That is, the operation steps of the positioning device Q ₁ is 2 blocks A and D, the operation step of the transfer device Q ₂ is B, D, E, 4 blocks of F, the operation steps of the docking device Q ₃ are C and E of two blocks, each being divided into blocks, sliding device Q ₄ are finished all operations in the E-block, also the pallet conveying apparatus Q ₅ and screwing robot Q ₆ is that all of the F block both The operation is performed. Each of the above operation blocks transitions in time series from top to bottom in FIG.
The execution order is specified in advance by the program.

In the flowchart of FIG. 5, when a plurality of blocks are displayed in the same column in the vertical direction (refer to blocks A, B, and C), the plurality of blocks (that is, the operation steps in each block are ) Are executed simultaneously in parallel, and when the operation step of a plurality of output elements is included in the same block, the plurality of output elements cooperate to perform a series of operations. Are combined with each other to determine the execution order of the operation steps in the block (for example, see the D, E, and F blocks).

In this embodiment, the assembling apparatus 1 is provided with a failure diagnosis device for monitoring whether the apparatus 1 is operating normally and searching for a failure location when a failure occurs. Then, as shown in FIG. 6, on the screen of the display device 8 attached to the failure diagnosis device,
The flowchart represented by the above operation blocks is displayed, and the entire operation system of the assembling apparatus 1 can be viewed on the monitor screen.

Further, in the present embodiment, the transition of the execution block and the step is controlled by a step counter built in the failure diagnosis device. On the monitor screen in FIG. 6, blocks before execution are colorless, blocks that have been executed are filled with a predetermined color and displayed, and blocks that are being executed are blinking. I have. Further, when a failure occurs in the operation system of the assembling apparatus 1, the monitor screen of the display device 8 is switched, and as shown in FIG. A flowchart of a series of operation steps, a ladder diagram of a fault location, and a comment table indicating names of respective contacts on the ladder diagram can be simultaneously displayed on a single screen.

Hereinafter, the operation of the assembling apparatus 1 will be described with reference to the flowchart of FIG.

Note that the assembling device 1 is in an initial state before startup.
The body W transported from the previous process is positioned at the positioning station S ₁
Is placed in a state of not being in positioned on the movable base 12, transfer device Q ₂ in a state in which the movable base 12 is not positioned is positioned at the starting end, also the pallet P is locked in not state is located in the docking station S _2.

Then, when the assembling device 1 is started, first, the positioning device Q ₁ , the transfer device Q _2, and the docking device Q ₃ start operating simultaneously in parallel, and the positioning device Q ₁ in operation step, the vehicle body W in the transfer device Q ₂ carrier 17
As a preparation for holding the moving base 12, positioning of the moving base 12 in the front-rear direction, positioning of the vehicle body receiving members 13 in the vertical direction, and positioning of the vehicle body W with respect to the moving base 12 are performed (positioning (1)). Further, the docking device Q _3, a series of operational steps in the C block, in preparation for docking operations, as well as locking the pallet P to a predetermined position,
In order to avoid interference between the vehicle body W and the suspension 3 during docking, the damper unit 3a is held by the clamp arms 26,..., And held in a predetermined posture (docking (1)). On the other hand, transfer device Q ₂ is, a step of transferring (1) in a series of operational steps in the B block. That is, the carrier 17 descends toward the positioning station S ₁ from the initial state positioned at the starting end position on an overhead position (operation step B0) (action block B1). still,
At this time, each body holding arm 19 at the lower end of the carrier 17
Are locked in a retracted position that does not interfere with the vehicle body W.
Then, the operation in the B block Upon completion of operation step B1 completed, the operation command for the transfer position Q ₂ is reset (operation step B999).

When all the operation steps of the blocks A and B are completed, the operation of the block D is started. This D block, the positioning of the positioning device Q ₁ (2) and transfer device Q ₂
(2) are performed. That is, the locked state of the body holding arm 19 of the transfer device Q ₂ is released first, it is advanced to a holding position where the engaging pin 19a of the holding arm 19 is engaged with the vehicle body W (Operation Step D1) ,
In this state, each vehicle body holding arm 19 is locked. Then, in the operation step D2, the carrier is held while the vehicle body W is held.
17 is raised and in operation step D3, the positioning device Q ₁
Reference pin (not shown) is retracted. Then, the carrier 17 is advanced to a position above the docking station S ₂ in operation step D4, all operations subsequent to, be allowed to each vehicle body receptacle 13 of the positioning device Q ₁ is lowered in operation step D5 D block End (Completion: Operation step D99)
9). Incidentally, the positioning device Q ₁ is, the operation step D5
Then, all the operation steps in one cycle of the assembling apparatus 1 are completed, and the apparatus returns to the initial state.

The D block is started the operation of the finished block E, transferring (3) by the transfer device Q _2, the docking device Q ₃
By docking (2), and each step of the slide by the slide device Q ₄ is performed. That is, the vehicle body W which is held by the carrier 17 of the transfer device Q ₂ is, docking station in three stages toward the S ₂ is gradually lowered (operation step E1, E5, E10), the engine on the pallet P 2 and the suspension 3 are combined with the vehicle body W.
Incidentally, during the falling period of the vehicle body W, the docking device Q longitudinal movement and lateral movement of the damper unit 3a by the clamp arm 26 and the arm slides 29 ₃ (operation step E4, E7, E9),
And back-and-forth movement (operation step E2, E3, E6, E8) of the engine 2 by the sliding device Q ₄ is performed, so that the avoiding interference during docking with the vehicle body W and the damper unit 3a or the engine 2. Then, after docking is completed, in operation step E11, the body holding arm 19 of the carrier 17 is moved.
Is retracted, the holding state of the vehicle body W by the carrier 17 is released, and the docking ends. Next, the operation steps
The carrier 17 that has separated the vehicle body W at E12 is lifted, and thereafter, the clamped state of the damper unit 3a is released (operation step E13), and the clamp arm 26 is retracted (operation step E
14) and unlocking of pallet P (operation step E1)
5) is sequentially performed, and all the operations of the E block are completed (completion: operation step E999).

When the E-block are completed, the operation of the F block is started, the transfer by the transfer device Q ₂ (4) is conveyed by the pallet conveying apparatus Q _5, and each step of the screw fastening by the robot Q ₆ is performed. That is, in operation step F1, the carrier 17 of the transfer device Q ₂ is retracted to the starting end return to the initial state (action block B0), in operation step F2, placing the vehicle body W having been subjected to the docking pallet P is advanced to the threaded fastening station S ₃ with the pallet transport device Q _5. Then, screwing operation by the robot Q ₆ is performed and which is terminated, at operation step F999, the transfer device
The operation commands for Q ₂ , pallet transfer device Q ₅ and robot Q ₆ are reset. Incidentally, when the F block is completed, the vehicle body W where such engine 2 and suspension 3 is assembled, as well is carried out towards the screw fastening station S ₃ to the next process by a pallet transport device Q _5,
The docking station S ₂ so that the back is set pallet P for the next cycle to the initial state.

In this embodiment, for example, for the transfer device Q _2, not only the initial state of the assembling device 1 (action block B0), as an operation step that can start the operation without interfering with other devices, D , E, and F, the home position is also set in the operation steps corresponding to the initial set state (ie, operation steps D0, E0, and F0).

Therefore, for example, in the case where the failure occurs in the assembling apparatus 1 in the operation step E10 of the E block and the operation is stopped, when the assembling apparatus 1 is automatically activated after recovering the faulty part, the transfer apparatus is used. the carrier 17 of the Q ₂ is not necessary to return to the operation step B0 corresponding to the initial state of the assembling device 1, it may be returned to operation step E0. That is, the home position is set only in the initial state of the assembling apparatus, and the return time is greatly reduced as compared with the related art in which the home apparatus is returned to the initial state (operation step B0) of the entire apparatus. You can do it.

Note that even those (positioning device Q ₁ and the docking device Q ₃₎ whose operation steps at the output elements other than the transfer device Q ₂ are blocked into a plurality of operation blocks,
The home position is set not only in the initial state of the assembling apparatus 1 but also in the initial set state of each block.

Further, in this embodiment, more preferably, when a failure occurs in the assembling apparatus 1, each of the output elements Q ₁ , Q ₂ , Q ₃ , Q ₄ , Q ₅ , Q ₆
For each of the above, the nearest home position is displayed on the monitor screen of the display device 8 before the operation step at the time of occurrence of the failure, and the output element that has not returned to the home position is displayed. With this monitor screen, the operator can easily check the output element that has not returned to the home position and the home position closest to the output element, and efficiently perform the home position of each output element. It is possible to proceed with the return work to.

In the above-described embodiment, the assembling apparatus for assembling undercarriage parts such as suspensions and an engine to the body of an automobile has been described. However, the method of the present invention is not limited to the above-described assembling apparatus, and is controlled by a sequence program. Needless to say, the present invention can be applied to other devices and equipment.

By the way, in the apparatus controlled by the sequence program as described above, when a failure occurs in a certain operation step and the failure location is searched, conventionally, in the above-described apparatus, specifically, which part of the ladder diagram failed and In order to find out whether or not the operator is skilled, it is necessary for an operator who is skilled in the apparatus and the system to sequentially check based on the ladder diagram. In addition, it is difficult to immediately identify a failure point by looking at the ladder diagram. For example, OR
When a failure occurs in the instruction system of the structure, it is necessary to sequentially examine each path in order to know which path constituting the OR instruction has a failure. In a complicated device in which a program is formed by combining a large number of instructions of such an OR structure and an AND structure, the operation of identifying a failed portion becomes extremely complicated. It takes time and effort,
In many cases, it is practically impossible.

In the present embodiment, in order to solve the above-described problem, for each contact and device constituting the ladder diagram corresponding to the operation step in which the failure has occurred, an address map representing the position on the ladder diagram is created. It can automatically search for contacts or devices that have been used.

 Hereinafter, a method of searching for a fault location will be described.

FIG. 8 is an example of a ladder diagram corresponding to a certain operation step. In this diagram, X ₁ , X ₂ , X ₃ , X
Reference numeral ₄ denotes a contact connected to a detection element such as a limit switch attached to an output element of the device, and M ₁ , M ₂ , M ₃ , and M ₅ are used for transitioning operation steps according to a predetermined order. it represents the internal coil to oN when the condition is in place, also, Y ₀ represents the outer coil to be output to an external output element.

In the present embodiment, 0, 1, 2 are added to each horizontal line of the ladder diagram.
The address symbols A to H are added between the nodes on these lines, and the positions of the contacts and coils on the ladder diagram are indicated by the address symbols. Is registered at this address. When the address is registered, the start address and the destination address are registered at the same time in order to indicate from where (FROM) and how far (TO) the contact or coil is connected. The address symbols A to H may be attached to the nodes on the line to display the address.

Based on the registered addresses, the positions of the contacts and the coil on the ladder diagram are allocated on a memory of a microcomputer built in the failure diagnosis device, and an address map as shown in FIG. 9 is created. Have been. In this address map, for each contact or coil, as shown in FIG. 10, in addition to its own address, destination address (TO) and departure address (FROM), its operation state is set to 0 (ON) or 1 ( OFF) is provided.

Failure occurs in the operation step having the address map that is created as described above, when the external coil Y ₀ is not turned ON, by going sequentially follow the address map, there is a problem in which contact or coil Can be automatically searched. Hereinafter, this automatic search will be described with reference to the flowchart of FIG.

When the automatic search system is started, first, in step # 1, it is checked whether or not the address 0D (internal coil M ₁ ) is ON. If YES, steps # 2, # 3, # 4
In the address 0C constituting the AND condition for turning ON the Y ₀
(Contact X _3), the address 0B (contact X _2), address 0A (contact
X ₁ ), and if all of them are ON, it is considered that some trouble has occurred on the sequencer side, so an instruction to check the sequencer body is issued ( Step # 14).

If the result of step # 1 is NO, it is checked in step # 5 whether the address 1D (internal coil M ₅ ) constituting the OR condition with the address 0D is ON. Displays a comment indicating that a search should be made as to whether or not the internal coils M ₁ and M ₅ satisfy the interlock condition (step # 6). On the other hand, this step # 5
If the result is YES, the process proceeds to step # 2.

Further, if the result of step # 2 is NO,
Can be X ₃ identifies as a failure location, comments to the effect that restore the limit switch connected to the contact X ₃ is displayed (step # 7).

Also, further, when the step # 3 result is NO, step # 8 in the address 1B (contact X ₄₎ examines whether ON, and the contact point X ₄ or contact X in the case of NO A comment to the effect that ₂ should be restored is displayed (step #
9). On the other hand, the result of this step # 8 is YES, checks whether the address 1A in step # 10 (inner coil M ₂₎ is turned ON, in the case of YES performs the check in step # 14 .

If the result of step # 10 above is NO, step #
In step 11, it is checked whether or not the address 2A (internal coil M ₃ ) is ON. If YES, the check in step # 14 is executed. On the other hand the result of the step # 11 is NO, a comment to the effect that searches the internal coil M _2, M ₃ is displayed (step # 12). Note that the search for the internal coils M ₂ and M ₃ in step # 12 and the internal coil
The search for M ₁ and M ₅ is automatically performed in the same manner as the failure search in this operation step.

Further, when the step # 4 of the result is NO, the comment to the effect that restore the contacts X ₁ is adapted to be displayed at step # 13.

In the above search method, for each contact and coil,
Although the destination address (TO) and the departure address (FROM) are displayed and registered together with the self address, it is also possible to define from where to where the connection is made by an equal sign (=). In this display method, for example, the ladder diagram as shown in FIG. 12, the inner coil M ₁₁ are, M ₁₁
= 1A, 1B, is displayed 1C, also contacts X _11, X _12, X ₁₃ is
X ₁₁ = 0A, X ₁₂ = 0B, and X ₁₃ = 0C are displayed, respectively, and address display can be generally simplified.

In the above embodiment (first embodiment), the main output elements (positioning device Q ₁ , transfer device Q ₂ , docking device Q ₃ , slide device Q ₄ , pallet) constituted by the operation system of the assembling device 1 are described. for the case where the conveying device Q _5, and screwing robot Q ₆₎ is the time block divided into operation blocks each operation step of the operation to be performed, a series of operations in cooperation plurality of output elements is performed, the output element So that the operating steps are combined with each other, that is, over each output element,
Although the blocks are divided (refer to the D, E, and F blocks), the blocks may be divided so that each block is constituted by a group of operation steps of one output element.

Also, as is well known, a great deal of labor is usually required to create a computer program such as a sequence control program used in a sequence control system.
For this reason, it is considered that a computer program is automatically created. However, in an automatic creation apparatus proposed in the related art, when a computer of the apparatus automatically creates a sequence control program, a data input operation or the like for that purpose is performed. There is a problem that the work ratio due to human operation is relatively high, and it is difficult to sufficiently reduce the number of man-hours for making.

Hereinafter, a second embodiment that discloses another production line divided into blocks by a division method different from that of the first embodiment and an automatic sequence control program creation device capable of effectively reducing the number of program creation steps. explain.

As shown in FIGS. 18 and 19, in the vehicle assembly line according to this embodiment, the body 111 of the vehicle is received on the pedestal 112, and the position of the pedestal 112 is controlled to control the body on the pedestal 112. A positioning station ST1 for positioning the 111, and an engine 1 mounted at a predetermined position on the pallet 113.
14, a docking station ST2 for combining the front suspension assembly (not shown), the rear suspension assembly 115, and the body 111, and the engine 114, the front suspension assembly, and the rear suspension assembly 115 for the body 111, A fastening station ST3 is provided for fastening and fastening. An overhead transfer device 116 for holding and transporting the body 111 is provided between the positioning station ST1 and the docking station ST2, and the docking station ST2 and the fastening station ST3.
Pallet transport device 1 that transports pallets 113
17 are provided.

The pedestal 112 in the positioning station ST1 is a rail
It is supposed to reciprocate along 118.Although not shown in the drawing, the receiving table 112 arranged in relation to the receiving table 112
The body 111 placed on the cradle 112 is moved in the direction perpendicular to 8 (vehicle width direction) and the direction along the rail 118 (front-rear direction) to position the front part of the body 111 in the vehicle width direction. Means (BF), positioning means (BR) for positioning in the rear vehicle width direction, and positioning means (TL) for positioning in the front-rear direction,
Further, elevation reference pins (FL, FR, RL, RR) for engaging the front left and right portions and the rear left and right portions of the body 111 and positioning the body 111 with respect to the receiving table 112 are provided. And, by these positioning means and the lifting reference pin,
A positioning device 119 in the positioning station ST1 is configured.

The transfer device 116 is composed of a guide rail 120 disposed over and positioned between the positioning station ST1 and the docking station ST2, and a carrier 121 adapted to move along the guide rail 120, An elevating hanger frame 122 is attached to the carrier 121, and the body 111 is supported by the elevating hanger frame 122. In addition, the pallet transport device 117 includes a pair of guide portions 124L and 124R and a plurality of guide portions 124L and 124R each provided with a plurality of support rollers 123 that receive the lower surface of the pallet 113.
A pair of transport rails 125L and 125 extending parallel to each other
R, each of which has a pallet locking portion 126 for locking the pallet 113, and the pallet transport tables 127L and 127R, which are supposed to move along the transport rails 125L and 125R, respectively, and the pallet transport tables 127L and 127R. It is provided with a linear motor mechanism (not shown) for driving.

The docking station ST2 has a pair of left and right front clamp arms 130L that support the strut 115A in the front suspension assembly and the strut 115A in the rear suspension assembly 115 to take up the mounting posture when the front suspension assembly and the rear suspension assembly 115 are assembled. And 130R, and a pair of left and right rear clamp arms 131L and 131R. The left and right front clamp arms 130L and 130R are attached to the mounting plate 13 respectively.
2L and 132R, are mounted so as to be able to advance and retreat in a direction perpendicular to the transport rails 125L and 125R, and the left and right rear clamp arms 131L and 131R are respectively attached to the mounting plate 133L.
And 133R, are mounted so as to be able to advance and retreat in a direction orthogonal to the transport rails 125L and 125R, and the mutually opposing distal ends of the left and right front clamp arms 130L and 130R, and the mutually opposing left and right rear clamp arms 131L and 131R Each of the distal ends has an engaging portion that engages with a strut in the front suspension assembly or a strut 115A in the rear suspension assembly 115. Then, the mounting plate 132L is movable with respect to the fixed base 135L by the arm slide 134L in a direction along the transport rails 125L and 125R, and the mounting plate 132R is moved relative to the fixed base 135R by the arm slide 134R. It can be moved in the direction along the transfer rails 125L and 125R, and the mounting plate 133L is fixed to the fixed base 137L by the arm slide 136L.
In addition, the mounting plate portion 133R can be moved by the arm slide 136R in the direction along the transfer rails 125L and 125R with respect to the fixed base 137R. Therefore, the left and right front clamp arms 130L and 13
0R will be able to move back and forth and left and right under the condition that their tips are engaged with struts in the front suspension assembly, and the left and right rear clamp arms 131L and 131R will have their tips Under the state engaged with the strut 115A in the rear suspension assembly 115, it will be possible to move back and forth, left and right,
Left and right front clamp arms 130L and 130R, arm slide
134L and 134R, left and right rear clamp arms 131L and 131R, and arm slides 136L and 136R
0 is configured.

Further, the docking station ST2 includes a pair of slide rails 141L and 141R, which are provided so as to extend parallel to the transport rails 125L and 125R, respectively, and a movable member that slides along the slide rails 141L and 141R. A slide device 145 including a motor 142 for driving the movable member 142 and the like is provided. The movable member 142 of the slide device 145 includes a movable engine support member (not shown) provided on the pallet 113. Is provided with an engagement means 146 that engages with the first position. Further, two lifting pallet reference pins 147 for positioning the pallet 113 at a predetermined position are also provided. Slide device 145
When the engine 111, the front suspension assembly, and the rear suspension assembly 115 arranged on the pallet 113 are combined with the body 111 supported by the lifting hanger frame 122 of the transfer device 116,
Is moved forward and backward while engaging with the movable engine support member on the pallet 113 positioned by the lifting pallet reference pin 147, whereby the engine 114 is moved forward and backward with respect to the body 111, and the body 111 and the engine 114 are moved. And avoid interference.

In the fastening station ST3, a robot 148A that is to perform screw fastening work for fastening the engine 114 and the front suspension assembly combined with the body 111 to the body 111, and a rear suspension assembly 115 combined with the body 111 to the body 111 A robot 148B that is supposed to perform screw tightening work for fastening is installed,
Further, at the fastening station ST3, the pallet 113
Are provided at a predetermined position, a plurality of lifting pallet reference pins 147 are provided.

In the vehicle assembly line as described above, the positioning device 119 in the positioning station ST1, the transfer device 116, the docking device 140 and the slide device 145 in the docking station ST2, the pallet transport device 117, and the robots 148A and 148B in the fastening station ST3 are provided. The sequence control unit connected thereto is a facility (sequence control target facility) in which sequence control of those operations is performed based on a sequence control program.

The operation performed by each of these sequence control target facilities is divided into operation blocks defined as a series of operation units that can be independently performed from the start to the end, and B0 to B11 are as follows. 12 operation blocks are obtained.

B0: Operation block for positioning the receiving table 112 and the body 111 thereon by the positioning device 119 (receiving table positioning operation block).

B1: Block for preparing for transfer of the body 111 by the transfer device 116 (transfer device preparation operation block).

B2: Left and right front clamp arm by docking device 140
Clamp the struts of the front suspension assembly with 130L and 130R, and
Operation block (strut clamp preparation operation block) for preparing to clamp strut 115A of rear suspension assembly 115 by 1L and 131R.

B3: Cradle 112 positioned by positioning device 119
An operation block (transfer device receiving operation block) in which the upper body 111 is transferred to the lifting hanger frame 122 of the transfer device 116 and is conveyed.

B4: Operation block (slide device preparation operation block) for preparing to engage the engagement means 146 provided on the movable member 142 with the movable engine support member on the pallet 113 by the slide device 145.

B5: An operation block for returning the cradle 112 to the original position by the positioning device 119 (a cradle original position return operation block).

B6: The engine 114 disposed on the pallet 113, the engine 114 disposed on the pallet 113, and clamped by the left and right front clamp arms 130L and 130R on the body 11 supported by the lifting hanger frame 122 in the transfer device 116. An operation block (engine / suspension docking operation block) combining the struts of the front suspension assembly and the struts 115A of the rear suspension assembly 115 clamped by the left and right rear clamp arms 131L and 131R.

B7: An operation block for returning to the original position by the transfer device 116 (transfer device original position return operation block).

B8: Left and right front clamp arm by docking device 140
130L and 130R, and left and right rear clamp arms 131L and
Operation block for returning each 131R to the original position (clamp arm original position return operation block).

B9: Operation block for operating the linear motor by the pallet transfer device 117 to transfer the pallet 113 on which the body 111 in which the engine 114, the front suspension assembly, and the rear suspension assembly 115 are combined to the fastening station ST3 ( Linear motor propulsion block).

B10: An operation block (screw fastening operation block) for performing a screw fastening operation for fastening the engine 114 and the front suspension assembled to the body 111 to the body 111 by the robot 148A.

B11: An operation block (screw fastening operation block) for performing a screw fastening operation for fastening the rear suspension assembly 115 combined with the body 111 to the body 111 by the robot 148B.

Each of the above-described operation blocks B0 to B11 is divided into a plurality of operation steps, each of which includes an output operation.For example, for the cradle positioning operation block B0, the ten operations of B0S0 to B0S9 are performed as follows. It is divided into steps.

B0S0: Operation step for confirming various conditions (condition confirmation operation step).

B0S1: An operation step (BF positioning operation step) in which the cradle 112 is moved by the positioning means BF, and the front portion of the body 111 is positioned in the vehicle width direction.

B0S2: An operation step (BR positioning operation step) in which the receiving table 112 is moved by the positioning means BR and the rear portion of the body 111 is positioned in the vehicle width direction.

B0S3: An operation step (TL positioning operation step) in which the receiving table 112 is moved by the positioning means TL and positioning is performed in the direction along the rail 118 of the body 111 (front-back direction).

B0S4: Operation step in which the lifting reference pin FL engages with the front left side of the body 111 (FL engagement operation step).

B0S5: Operation step in which the elevation reference pin FR engages the front right side of the body 111 (FR engagement operation step).

B0S6: Operation step in which the elevation reference pin RL engages the rear left side of the body 111 (RL engagement operation step).

B0S7: Operation step in which the elevation reference pin RR engages the rear right side of the body 111 (RR engagement operation step).

B0S8: An operation step of returning to the original position from the state where the positioning means BF has positioned the front portion of the body 111 in the vehicle width direction (BF original position return operation step).

B0S9: An operation step of returning to the original position from the state where the positioning means BR has positioned the rear portion of the body 111 in the vehicle width direction (BR original position return operation step).

Subsequently, a description will be given of an automatic sequence control program creation device according to the present embodiment, which creates a sequence control program for performing sequence control on the operation of the sequence control target equipment in the vehicle assembly line as described above. .

FIG. 20 shows an example of an apparatus for automatically creating a sequence control program according to the present embodiment. This example includes a programming device 150, a hard disk device 151 as an external memory connected to the programming device 150, and a printer 152. The programming device 150 includes a central processing unit (CPU) 162, a read-only memory (ROM) 163, and a random access memory (R) connected through a bus line 161.
AM) 164 and an input / output interface (I / O interface) 165, and a cathode ray tube (CRT) 16 for display connected to the I / O interface 165.
6, and a keyboard 167 for inputting data and control codes
Is provided. The hard disk device 151 as an external device and the printer 152 are connected via an I / O interface 165.

In creating the sequence control program according to such an example, first, the above-described operation blocks B0 to B11 are summarized in an operation block map in which respective attributes are represented as shown in Table 1. Can be In the operation block map of Table 1, “SC-REG” represents a 16-bit register, and 1 is assigned to each of the operation blocks B0 to B11.
Each time the operation step is executed, the step number is written. “FROM” indicates an operation block immediately before the operation of the operation block is started, and “TO” indicates an operation block connected to immediately after the operation block, the operation of which is started by the completion of the operation of the operation block. The "clear condition" represents an operation block in which the equipment related to the operation block returns to the original state, and the "equipment" represents the equipment to be sequence controlled related to the operation block. And “No.”
And “SC-REG” contents are automatically created, and “Block name”,
The contents of "FROM", "TO", "clear condition" and "equipment" are input by operating the keyboard 167.

In addition, for each of the operation blocks B0 to B11, a plurality of operation steps in the operation blocks B0 to B11 are summarized in an operation step map in which respective attributes are represented. For example, regarding the operation steps B0S0 to B0S9 in the operation block B0 described above, first, An input / output map for the positioning device 119 is created as shown in Table-2. In the input / output map of Table 2, "comment" indicates the content of each operation step.
“No.” is automatically created, and “comment”, “operation” and “home position” are input by operating the keyboard 167, and “output coil device”, confirmation input contact device ”and“ manual input contact device ” Is automatically set.

Subsequently, by calling up "comments" in Table-2, the operation step maps are summarized as shown in Table-3. The same operation steps are also performed for each of the operation blocks B1 to B11.

Then, based on the operation step map for each operation block, a plurality of stylized step ladder patterns corresponding to each operation step, for example, FIG.
Prepared as shown in B and C, these are stored in the hard disk device 151 in advance, and a database of a standardized step ladder pattern is formed.

Under such circumstances, the sequence control program is created in the form of a ladder program by the procedure as shown by the flowchart shown in FIG. Hereinafter, the formation of such a sequence control program in the form of a ladder program will be described with reference to the flowchart shown in FIG.

First, in the initial setting, each of the variables m and n is set to 0 (step P1). Subsequently, the keyboard 167 is operated to input data on each of the operation blocks B0 to B11 and their attributes shown in the operation block map of Table 1, and the data is displayed on the CRT 166 as shown in Table-1. An operation block map is formed and stored in the RAM 164 (step P2). Then, in the CPU 162, the RO
Based on the operation block map data stored in the RAM 164 according to the conversion program read from the M163. 23rd
As shown, an operation block flowchart is formed, which is stored in the RAM 164 (step P3).

After that, the keyboard 167 is operated again, and the data of each of the operation steps B0S0 to B0S9 and the attribute of the operation block B0 represented in the operation step map of Table 3 are input. An operation step map is formed as shown in FIG.
Stored in M164. Then, in the same manner,
Data on each of the operation steps B1 to B11 and their attributes is input, an operation step map is formed for each of the operation blocks B1 to B11, and the operations stored in the RAM 164 are sequentially performed. As a result, a total of 12 operation step maps for each of the operation blocks B0 to B11 are stored in the RAM 164 (step P4).

Next, from the hard disk device 151, for example, an operation block common step ladder pattern as shown in FIG. 21A among the standardized step ladder patterns is called by the CPU 162, and the operation block flowchart is read from the RAM 164. After the operation step map for the operation block B0 is read by the CPU 162, the start condition SRT and the output contact device M related to the operation block B0 are added to the operation block common step ladder pattern.
A, stop condition STP and related output contact device
The parameters such as MS are written, an operation block common step ladder element for the operation block B0 is created, and it is stored in a register in the CPU 162 (step
P5-P7).

Subsequently, from the hard disk device 151, for example, an output step ladder pattern as shown in FIG. 21B among the stylized step ladder patterns is called by the CPU 162. After the contents of the operation step B0S0 are read from the operation step map for the block B0 by the CPU 162, the CPU 162 outputs the parameters for the operation step B0S0 to the output step ladder pattern in accordance with the program read from the ROM 163: the confirmation contact device. X
0, manual contact device XA, output contact device Y0, etc. are written, and further, output contact devices MA and MS, interlock release contact device XI, etc. are added, and the output step ladder element corresponding to operation step B0S0 is automatically formed. Is performed, and the result is stored in a register in the CPU 162.

Further, from the hard disk device 151, for example, an output step ladder pattern as shown in FIG. 21C among the standardized step ladder patterns is called by the CPU 162, and the operation block flow chart and the operation block After the contents of the operation step B0S1 are read out from the operation step map for B0 by the CPU 162, the CPU 162 outputs the output step ladder pattern and the pattern for the operation step B0S1 according to the program read from the ROM 163: the confirmation contact device X1. ,
Manual contact device XB, output contact device Y1, etc. are written, and further, output contact devices MA and MS, interlock release contact device XI, confirmation contact device X0
Are added, and an operation of automatically forming an output step ladder element corresponding to the operation step B0S1 is performed.
It is stored in a register in the CPU 162.

Thereafter, the operation steps B0S2 to B0 in the operation block B0 are performed.
The output step ladder elements corresponding to each of the B0S9 are automatically formed sequentially by repeating the same operation as that of the output step ladder element corresponding to the operation step B0S1 while the variable n is increased by one. Stored in a register. As a result, a ladder program for the operation block B0 is formed as shown in FIG. 24 (steps P8 to P12). After the output step ladder element corresponding to the operation step B0S9 is formed, the variable n is returned to 0 (step P13).

Then, following the operation block B0, the operation blocks B1 to B1
In the ladder program for each of the first, the variable m is incremented by 1 in accordance with the operation block flowchart as shown in FIG. 23, and the same creation procedure as that for the ladder program for the operation block B0 is repeated. Are sequentially formed. As a result, the ladder programs for each of the operation blocks B0 to B11 are finally linked sequentially, and FIG. 18 and FIG.
As shown in FIG. 19, a sequence control ladder program for performing sequence control on the operation of the equipment subject to sequence control on the vehicle assembly line is obtained (steps P14 and P15). Then, the obtained sequence control ladder program is checked over its entirety to determine whether or not it is appropriate. If there is an inappropriate part, the part is corrected. This is done and made appropriate (steps P16 and P17). The sequence control ladder program obtained in this way is RAM1
64, and printed out, for example, by the printer 152 as needed.

As is apparent from the above description, according to the automatic sequence control program creating apparatus according to the present embodiment, the sequence control program used for the sequence control of the operations to be sequentially performed by each of the various facilities installed on the production line The main part is automatically formed based on the input of data about each operation block and its attribute, and the input of data about each operation step and its attribute in each operation block. It can be obtained as a ladder program in which step ladder elements corresponding to the operation steps are connected, and therefore, the number of steps required for obtaining the sequence control program can be effectively reduced.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing an example of a production line for explaining the basic concept of operation groups, operation blocks, and operation steps in the present invention. FIG. FIG. 3 is a schematic explanatory diagram of the operation block provided with a step counter and a time register, and FIG. 4 is an operation block and operation diagram showing various operations in the first operation group of the production line. FIG. 5 is an enlarged flow chart showing the operation of the assembling apparatus according to the first embodiment of the present invention, and FIG. 6 is a flow chart of the operation steps. FIG. 8 is a front view showing a monitor screen of a display device according to one embodiment. FIG. 8 is a sequence circuit of one operation step. 9 is an address map for the sequence circuit diagram of FIG. 8, FIG. 10 is an explanatory diagram for explaining an address display method of the address map of FIG. 9, and FIG. 11 is a sequence diagram of FIG. 12 is a flowchart for explaining a method for searching for a fault location in a circuit, and FIG.
The figure shows a sequence circuit diagram for another address display method.
FIG. 13 is a schematic front view showing the entire structure of the assembling apparatus according to the first embodiment, FIG. 14 is a side view of a body holding arm of the carrier, FIG. 15 is a plan view of a docking station and a screw fastening station, 16 is a plan view of the pallet, FIG. 17 is a schematic front view of the pallet, and FIGS. 18 and 19 show the sequence control program created by the automatic sequence control program creating apparatus according to the second embodiment of the present invention. Schematic configuration diagram showing an example of a vehicle assembly line in which equipment for which sequence control of the operation is performed based on the
FIG. 20 is a schematic configuration diagram showing an example of an automatic sequence control program creating apparatus according to the second embodiment, and FIG. 21 is a sequence control program according to an example of the sequence control program automatic creating apparatus according to the second embodiment. FIG. 22 is a flowchart showing a procedure for creating a sequence control program by an example of the automatic sequence control program creating apparatus according to the second embodiment, and FIG. 23 is a flowchart showing the procedure for creating the sequence control program according to the second embodiment. 24 is an operation block flowchart for explaining the creation of a sequence control program by an example of the sequence control program automatic creation device according to the second embodiment. FIG. 24 is created by an example of the sequence control program automatic creation device according to the second embodiment. FIG. 7 is a ladder diagram showing an example of a sequence control program. 1 ... assembling device, B0, D0, E0, F0 ... home position, Q _1, 11
9 ... positioner, Q _2, 116 ... transfer device, Q _3, 140 ... docking device, Q _4, 145 ... slide device, Q _5, 117 ... pallet conveying apparatus, Q _6, 148A and 148B ... screwing robot.

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G05B 19/02-19/05 G05B 9/02

Claims (1)

(57) [Claims] 1. A plurality of operation units to be performed by equipment having a plurality of output elements in a production line, which are independently performed from start to finish under normal conditions, are defined as a plurality of operation units as operation blocks. Are divided into a plurality of operation blocks, and each of the plurality of operation blocks is divided into a plurality of operation steps. In the above-mentioned equipment which is sequence-controlled so as to sequentially execute a plurality of operation steps in each of the above-mentioned steps in a preset order, a start enable state and an end state of the block are set as home positions, and the operation of the equipment is cycled. When the operation system of the equipment is restarted after being temporarily stopped halfway, the operation system of the equipment Returning to the home position in the block whose operation has been stopped, and starting the block.