JP7249401B2 - Working system setting device - Google Patents

Description

This specification discloses a configuration device for a working system.

Conventionally, as a work system configured with a plurality of modules, there has been proposed a robot configured with a plurality of identical motor modules and a controller that controls the motor modules (see, for example, Patent Document 1). . In this work system, each motor module is assigned a function for exhibiting a function as a robot, and the assigned function and information specifying the motor module are associated and stored in a storage unit.

JP 2017-135979 A

Such a work system is not limited to those configured with the same modules, and there are those configured to be replaceable with modules of the same type but different in shape, performance, and the like. When the module configuration of the work system is changed due to the replacement of the module, it is necessary for the operator to change various operation settings according to the module after replacement. In such a case, it may take time to change the settings or the setting may be erroneously made, which may reduce the operating efficiency of the work system.

The main object of the present disclosure is to appropriately respond to configuration changes of modules in the work system and operate the work system efficiently.

The present disclosure has taken the following means to achieve the above-mentioned main objectives.

The working system setting device of the present disclosure includes:
A setting device for a work system composed of a plurality of types of modules,
a recognition unit that recognizes a module added or replaced to the working system;
an acquisition unit configured to acquire module data of the recognized module among the module data for each module including the specifications of the module;
a setting change unit that changes settings necessary for the module when the work system performs work based on the acquired module data;
The gist is to provide

The work system setting device of the present disclosure recognizes a module added or replaced in the work system and acquires module data of the recognized module. Then, based on the acquired module data, the setting device changes settings necessary for the module when the work system performs work. As a result, when the configuration of the module is changed due to the addition or replacement of the module, the operator does not have to change the setting, so it is possible to prevent the setting change from taking time and setting errors. can be done. Therefore, the work system can be operated efficiently by appropriately responding to the configuration change of the modules.

1 is a configuration diagram showing an outline of the configuration of an equipment introduction support system 10; FIG. Explanatory drawing which shows the outline of marketplace MP. FIG. 2 is a configuration diagram showing an outline of the configuration of a work system 60; FIG. FIG. 4 is an explanatory diagram showing an outline of the configuration of a module DB 30 and a work system 60; 7 is a flowchart showing an example of module replacement handling processing; Explanatory drawing which shows an example of a state of setting a parameter. Explanatory drawing which shows an example of the end effector data 30B of a modification. 10 is a flowchart showing module replacement handling processing according to a modification;

Next, embodiments for implementing the present disclosure will be described with reference to the drawings.

FIG. 1 is a configuration diagram showing the outline of the configuration of the equipment introduction support system 10 of this embodiment, FIG. 2 is an explanatory diagram showing the outline of the marketplace MP, and FIG. 3 shows the outline of the configuration of the work system 60. FIG. 4 is a configuration diagram, and FIG. 4 is an explanatory diagram showing an outline of the configuration of the module DB 30 and the work system 60. As shown in FIG. As shown in FIGS. 1 and 2, the equipment introduction support system 10 includes a management server 20 that manages a marketplace MP for customers to purchase various equipment and devices (hereinafter referred to as modules) provided by vendors. . In this facility installation support system 10 , a management server 20 is connected to vendor terminals 40 and customer terminals 50 via a network 12 . Although one vendor terminal 40 and one customer terminal 50 are shown in FIG. 1, a plurality of terminals are actually connected.

The management server 20 includes a control section 21 , a simulation section 22 , a storage section 23 and a communication section 26 . The control unit 21 has a CPU, a ROM, a RAM, and the like, and performs control of the entire server such as management of the marketplace MP, as well as management of modules introduced to customers. The simulation unit 22 builds a model MD (digital twin, see FIG. 2) such as a work system 60 (see FIG. 3) that combines modules that can be purchased on the marketplace MP in the virtual space, and builds the model MD in the virtual space. Run a simulation using The storage unit 23 is configured by an HDD or the like, and stores various application programs, various databases (DB), and the like. The communication unit 26 is connected to the network 12, etc., and communicates with the vendor terminal 40, the customer terminal 50, and the like. Various instructions from the administrator are input to the management server 20 from an input unit 28 such as a keyboard and a mouse. In addition, the management server 20 displays various information on the display unit 29 such as a display. The management server 20 is not limited to having the simulation unit 22 and the storage unit 23 (various DBs). It may be configured as a device separate from the management server 20 .

The vendor terminal 40 is connected to a control unit 41 having a CPU, ROM, RAM, etc., a storage unit 43 such as an HDD for storing various application programs and various data, and a management server 20 connected to the network 12, etc. for communication. and a communication unit 46 . The vendor terminal 40 receives various instructions from the vendor through an input unit 47 such as a keyboard and a mouse. In addition, the vendor terminal 40 displays various information such as a registration screen for registering the module data of the module to be provided in the marketplace MP on the display unit 48 such as a display.

The customer terminal 50 includes a control unit 51 , a storage unit 53 , and a communication unit 56 like the vendor terminal 40 . The communication unit 56 communicates with a control device 68 of the work system 60, which will be described later, via the network 12 or the like. The customer terminal 50 receives various instructions from the customer through an input unit 57 such as a keyboard and a mouse. In addition, the customer terminal 50 displays various information such as the top screen (purchase screen) of the marketplace MP, the simulation model MD, and the execution result of the simulation on the display unit 58 such as a display.

Here, an example of the work system 60 combining modules that can be purchased at the marketplace MP will be described. For example, the work system 60 can be configured as a system that performs a predetermined work using a robot 61, and in the example of FIG. An example of the predetermined work is a mounting work in which the robot 61 picks up a workpiece such as a mechanical component or an electronic component and mounts it on the board S. The robot 61 includes a vertically articulated robot arm 62 and a controller 68 that controls the entire system including the operation of the robot arm 62 . An end effector 63 as a working tool is detachably attached to the tip link of the robot arm 62, and a camera 64 for capturing an image and a lighting 65 such as a ring light arranged coaxially with the camera 64 are attached. It is As the end effector 63, an electromagnetic chuck, a mechanical chuck, a suction nozzle, or the like can be used. The substrate transport device 66 transports the substrate S by a pair of belt conveyors. The feeder 67 is configured as a tape feeder that feeds a tape containing a plurality of works at predetermined intervals. Note that the feeder 67 is not limited to a tape feeder, and may be a tray feeder or the like that supplies a tray on which a plurality of works are arranged. The control device 68 is composed of a CPU, ROM, HDD, RAM, etc., and stores a system program for managing the entire work system 60 in addition to the operation program of the robot 61 . As shown in FIG. 4, the control device 68 includes a job creating section 69 for creating jobs, and each section such as the robot arm 62 (robot A) and the feeder 67 (feeder A) is controlled based on the created job. to control. In addition, the job includes information on components, the order in which components are mounted on the substrate S, the placement position, the mounting position of the feeder 67 for each component type, the picking position of the robot arm 62 when picking up components from the feeder 67, and the like. Contains information. Although illustration is omitted, the PLC (Programmable Logic Controller) of the substrate transfer device 66 stores the operation program of the substrate transfer device 66 , and the PLC of the feeder 67 stores the operation program of the feeder 67 . The robot 61 (robot arm 62), the end effector 63, the camera 64, the lighting 65, the substrate transfer device 66, and the feeder 67, which constitute such a work system 60, are each called a module.

The storage unit 23 of the management server 20 stores a module DB (database) 30, an introduction record DB 35, a vendor DB 37, and a customer DB 39 shown in FIG. Although illustration is omitted, the vendor DB 37 stores the name of the vendor whose authentication has been registered, the unique vendor ID of each vendor, contact information such as e-mail address and address, and information on the types of modules provided by the vendor. there is Although not shown, the customer DB 39 stores the names of customers who have been authenticated and registered, customer IDs unique to each customer, contact information such as e-mail addresses and addresses, customer purchase histories, and the like. Information on each module introduced to a customer is registered in the introduction record DB 35 in association with a customer ID. The information of each module includes module data, which will be described later.

The module DB 30 registers module data and the like registered by the vendor from the vendor terminal 40 via the registration screen, and a plurality of module data 31 are registered for each module type. The plurality of module data 31 are divided and registered into, for example, robot data 30A, end effector data 30B, feeder data 30C, conveyor data 30D, camera data 30E, and lighting data 30F, as shown in FIG. In the robot data 30A, module data of the robot arm 62 (robot A) and module data of various other robots B to D are registered. Various robots may be horizontal articulated type or parallel link type other than vertical articulated type. These module data include shape data such as three-dimensional CAD data of robots A to D, motion programs, module IDs, specifications, and the like. The module ID is set as unique information for each predetermined module classification. The predetermined classification is determined based on the module type, vendor, model, and the like. For example, the predetermined classification is whether the type of module is a robot, an end effector, a feeder, a conveyor, a camera, or an illumination, or whether an end effector is an electromagnetic chuck, a mechanical chuck, or a suction nozzle. It should be determined based on Also, the predetermined classification may be determined based on which vendor and which model of the vendor.

Similarly, the end effector data 30B includes shape data, module IDs, specifications, etc. of the end effector 63 (end effector A) detachable to the robot A and other types of end effectors B to D detachable to the robots A to D. Module data including such as is registered. Further, the feeder data 30C registers module data including shape data, operation programs, module IDs, specifications, etc. of the feeder 67 (feeder A) and other types of feeders BD. In the conveyor data 30D, module data including shape data, operation programs, module IDs, specifications, etc., of the conveyor A as the board transfer device 66 and other types of conveyors are registered. In the camera data 30E, module data including shape data, module IDs, and specifications of the camera 64 (camera A) and other types of cameras B to D are registered. The illumination data 30F registers module data including shape data, module IDs, specifications, etc. of the illumination 65 (illumination A) and other types of illumination B to D. FIG. Although not shown, the module DB 30 also registers module data including shape data and physical property data of typical workpieces to be worked on. The work module data may be registered by the vendor or by an administrator requested by the customer, and used in simulations using the model MD.

On the top screen of the marketplace MP displayed on the customer terminal 50 or the like, it is possible to request and view the purchase of these modules, request and view the purchase of various tools, and log in to the customer's My Page. As shown in Fig. 2, on the top screen, icons for each type of module, such as robots, end effectors, feeders, conveyors, and cameras (including lighting here), tool icons, purchase buttons, and login to My Page. buttons are displayed. When the customer operates (clicks) the purchase button by inputting operation using the input unit 57 and then selects the icon of the desired module, a module selection screen (not shown) displaying a selectable list of module data of the corresponding type is displayed. be done. For example, when a customer selects a robot icon, a list of module data 31 for robots A to D is displayed, and the customer can select and purchase a desired module from the list. The module data displayed as a list are those registered in the module DB 30 . Further, when the customer operates the purchase button and then selects the tool icon, a tool selection screen (not shown) displaying a list of various tools in a selectable manner is displayed. A customer can select and purchase a necessary tool from among them. Various tools include an analysis tool that collects and analyzes information such as the work status of each module and the frequency of abnormalities, a proposal tool that proposes improvement plans such as module changes based on the analysis results, and an efficient module layout. A layout tool that performs It should be noted that the customer can select the icon of the module or the icon of the tool without clicking the purchase button, and browse the contents of the modules and tools displayed in the list. Further, when the customer logs in to My Page, the customer can check the purchase history of modules, the contents and change history of modules to be introduced, messages from the management server 20 and vendors, and the like. When the modules purchased at the marketplace MP constitute the working system 60, a simulation is normally performed using the model MD constructed with those modules, and the customer confirms the result of the simulation before confirming each module. make a purchase. The customer can also purchase multiple types of modules of the same type (for example, end effector, feeder, etc.) but with different module IDs, and operate the work system 60 while exchanging them as appropriate according to the type of workpiece. .

Next, the handling process when a module is replaced in the work system 60 will be described. FIG. 5 is a flowchart showing an example of module replacement handling processing. This processing is executed by the control device 68 using the function of the job creating section 69 when the module is replaced. The replacement of the module is performed by an operator, but the work system 60 may be configured to automatically replace the module.

In the module replacement handling process, first, the control device 68 recognizes the module ID of the replaced module (S100). At S<b>100 , the control device 68 may recognize the module ID input by the operator via the input unit 57 of the customer terminal 50 . Alternatively, if a sticker or code indicating the module ID is affixed to the module, the control device 68 causes the camera 64 to take an image of it when the module is replaced, processes the imaged image, and recognizes the module ID. may Next, the control device 68 requests module data corresponding to the recognized module ID from the management server 20 (S110), and waits to receive the module data from the management server 20 (S120). The control unit 21 of the management server 20 that has received the request of S110 reads the module data corresponding to the module ID from the module DB 30 of the storage unit 23 and transmits it to the work system 60 . Note that the control unit 21 may transmit the module data to the work system 60 via the customer terminal 50 .

When the control device 68 receives the module data in S120, it reads the received module data (S130), and sets parameters such as operation timing, operation position, and operation speed that need to be changed due to module replacement (S140). ). After setting the parameters, the controller 68 sets a production job including the parameters (S150), and terminates the module replacement handling process.

Here, FIG. 6 is an explanatory diagram showing an example of how parameters are set. FIG. 6 illustrates how the two modules of end effector A and feeder A of FIG. 6A are replaced with end effector B and feeder B of FIG. 6B, and controller 68 sets the operating position as a parameter. The end effectors A and B have different lengths of chuck claws, for example, and the feeders A and B have different heights of work mounting surfaces (supply surfaces), for example. Therefore, the control device 68 (job creating unit 69) sets different values for the height parameter H as the operating position included in the job so that the robot A can pick up the workpiece. For convenience of illustration, the height parameter H indicates the height from a predetermined reference plane such as the installation plane of the robot A to the installation planes of the end effectors A and B on the tip link of the robot arm.

6A, the control device 68 (job creating unit 69) uses a function f A height parameter H1 is set by (Xa, Ya, Za). The parameters Xa, Ya, and Za are included in each module data, but may be calculated by the controller 68 from specifications such as the size of each module data. When the module configuration is changed to that of FIG. 6B, the control device 68 acquires the module data of the end effector B and the feeder B from the module DB30. If the module data of the robot A is stored in the storage unit or the like, the control device 68 does not need to reacquire it, but may reacquire it each time the setting is changed. That is, the control device 68 may acquire module data necessary for setting change, including the module data of the recognized module. The control device 68 uses a function f(Xa, Yb, Zb) using the parameter Xa of the module data of the robot A, the parameter Yb of the module data of the end effector B, and the parameter Zb of the module data of the feeder B to obtain a high Set the parameter H2. In this way, when it is necessary to change the setting of the operating position such as the height parameter H, the control device 68 can change the setting using the module data acquired from the module DB 30 . Therefore, for example, when the height position of the work supply surface is lowered by 10 mm due to the replacement of the feeder, the control device 68 can automatically lower the position at which the robot A grips the work by 10 mm. Further, when the end effector is replaced and the total length of the end effector is shortened by 5 mm, the control device 68 can automatically lower the gripping position of the workpiece by the robot A by 5 mm.

In S140, the control device 68 may change the setting of at least one of the parameters such as the operation speed and the operation timing without being limited to the operation position. For example, when the end effector is replaced and the chucking force and nozzle suction force are improved and the possibility of the work falling is reduced, the control device 68 increases the acceleration, deceleration, and maximum speed of the robot. settings should be changed. Further, when the end effector is replaced and the adsorption force of the nozzle is improved, and thus the time until completion of adsorption of the work supplied from the feeder is shortened, the control device 68 makes the start of the operation after the adsorption of the work be earlier. You just need to change the setting of the operation timing.

Here, correspondence relationships between the components of the present embodiment and the components of the present disclosure will be clarified. The work system 60 of this embodiment corresponds to the work system, the control device 68 including the job creation unit 69 corresponds to the setting device, the control device 68 that executes S100 of the module replacement processing corresponds to the recognition unit, and the module The control device 68 that executes S110 to S130 of the replacement handling process corresponds to the acquisition section, and the control device 68 that executes S140 and S150 of the module replacement handling process corresponds to the setting change section. Also, the module DB 30 corresponds to a database.

The control device 68 of the work system 60 described above recognizes the module replaced in the work system 60, acquires the module data, and configures necessary settings for the module when the work system 60 performs work based on the module data. to change As a result, when the module configuration is changed by replacing the module, the operator does not have to change the setting, so it is possible to prevent the setting change from taking time and setting errors.

In addition, since the control device 68 changes the setting of at least one of the operation parameters of the operation positions, operation timings, and operation speeds of the modules included in the job, the work system 60 whose module configuration has been changed can be operated more appropriately. be able to. In addition, since the control device 68 acquires the module data from the module DB 30, the module data can be quickly acquired without requiring the operator to input the module data each time the module is replaced. In addition, since the control device 68 is connected to the module DB 30 via the network 12 and does not need to store module data, the module can be configured without increasing the storage capacity of the control device 68 . Ability to respond appropriately to change.

It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

For example, in the above-described embodiments, the operating parameters of at least one of the operating position, operating timing, and operating speed of the module are changed. Anything that changes the settings is fine. For example, since the module data includes work data, the control device 68 may change settings such as the movement position, movement speed, and movement timing based on the work data when the work to be worked on is changed. . For example, the operating position may be changed because the height of the work changes, or the setting may be changed so as to lower the operating speed of the robot because the friction coefficient of the surface of the work decreases. Further, in the case where the work system 60 is equipped with an elevating device for elevating the feeder so that the workpiece mounting surface of the feeder reaches a predetermined height, when the feeder as a module is replaced, the control device 68 , the setting of the lifting height position of the lifting device may be changed.

In the above-described embodiment, the present disclosure is applied when a module is replaced, but the present disclosure is not limited to this, and may be applied when a new module is added to the work system 60. .

In the above-described embodiment, the module data corresponding to the recognized module ID is obtained, but the present invention is not limited to this, and the serial number associated with each module is obtained. to recognize the module ID and serial number. You may acquire the module data corresponding to . FIG. 7 is an explanatory diagram showing an example of the end effector data 30B of the modification, which is registered in the module DB 30 of the modification. As shown, not only the module ID but also the serial number. is registered in association with module specifications. FIG. 7 shows end effector data 30B as an example, and as specifications, information such as end effector size, chucking force (adsorption force), maximum size that can be chucked, operating part, weight and material (not shown). is registered. Here, for example, there may be variations in size and the like for each individual module, and the variations may affect the work depending on minute parts and required accuracy of the work. For this reason, in FIG. 7, the chucking force, maximum size, operating part, etc. are registered as common information in the module ID, but the size is registered as the measurement result for each individual module.

FIG. 8 is a flow chart showing the module replacement handling process of the modification. In the module replacement handling process of the modified example, the control device 68 first receives the module ID and serial number of the replaced module. is recognized (S100a). Next, the control device 68 recognizes the recognized module ID and serial number. to the management server 20 (S110a). As a result, the control unit 21 of the management server 20 obtains the module ID and the serial number from the module DB 30 of the modified example. to the control device 68. Since the processing below is the same as that in FIG. 5, the description is omitted. As a result, the control device 68 receives the module ID and the serial number. Since the setting of the operation parameter is changed based on the module data associated with the module, it is possible to appropriately deal with individual manufacturing variations of the module. Therefore, working accuracy can be improved. The information such as the standard specification of the module may be obtained from the module DB 30 or the like, and the information for each individual module may be obtained by input by the operator or the like.

In the above-described embodiment, the control device 68 acquires the necessary module data from the module DB 30 connected via the network 12, but it is not limited to this. For example, the control device 68 may have a module DB in which module data of modules that can be used in the work system 60 are registered, and the module data may be obtained from the module DB. Also, the control unit 21 may change the settings of the operation parameters and transmit them to the control device 68 . Alternatively, the control device 68 is not limited to acquiring module data from the module DB, and may acquire module data input by the worker who replaced the module, or may acquire module data by another method. good. As another method, for example, a 2D code such as a bar code or QR code (registered trademark) associated with module data is provided in the module, and the 2D code is read by the camera 64 or a handheld code reader. may be read by the controller 68 to obtain the module data. In addition, an IC tag such as an RFID (Radio Frequency Identification) tag capable of reading and writing module data is provided in the module, and the information in the tag is read by a tag recognition device or the like, and the control device 68 obtains the module data. You may

In the above-described embodiment, the work system 60 configured with a plurality of types of modules including the robot 61 was illustrated, but the work system is not limited to this, and the work system may be a system configured with a plurality of types of modules. may not be included.

Here, the setting device of the work system of the present disclosure may be configured as follows. For example, in the setting device for a work system according to the present disclosure, the setting change unit may include, as settings necessary for the module, an operation position, an operation timing, or an operation of the module, which is included in a job that instructs the work system on work content. The setting of at least one of the operating parameters of speed may be changed. In this way, in a working system in which the configuration of the modules has been changed, the operating positions, operating timings, or operating speeds of the modules can be made more appropriate, and the modules can be operated efficiently.

In the work system setting device of the present disclosure, the acquisition unit may acquire the module data of the recognized module from a database in which module data for each module is registered. In this way, it is possible to appropriately respond to configuration changes without requiring the operator to input module data.

In the setting device of the work system of the present disclosure, it may be connected to the database via a network, and the obtaining unit may obtain the module data from the database via the network. This eliminates the need for the setting device to store the module data, so that it is possible to appropriately respond to changes in module configuration without increasing the storage capacity of the setting device.

In the work system setting device of the present disclosure, the recognition unit can recognize a serial number associated with each module when recognizing the module, and the acquisition unit can recognize the serial number of the module. The module data corresponding to the number may be acquired. In this way, it is possible to appropriately deal with individual manufacturing variations of modules, such as differences in size between individual modules.

INDUSTRIAL APPLICABILITY The present disclosure is applicable to the work system manufacturing industry and the like.

10 equipment introduction support system 12 network 20 management server 21, 41, 51 control unit 22 simulation unit 23, 43, 53 storage unit 26, 46, 56 communication unit 28, 47, 57 input unit 29 , 48, 58 display section, 30 module DB, 30A robot data, 30B end effector data, 30C feeder data, 30D conveyor data, 30E camera data, 30F lighting data, 31 module data, 35 introduction record DB, 37 vendor DB, 39 Customer DB, 40 Vendor Terminal, 50 Customer Terminal, 60 Work System, 61 Robot, 62 Robot Arm, 63 End Effector, 64 Camera, 65 Lighting, 66 Substrate Transfer Device, 67 Feeder, 68 Control Device, 69 Job Creation Unit, MD Model, MP Marketplace, S Substrate.

Claims (4)

A setting device for a work system composed of a plurality of types of modules,
a recognition unit that recognizes a module ID of a module added or replaced in the work system and a serial number associated with each module ;
an acquisition unit for acquiring module data corresponding to the recognized module ID and serial number from among the module data for each module including the specifications of the module;
a setting change unit that changes settings necessary for the module when the work system performs work based on the acquired module data;
with
When the module is an end effector that is detachably attached to a robot arm and picks up a workpiece, the acquisition unit acquires, as the module data, a chucking force or a suction force corresponding to the module ID and the serial number. Acquire the measurement results of the size of each individual corresponding to
The setting change unit changes a parameter setting of an operation speed of the robot arm based on the chucking force or the adsorption force, and changes an operation position when the end effector picks up the workpiece based on the measurement result. Change parameter settings
Working system setting device. The work system setting device according to claim 1,
The module data includes work data of a work to be picked up,
When the work to be picked up is changed, the acquisition unit acquires work data corresponding to the work,
A setting device for a work system, wherein the setting change unit changes the setting of at least one of the motion speed and the motion position based on the acquired work data . The work system setting device according to claim 1 or 2,
The acquisition unit acquires the module data corresponding to the recognized module ID and serial number from a database in which module data for each module is registered. A work system setting device. The work system setting device according to claim 3,
connected to said database via a network,
The acquisition unit acquires the module data from the database via the network. A setting device for a work system.

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