JPH0611459B2 - Work program preparation device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work program preparing device, and more particularly, to a work which reaches a predetermined work position among a large number of works which are sequentially conveyed by a line-shaped conveyor. The present invention relates to a work program preparation device that reads a work program to be read from a program storage device and prepares for work.

Prior Art A sixth proposed work program preparation device 51 has been proposed.
Shown in the figure.

This work program preparing device 51 is used when the teaching reproduction industrial robot 20 performs work at _a work position Pa on a large number of works, ..., 11, ..., 17, ... _{This is a} device for preparing a work program corresponding to the work (work 11 in FIG. 6) arriving at a for the teaching reproduction industrial robot 20.

The basic configuration is such that the work program titles A, B, C, respectively corresponding to the works ..., 11, ..., 17 ,.
Title / order input means 52 for sequentially inputting D, ..., Title / order storage means 53 for storing the input titles and their order, and start mark means ..., 11 ', ... 17' provided for each work. , Are detected by the sensor 57 with _a limit switch at the work position Pa, the program reading means 59 for reading the work programs of the titles in the highest order stored in the title / order storage means 53 from the program storage device 21 is provided. It is a thing.

Title forward input means 52, used to input a title in the operator manually in order and, although the bar code reader or the like automatically reading a bar code attached to each workpiece is used, usually, apart from the working position P _a Input position P
_It is installed in _b . This is in the vicinity of the working position P _a reason of environment is poor, etc., such as scattering, for example paints and solvents.

Since the work position P _a and the input position P _b are separated from each other, it is necessary to adjust the time difference between them, and the title / order storage means 53 is provided for this purpose.

The title / sequential storage means 53 is, for example, a first-in-first-out storage device, and as shown in FIG. 6, the titles A, B, C, ... Of the work programs corresponding to the works 11 to 17 are input. Remember in order.

When the workpiece 11 arrives in the working position P _a, sensor 57 which detects the start mark means 11 'outputs a start signal, thereby program reading means 59, the top-level stored on the title sequence storage means 53 order The work program (A) corresponding to the title A is read from the program storage device 21 to prepare for work.

Therefore, the teaching-reproduction-type industrial robot 20 performs the work on the work 11 according to the prepared work program (A).

When the highest title is read from the title / order storage unit 53, the shift unit 56 advances and shifts the order of the stored titles one by one. The previous highest title is deleted.

When work on the workpiece 11 is completed, the conveyor 10 unloads the workpiece 11 from the working position _{P a,} the next workpiece 12
Bring in.

Then, by the same operation as described above, the work program (B) corresponding to the highest title B is read and prepared.

In the same manner, the teaching-reproduction-type industrial robot 20 carries out work with a work program corresponding to each work.

Problems of the Prior Art In the above-mentioned conventional work program preparing device 51, since the title and the order have to be input every time the work arrives at the input position P _b , when the manual input device is used,
There is a problem that the work load on the operator increases. On the other hand, if an automatic input device such as a bar code reader is used, there is no burden on the operator, but there is a problem that the burden on the equipment becomes large.

Further, as shown in FIG. 7, from the input position P _b to the working position P
If for example, the work 14 until _a is canceled, the title sequence storage means 5 in correspondence with the workpiece 14
There is a problem in that the title C stored in No. 3 and its order must be deleted, which takes time and effort.

Object of the invention It is an object of the present invention that the work load on the operator does not increase even when a manual input device is used, and therefore the facility load is small without using an automatic input device, from the input position to the work position. It is an object of the present invention to provide a work program preparing device that does not need to correct the contents stored in the title / order storage means when the work is canceled during the period.

The work program preparing device of the present invention reads a work program corresponding to a work that has reached a predetermined work position out of a large number of works that are sequentially conveyed by a line-formed conveyor and prepares for the work. A work program preparing device, which is installed at an input position distant from the work position, and which inputs titles and order input means of the work programs corresponding to the works in a row and order,
In a work program preparation device having a title / order storage means for storing the titles input by the title / order input means and the order thereof, (a) detachably attached to a work attachment member conveyed by a conveyor. Shift mark means, (b) start mark means detachably attached to the work attachment member separately from the shift mark means, (c) when the shift mark means is detected at or near the work position, the title When the shift means for advancing and shifting the order of the titles stored in the order storage means and (d) the start mark means at the work position or a position in the vicinity thereof are detected,
It is a structural feature that it is provided with a program reading means for reading the work program of the highest order title stored in the title / order storage means from the program storage device.

In another aspect, the work program preparing device of the present invention reads out from the program storage device a work program corresponding to a work that has reached a predetermined work position among a large number of works that are sequentially conveyed by a conveyor. A work program preparation device for preparing for work, which is installed at an input position distant from a work position, and which inputs titles and order of work programs corresponding to works in a row, In a work program preparing device having a title / order storage means for storing a title input by the title / order input means and its order,
(A) shift mark means detachably attached to a work attachment member conveyed by a conveyor, (b) start mark means detachably attached to the work attachment member separately from the shift mark means, (c) work When the shift mark means is detected at or near the position, the order of titles stored in the title / order storage means is advanced and shifted, and the order of the previous highest title is replaced with the lowest shift means, and cyclic shift means, (D) Program reading means for reading the work programs of the titles in the highest order stored in the title / order storage means from the program storage device when the start mark means is detected at or near the work position. This is a structural feature.

In the work program preparing device of the present invention, the title / order storage means is configured to carry out the shift of the order of titles, that is, the shift mark means and the shift means, and the work of the highest title stored in the title / order storage means. The structure for reading the program from the program storage device, that is, the start mark means and the program reading means are separately separated.

Therefore, the work programs can be continuously read in the same order without performing the shift-up of the order of the titles. Therefore, when the works to be worked by the same work program are continuously performed, the titles of each work can be read. There is no need to enter the order and, and you can only enter the first time.

Therefore, since the number of times of input can be reduced, even if the operator manually inputs, the work load is not so large, a manual input device is sufficient, and an automatic input device is not required.

Also, when the title / sequential storage means is used to shift up, if the highest title is turned to the lowest order, the title string that has been entered once can be used repeatedly. When the work rows arranged side by side are repeated, it is only necessary to input the title and order of the work program for one work row, and even if the operator manually inputs the work load, the work load does not increase so much and the manual input device is used. Is sufficient, and no input device is required automatically.

Furthermore, regardless of the presence or absence of the work, it becomes possible to cause or not to cause the advance shift of the order in the title / order storage means, and as a result, the work is canceled between the input position and the work position. Even when this is done, it is not necessary to change the contents stored in the title / order storage means.

Examples Hereinafter, the present invention will be described in more detail based on the examples shown in the drawings. FIG. 1 is a block diagram showing the configuration of a work program preparing device according to an embodiment of the present invention, and FIGS. 2 and 3 are explanatory views of the operation when a work is canceled in the device of FIG. 1, and FIG. Is a configuration block diagram of another embodiment of the present invention, and FIG. 5 is a configuration block diagram of yet another embodiment of the present invention. The present invention is not limited to the embodiments shown in the drawings.

In FIG. 1, the work program preparation device 1 includes a title / order input means 2, a title / order storage means 3, shift mark means ..., 11 ″, 12 ″, ... And start mark means. .., 11 ', 12', ..., Shift sensor 4, shift means 6, start sensor 7, and program reading means 9 are basically included.

The title / order input means 2 is installed at an input position P _b away from the work position P _a , and is a device for manually inputting the title of the work program corresponding to the work set on the conveyor 10.

It should be noted that the title can be input only when the work to be subjected to the same work is continuous, and the title can be input only for the first work, and the input for the subsequent works can be omitted.

The shift mark means ... 11 ″, 12 ″, ... Are detachably set on the work attaching member of the conveyor 10, and the work performed on the work is different from the work performed on the next work. Only set when. In other words, if the work to be subjected to the same work is continuous, only the last work is set.

The start mark means, ..., 11 ', 12', ... Are set freely on the work attachment member of the conveyor 10, and are set for each work.

Shift sensor 4, for example a limit switch, shift mark means when the workpiece is removed from the work position _{P a ..., 11 ", 12} ", which detects the ... presence of.

Start sensor 7, for example, a limit switch, the start mark means ... 11 when the workpiece has reached the working position P _a ', 12', which detects the ....

When the shift sensor 4 detects the shift mark means ..., 11 ″, 12 ″, ..., the shift means 6 advances and shifts the order of the titles stored in the title / order storage means 3.

When the start sensor 7 detects the start mark means ..., 11 ', 12', ..., The program reading means 9 stores the work program of the highest title stored in the title / order storage means 3 from the program storage device 21. It is read.

When the program reading means 9 reads the work program, the possible and the program storage device 21 performs work on the workpiece in the teaching playback type industrial robot 20 based on which working position P _a is stored in advance work program for each task That is the same as before.

As shown in FIG. 1, the works 11 to 17 are arranged in this order, the title of the work program for the work 11 is A, the title of the work program for the work 12 is B, and the titles of the works 13 to 15 are The title of the work program is C, and works 16 and 1
If the title of the work program for 7 is D, the operator can omit the title input because the titles of the works 14 and 15 are the same as that of the work 13. Since the work 17 has the same title as the work 16, the title input can be omitted. In other words, for the 7 workpieces shown in the figure, 4
It only needs to be entered once.

On the other hand, it is understood that the conventional device 51 shown in FIG. 6 requires seven inputs for seven workpieces, and the device 1 of the embodiment of the present invention can obviously reduce the number of inputs.

When the workpiece 11 has arrived in the working position P _a, title
The titles A, B, C, and D are input to the sequential storage device 3 in this order.

Here, when the start sensor 7 detects the start mark means 11 ', the program reading means 9 causes the title
The program storage device 2 stores the work program (A) corresponding to the highest-ranked title A stored in the sequential storage means 3.
Read from 1.

Therefore, according to this work program (A), the teaching reproduction type industrial robot 20 works on the work 11.

Work is over, when the workpiece 11 is removed from the work position P _a, shift sensor 4 detects the shift marks means 11 ', thereby ranking the title order storage means 3 is shifted carry by the shift means 6. That is, B becomes the highest rank, and then C and D. If the title of the work program of the work following the work 17 is D, it is not input after D, but if it is different from D,
The title is input from the title / order input means 2.

When the work 12 arrives at the work position P _a , the work program (B) is read out because B has the highest title, and the work is performed.

When the work 12 is carried out from the work position P _a , the shift sensor 4 detects the shift mark means 12 ″, which causes the title / order storage means 3 to carry forward shift, and the title C becomes the top title. .Therefore,
The work 13 is worked based on the contents of the work program (C).

When the workpiece 13 is removed from the work position P _a, arriving from shift sensor 4 does not perform the detection of the shift marks means, the shift is not performed in the title sequence storage unit 3, the next workpiece 14 into a working position P _a When this is done, the title C is still maintained as the highest title. Therefore,
The work 14 is also worked according to the work program (C).

Similarly, the work 15 is also worked by the work program (C).

When the work 15 is carried out from the work position P _a , the shift sensor 4 detects the shift mark 15 ″, so that the title / order storage unit 3 carries out a forward shift, and the title D becomes the top title. The work 16 is worked by the work program (D).

When the workpiece 16 is removed from the work position P _a it is not performed carry shift, therefore, that the work in the work program (D) against the workpiece 17 is performed is the same as above.

It will be understood that the work program corresponding to each work is prepared in the same manner as described below.

FIG. 2 shows a case where the work 14 is canceled between the input position P _b and the work position P _a , and the start mark means 14 ′ is removed together with the work 14.

As described with reference to FIG. 1, since the work / workpiece 14 originally has no advance shift in the title / sequential storage means 3, canceling the work 14 in this way does not have any effect, as in the conventional case. There is no need to take any measures such as changing the contents stored in the title / order storage means 3.

FIG. 3 shows a case where the work 15 is canceled between the input position P _b and the work position P _a .

Although the work 15 is canceled and the start mark means 15 ′ is also removed, the shift mark means 15 ″ is not removed, so that the work 15 is not affected and the stored contents of the title / sequential storage means 3 are changed. There is no need to take any measures such as.

The work program preparing device 1'shown in FIG. 4 is an embodiment using an automatic input device such as a bar code reader as the title / order input means 2 '.

In this work program preparation device 1 ', the title of the work program is automatically input for each work, and a shift is performed for each work.

However, when the work 14 is canceled between the input position P _b and the work position P _a , the carry-up shift in the title / order storage means 3 is the shift mark means 14 ″.
Is set, it is performed regardless of the presence or absence of the work 14. Therefore, no measures such as changing the contents stored in the title / order storage unit 3 are required.

The work program preparation device 1 ″ shown in FIG. 5 is an embodiment using the cyclic shift means 6 ′.

That is, the cyclic shift means 6'is the shift means 6 described above.
In addition to performing the same advance shift, the top title is added after the bottom title, so that the stored titles are circulated.

As shown in FIG. 5, the order of the work programs executed by the teaching reproduction industrial robot 20 is (A) → (B) → (C).
When the above is repeated, the basic pattern titles A, B, and C may be input once in this order, and need not be input for each work. Therefore, the number of input operations is significantly reduced, and a manual input means is sufficient.

To explain the operation, the work program (A) to be carried out,
(B), (C) in order of those titles A, B, C,
It is input from the title / order input means 2. This input is 1
Only once.

When the work 11 reaches the work position P _a , the title in the highest order is A, so the work program (A) is executed.

When the work 11 is carried out from the work position P _a , the title / order storage means 3 carries out a shift up, and B becomes the top title. Therefore, the work program (B) is executed for the work 12.

On the other hand, the previous highest title A is attached by the cyclic shift means 6'after the previous lowest title C.

You finish the workpiece 12, when it is removed from the work position P _a, it is performed again advance shift and circulation, the order of titles is C, A, and B.

Therefore, the work program (C) is executed for the work 13.

Work on the workpiece 13 is completed, when it is removed from the work position P _a, the shift mark means is not detected shift is not performed, the order of the titles are not changed. Therefore, the work program (C) is also executed for the work 14.

When the workpiece 14 is removed from the work position P _a, cyclic shift is performed, the re-title A most significant title. Therefore, for work 15, work program (A)
Is carried out.

In the same manner, work programs (A), (B),
(C) is repeatedly performed in order.

As can be understood from the above description, the number of times the title should be input is greatly reduced in the embodiment apparatus 1 shown in FIG. 1 and the embodiment apparatus 1 ″ shown in FIG. However, the burden on the operator does not increase.

Therefore, there is no need for an automatic input device, and the burden on equipment is reduced.

On the other hand, 'as will be understood from the description, the automatic input apparatus 2' fourth embodiment device 1 shown in FIG. Can also be used, in this case, between the input device P _b to the working position P _a Even if the work is canceled, there is an effect that it is not necessary to change the contents stored in the title / order storage means.

EFFECTS OF THE INVENTION According to the present invention, a work program for reading out a work program corresponding to a work that has reached a predetermined work position from a large number of works that are sequentially conveyed on a conveyor by reading from a program storage device. A preparation device, which is installed at an input position distant from a work position, and which inputs a title and an order input means for inputting a title and an order of a work program corresponding to a line of works, and an input by the title and order input means In a work program preparing device having a title and a sequence storing means for storing the created title and the order thereof, (a) shift mark means detachably attached to a work attaching member conveyed by a conveyor, (b)
Start mark means detachably attached to the work attachment member separately from the shift mark means, (c)
When the shift mark means is detected at or near the work position, the shift means moves forward and shifts the order of the titles stored in the title / order storage means, and (d) the start mark means at or near the work position. Upon detection, a work program preparation device is provided, which is provided with program reading means for reading from the program storage device the work programs of the titles in the highest order stored in the title / order storage device. A work program preparation device that reads out a work program corresponding to a work that has reached a predetermined work position from among a large number of works that are sequentially conveyed by a line conveyor and prepares for the work, and that is away from the work position It is installed at the input position and can be used for lined workpieces. A work program preparation device including a title / order input means for inputting the title and order of the corresponding work program, and a title / order storage means for storing the title and order input by the title / order input means. In (a) shift mark means detachably attached to a work attachment member conveyed by a conveyor,
(B) Start mark means detachably attached to the work attachment member separately from the shift mark means,
(C) When the shift mark means is detected at or near the work position, the order of titles stored in the title / order storage means is shifted up and the order of the previous highest title is replaced with the lowest. Shift means, and (d) program reading means for reading the work program of the title in the highest order stored in the title / order storage means from the program storage device when the start mark means is detected at or near the work position. There is provided a work program preparation device characterized by being provided.

Then, the following effects are obtained.

Since it is not necessary to input the title of the work program for each work, the number of input titles is reduced. Therefore, the work load on the operator is reduced when the manual title / order input means is used.

Even if a manual title / sequential input means is used, the burden on the operator does not become large, so the equipment load can be reduced without the need for an automatic input means.

There is an advantage that when the work is canceled between the input position and the work position, the contents stored in the title / order storage means need not be changed.

Since the shift mark means and the start mark means are detachably attached to the work attaching member, the work information of the work can be obtained without disturbing the continuous supply of the work by the conveyor.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of a work program preparing device according to an embodiment of the present invention, FIGS. 2 and 3 are operation explanatory diagrams when a work is canceled in the device of FIG. 1, and FIG. 4 is a book. FIG. 5 is a structural block diagram of another embodiment of the invention, FIG. 5 is a structural block diagram of yet another embodiment of the present invention, FIG. 6 is a structural block diagram of an example of a conventional work program preparing device, and FIG. FIG. 7 is an operation explanatory view when the work is canceled between the input position and the work position in the conventional apparatus shown in FIG. 6. (Explanation of symbols) 1, 1 ', 1 ", 51 ... Work program preparation device 2, 2' ... Title / order input means 3 ... Title / order input means 4 ... Shift sensor 6 ... Shift means 6 '... Circulation shift means 7 ... Start sensor 9 ... Program reading means 10 ... Conveyor 11-17 ... Work 11'-17' ... Start mark means 11 "-17" ... Shift mark means 20 ... teaching playback type industrial robot 21 ...... program storage device P _a ...... working position P _b ...... input devices a, B, C, the D ...... work program title (a), (B), (C), ( D) ... Work program.

Claims (2)

[Claims] 1. A work program preparation device for preparing a work by reading a work program corresponding to a work, which has reached a predetermined work position, out of a large number of works sequentially transported by a row-less conveyor. hand,
A title / order input means installed at an input position distant from the work position and for inputting the title and order of the work programs corresponding to the works in line, and the title and order input by the title / order input means In a work program preparing device having a title / sequential storing means for storing, (a) shift mark means detachably attached to a work attaching member conveyed by a conveyor, and (b) separate from the shift mark means. A start mark means removably attached to the work attachment member, and (c) a shift for advancing and shifting the order of titles stored in the title / order storage means when the shift mark means is detected at or near a work position. Means, and (d) the start mark hand at or near the work position. When detecting the working program preparation apparatus characterized by comprising comprises a program reading means for reading the title-forward memory means topmost stored in order of the title of the work program from a program storage device. 2. A work program preparation device for reading out a work program corresponding to a work that has reached a predetermined work position from a large number of works sequentially conveyed by a row-less conveyor from a program storage device and preparing for the work. hand,
Title / order input means installed at an input position away from the work position and for inputting the title and order of the work programs corresponding to the works in line, and the title and order input by the title / order input means In a work program preparing device having a title / sequential storing means for storing, (a) shift mark means detachably attached to a work attaching member conveyed by a conveyor, and (b) separate from the shift mark means. When the start mark means detachably attached to the work attaching member is detected, and (c) the shift mark means is detected at or near the work position, the order of titles stored in the title / order storage means is advanced and shifted. Circular shift means for replacing the order of the top title above to the bottom, and (d) When the start mark means is detected at a position or in the vicinity thereof, there is provided program reading means for reading the work program of the title in the highest order stored in the title / order storage means from the program storage device. And a work program preparation device.