Production system, method for managing production system, and program recording medium on which program for management device of production system is recorded

Abstract

A production system (1) is provided with a plurality of automatic work devices (20) that execute work on one or more production devices (100), and a management device (10) that issues a work instruction to the automatic work devices (20) and manages the work of the automatic work devices (20). The management device (10) monitors the remaining battery power of each automatic work device (20), checks whether or not the indicated work can be completed on the basis of the recognized remaining battery power, and if there is an automatic work device that is determined to be incapable of completing the work and that has insufficient remaining power. An automatic work device (20) having a sufficient remaining battery capacity for completing the work is searched for, and when there is an automatic work device (20) having a sufficient remaining battery capacity, the work content instructed to an automatic work device (20) having a insufficient remaining battery capacity is instructed to the automatic work device (20) having the sufficient remaining battery capacity. The automatic working device (20) with the sufficient remaining amount takes over the work.

Description

Technical Field

[0001] The present invention relates to a production system, a management method of the production system, and a program recording medium recording a program for a management device of the production system, wherein the production system includes a plurality of automatic work devices that perform operations on one or more production devices, and the automatic work device includes: a robot that performs operations on the production device; an automated guided vehicle that carries the robot and passes through work positions set for the production device; a control device that controls the automated guided vehicle and the robot; and a battery that supplies electric power. Background Art

[0002] Conventionally, a production system called FMS (Flexible Manufacturing System) has been known. In this production system, for example, a plurality of machine tools are appropriately arranged in a factory, and an automated guided vehicle is used to transport workpieces, tools, etc. before processing to each machine tool, and the automated guided vehicle is also used to collect the workpieces after processing and the used tools, etc. in each machine tool. Then, unmanned automatic production is achieved through such a production system.

[0003] As the above-mentioned automated guided vehicle, an automated guided vehicle disclosed in Japanese Patent Laid-Open No. 2019-8539 has been conventionally known. The automated guided vehicle includes: a distance measurement device that drives a light projection unit that emits projection light to rotate, and outputs distance measurement data based on the reception of the reflected light after the projection light is reflected by a measurement object; a map creation unit that creates map information based on the distance measurement data; and an obstacle sensor that detects obstacles, wherein the obstacle sensor is disposed in a measurement invalid area within a circular area including the measurement effective area of the distance measurement device.

[0004] According to this automated guided vehicle, first, for example, when the automated guided vehicle is operated manually to travel within the factory building, based on the distance measurement data measured by the distance measurement device, the map creation unit creates planar map information that delimits the inner contour of the factory building and the outer contour of the machine tools or other devices arranged within the building.

[0005] In addition, the automated guided vehicle determines its current position (self-position) within the building based on the distance measurement data measured by the distance measurement device and the map information previously created by the map creation unit. Then, based on the map information and self-position information within the building, the automated guided vehicle travels autonomously without a track along a predetermined path to perform the above-mentioned transportation of workpieces or tools, etc.

[0006] Moreover, in recent years, as disclosed in Japanese Patent Application Laid-Open No. 2017-132002, a production system has been proposed in which a robot is mounted on the above-described automated guided vehicle. In this production system, the automated guided vehicle mounted with the robot moves to a work position set for a machine tool, and at this work position, the robot performs operations such as loading and unloading of workpieces on the machine tool.

[0007] In such a production system, a single robot that moves by means of the automated guided vehicle can perform operations such as loading and unloading of workpieces on multiple machine tools. Therefore, compared with the case where robots are arranged in a fixed state relative to the machine tools, the degree of freedom in the layout of the machine tools is increased, and thus the layout of the machine tools can be set to a layout that can further improve production efficiency. In addition, compared with a conventional production system in which robots are arranged in a fixed state, a single robot can perform operations on more machine tools, so that the equipment cost can be reduced.

[0008] Prior Art Documents Patent Documents Patent Document 1: Japanese Patent Application Laid-Open No. 2019-8359 Patent Document 2: Japanese Patent Application Laid-Open No. 2017-132002 Summary of the Invention Problems to be Solved by the Invention However, for an automatic working device composed of the above-described automated guided vehicle, robot, and control device, for example, power is supplied from a battery mounted on the automated guided vehicle, and these automated guided vehicle, robot, and control device are operated by this power.

[0009] Moreover, for the battery, power is supplied from the power supply device through a properly arranged power supply device by the automatic working device, and thus the battery is charged. Therefore, when performing an operation on a predetermined production device, when the remaining power of the battery reaches a specified reference remaining power, the conventional method is to charge the battery by passing the automatic working device through the power supply device.

[0010] However, when the remaining power of the battery reaches the specified reference remaining power, if the operation on the corresponding production device is interrupted to charge the battery, the operation of the production device may stop, and in this case, there is a problem that the production efficiency (operation rate) of the production device decreases.

[0011] The present invention has been made in view of the above circumstances, and an object thereof is to provide a production system etc. that includes an automatic working device that performs operations on a production device and can achieve a higher operation rate of the production device than in the past.

[0012] Means for Solving the Problems The present invention for solving the above problems relates to a production system, The production system includes a plurality of automatic operation devices and a management device. The automatic operation devices perform operations on one or more production devices, and the management device issues operation instructions to the automatic operation devices and manages the operations of the automatic operation devices. The automatic operation device includes: a robot that performs operations on the production device; an automated guided vehicle that carries the robot and passes through the operation positions set for the production device; a control device that controls the automated guided vehicle and the robot; and a battery that supplies power. In the production system, the management device is configured to: monitor the battery levels of each automatic operation device, and at the same time compare the identified battery levels with the reference levels required to complete the instructed operations to confirm whether the instructed operations can be completed. In the case where there is an automatic operation device with insufficient battery level judged to be lower than the reference level and unable to complete the instructed operations, search for an automatic operation device with sufficient battery level, that is, a battery level exceeding the reference level capable of completing the instructed operations, and in the case where there is an automatic operation device with sufficient battery level, instruct the operation content instructed to the automatic operation device with insufficient battery level to the automatic operation device with sufficient battery level, so that the automatic operation device with sufficient battery level takes over the instructed operation.

[0013] According to the production system of this form (the first form), the automatic operation device operates under the management of the management device, and uses the automatic operation device to perform (provide) specified operations on specified production devices.

[0014] Moreover, the management device monitors the battery levels of each automatic operation device, compares the identified battery levels with the reference levels required to complete the instructed operations to confirm whether the instructed operations can be completed. In the case where there is an automatic operation device with insufficient battery level judged to be lower than the reference level and unable to complete the instructed operations, search for an automatic operation device with sufficient battery level, that is, a battery level exceeding the reference level capable of completing the instructed operations, and in the case where there is an automatic operation device with sufficient battery level capable of completing the operations, instruct the operation content instructed to the automatic operation device with insufficient battery level to the automatic operation device with sufficient battery level, so that the automatic operation device with sufficient battery level takes over the instructed operation.

[0015] In this way, according to the production system of the first form, in the case where there is an automatic operation device that cannot complete the operation, when there is another automatic operation device that can complete the instructed operation, the other automatic operation device takes over the operation, so that the production device as the operation providing object can operate without stopping. Thus, compared with the prior art, the production efficiency (operation rate) of the production device can be improved.

[0016] In addition, the following form (the second form) can be adopted. According to the production system of the first form, the management device is configured to: in the case where there is no automatic operation device with sufficient margin, issue an instruction to the automatic operation device with insufficient margin to pass through the charging station, so that the automatic operation device with insufficient margin passes through the charging station.

[0017] In addition, the following form (the third form) can be adopted. According to the production system of the first form, the management device is configured to: in the case where there is an automatic operation device with sufficient margin, make the automatic operation device with sufficient margin take over the operation, and at the same time issue an instruction to the automatic operation device with insufficient margin to pass through the charging station, so that the automatic operation device with insufficient margin passes through the charging station.

[0018] In addition, the following form (the fourth form) can be adopted. According to the production system of the first form, the management device is configured to: in the case where there is an automatic operation device with sufficient margin, confirm whether the automatic operation device with insufficient margin can complete the operation instructed to the automatic operation device with sufficient margin. In the case where it is determined that the operation can be completed, swap the operations of the automatic operation device with insufficient margin and the automatic operation device with sufficient margin, so that the automatic operation device with insufficient margin executes the operation of the automatic operation device with sufficient margin, and at the same time make the automatic operation device with sufficient margin execute the operation of the automatic operation device with insufficient margin. According to this fourth form, in addition to improving the operation rate of the production device, the operation rate of the automatic operation device can also be improved.

[0019] In addition, the present invention relates to a production system, the production system includes a plurality of automatic operation devices that perform operations on one or more production devices, The automatic operation device includes: a robot that performs operations on the production device; an automated guided vehicle that carries the robot and passes through the operation positions set for the production device; a control device that controls the automated guided vehicle and the robot; and a battery that supplies power. In the production system, the control devices of the respective automatic operation devices are configured to: respectively monitor their own battery margins, and at the same time compare the identified battery margins with the reference margins required to complete the predetermined operations to confirm whether the predetermined operations can be completed. In the case where it is determined that the battery margin is lower than the reference margin and the predetermined operation cannot be completed, search for another automatic operation device with a battery margin that exceeds the reference margin capable of completing the operation through mutual communication. And in the case where there is another automatic operation device with a battery margin capable of completing the operation, make the other automatic operation device take over its own operation.

[0020] In the production system according to this form (the fifth form), each automatic work device executes (provides) a prescribed work, for example, according to a request from each production device.

[0021] Moreover, the control devices of the respective automatic work devices respectively monitor their own battery levels, and at the same time compare the identified battery levels with a reference level required to complete a predetermined work to confirm whether the predetermined work can be completed. In the case where it is determined that the battery level is lower than the reference level and the predetermined work cannot be completed, another automatic work device having a battery level that exceeds the reference level capable of completing the work is searched through mutual communication. And in the case where there is another automatic work device having a battery level capable of completing the work, for example, information related to its own work is transmitted to the other automatic work device, and the other automatic work device takes over the work.

[0022] Thus, in the production system according to this fifth form, in the case where there is an automatic work device that cannot complete the work, when there is another automatic work device capable of completing the work, the other automatic work device takes over the work. Therefore, the production device as the work providing object can be operated without stopping. As a result, compared with the past, the production efficiency (operation rate) of the production device can be improved.

[0023] In addition, the following form (the sixth form) can be adopted. According to the production system of the fifth form, the control devices of the respective automatic work devices are configured to: charge the battery via a charging station in the case where there is no such other automatic work device.

[0024] In addition, the following form (the seventh form) can be adopted. According to the production system of the fifth form, the control devices of the respective automatic work devices are configured to: in the case where there is such other automatic work device, let the other automatic work device take over its own work, and at the same time charge the battery via a charging station.

[0025] In addition, the following form (the eighth form) can be adopted. According to the production system of the fifth form, the control devices of the respective automatic work devices are configured to: in the case where there is such other automatic work device, confirm whether it can complete the work instructed to the other automatic work device. In the case where it is determined that the work can be completed, the work of itself and the work of the other automatic work device are swapped, and the other automatic work device executes its own work while it executes the work of the other automatic work device. According to this eighth form, in addition to improving the operation rate of the production device, the operation rate of the automatic work device can also be improved.

[0026] In addition, the present invention relates to a method for managing a production system, which is a method for issuing an operation instruction to an automatic operation device in the production system and managing the operation of the automatic operation device. The production system includes a plurality of automatic operation devices that perform operations on one or more production devices. The automatic operation device includes: a robot that performs operations on the production device; an automated guided vehicle that carries the robot and passes through an operation position set for the production device; a control device that controls the automated guided vehicle and the robot; and a battery that supplies power. The method includes: Monitoring the battery level of each automatic operation device; Comparing the identified battery level with a reference level required to complete the instructed operation to confirm whether the instructed operation can be completed; In the case where there is an automatic operation device with insufficient battery level determined to be unable to complete the instructed operation because the battery level is lower than the reference level, searching for an automatic operation device with sufficient battery level having a battery level exceeding the reference level capable of completing the instructed operation; and In the case where there is an automatic operation device with sufficient battery level, instructing the operation content instructed to the automatic operation device with insufficient battery level to the automatic operation device with sufficient battery level, so that the automatic operation device with sufficient battery level takes over the instructed operation.

[0027] In addition, the present invention relates to a program recording medium recording a program for a management device. The program for the management device is used for a management device of a production system. The production system includes a plurality of automatic operation devices and the management device. The automatic operation device performs operations on one or more production devices. The management device issues an operation instruction to the automatic operation device and manages the operation of the automatic operation device. The automatic operation device includes: a robot that performs operations on the production device; an automated guided vehicle that carries the robot and passes through an operation position set for the production device; a control device that controls the automated guided vehicle and the robot; and a battery that supplies power. The program for the management device is configured to execute the following processing: Monitoring the battery level of each automatic operation device; Comparing the identified battery level with a reference level required to complete the instructed operation to confirm whether the instructed operation can be completed; In the case where there is an automatic operation device with insufficient battery level determined to be unable to complete the instructed operation because the battery level is lower than the reference level, searching for an automatic operation device with sufficient battery level having a battery level exceeding the reference level capable of completing the instructed operation; and In the case where there is an automatic working device with sufficient margin, the operation content indicated for the automatic working device with insufficient margin is indicated to the automatic working device with sufficient margin, and the automatic working device with sufficient margin takes over the indicated operation.

[0028] Effect of the Invention As described above, according to the production system of the present invention, in the case where there is a (first) automatic working device that cannot complete the operation, when there is another (second) automatic working device that can complete the operation, the other automatic working device takes over the operation. Therefore, the production device that is the object of operation provision can be operated without stopping. Thus, compared with the prior art, the production efficiency (operation rate) of the production device can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is an explanatory diagram showing the schematic structure of the production system according to an embodiment of the present invention.

[0030] Figure 2 is a plan view showing the device structure of the production system according to the present embodiment.

[0031] Figure 3 is a block diagram showing the outline of the control device constituting the automatic working device according to the present embodiment.

[0032] Figure 4 is a plan view showing the automatic working device according to the present embodiment.

[0033] Figure 5 is Figure 4 a right side view of the shown automatic working device.

[0034] Figure 6 is a flowchart showing the processing in the management device according to the present embodiment.

[0035] Figure 7 is a block diagram showing the outline of the control device constituting the automatic working device according to another embodiment of the present invention.

[0036] Figure 8 is a flowchart showing the processing in the operation management unit of the control device according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0037] Hereinafter, the production system according to the detailed embodiment of the present invention will be described with reference to the drawings.

[0038] As Figure 1 and Figure 2 ​​​​​​​​As shown in the figure, the production system 1 of this example consists of the following: two machine tools 100 (100A, 100B) as production devices; a raw material storage device 104 for storing the raw material W1 before processing; a product storage device 105 for storing the processed product W2; a cleaning device 106 for cleaning the product W2; a product storage device 107 for storing the cleaned product W2; four automatic operation devices 20 (20A, 20B, 20C, 20D) for performing operations on the machine tools 100, raw material storage device 104, product storage device 105, cleaning device 106, product storage device 107, etc.; and a management device 10 for issuing operation instructions to the machine tools 100 and automatic operation devices 20 and managing the operations of the machine tools 100 and automatic operation devices 20. Moreover, the management device 10, each automatic operation device 20, and each machine tool 100 are interconnected via a network 15 such as the Internet. In addition, of course, Figure 1 The device structure shown is only an example and is not limited thereto.

[0039] The machine tool 100 applies all conventionally known machine tools such as NC (numerical control) lathes or machining centers that have a communication function connected to the network 15. In addition, as Figure 2 shown, in this example, the two machine tools 100A and 100B are arranged in parallel at an appropriate interval. Of course, the number of machine tools 100 provided and their configurations are not limited thereto.

[0040] In addition, power supply devices 101 (101A, 101B), raw material storage devices 102 (102, 102B) for storing the raw material W1, and product storage devices 103 (103A, 103B) for storing the product W2 are respectively arranged near each machine tool 100 (100A, 100B). In addition, the raw material storage device 104 and the product storage device 105 are storage devices with a larger storage capacity than the raw material storage devices 102 and the product storage devices 103, and are arranged at a position slightly farther away from the machine tool 100. In addition, a power supply device 108 is also arranged near the raw material storage device 104.

[0041] As Figure 4 and Figure 5 shown, the automatic operation device 20 consists of the following: an automated guided vehicle 30, a robot 40 mounted on the automated guided vehicle 30, a control device 50 for controlling the automated guided vehicle 30 and the robot 40, and a battery 70 for supplying power to the automated guided vehicle 30, robot 40, and control device 50, etc.

[0042] The unmanned carrier 30 mounts the robot 40 on its upper surface, i.e., the mounting surface 31, and further arranges the first tray 34 and the second tray 35 side by side on the mounting surface 31. In addition, according to the operation content of the automatic operation device 20, the raw material W1 or the product W2 is accommodated in the first tray 34 and the second tray 35.

[0043] In addition, the unmanned carrier 30 includes a sensor (for example, a distance measurement sensor using laser) capable of identifying its own position in the factory, and is configured to travel without a track in the factory including the area where the machine tool 100 is arranged under the control of the control device 50. In this example, it passes through the respective operation positions set for each machine tool 100, the raw material storage device 104, the product storage device 105, the product storage device 107, and the cleaning device 106, and also passes through the power receiving position set for the power supply device 108. In addition, in this example, the control device 50 and the battery 70 are arranged inside the unmanned carrier 30.

[0044] The robot 40 is an articulated robot including three arms, i.e., a first arm 41, a second arm 42, and a third arm 43 as a manipulator part, and these first arm 41, second arm 42, and third arm 43 are connected by joints in a continuous manner. A support shaft 44a is installed at the front end of the third arm 43, and a hand device 45 as an end effector is installed on the support shaft 44a. Further, a support rod 44b is installed on the support shaft 44a, and a camera device 46 as an end effector is also installed on the support rod 44b. Moreover, the robot 40 moves the hand device 45 and the camera device 46 in three-dimensional space under the control of the control device 50. In addition, the structure of the robot 40 is not limited to this articulated structure, and any known structure of the robot that can be used can be adopted.

[0045] As Figure 3 shown, the control device 50 is composed of the following: an operation program storage unit 51, a moving position storage unit 52, an action posture storage unit 53, a map information storage unit 54, a manual operation control unit 55, an operation control unit 56, a map information generation unit 57, a position recognition unit 58, a battery remaining amount recognition unit 59, an operation management unit 60, an input / output interface 61, etc. Moreover, the control device 50 is connected to the unmanned carrier 30, the robot 40, and the battery 70 that constitute the automatic operation device 20 of itself via the input / output interface 61, and is also connected to the management device 10, the respective machine tools 100, and other automatic operation devices 20 via the network 15.

[0046] In addition, the control device 50 is composed of a computer including a Central Processing Unit (CPU), a Random Access Memory (RAM), a Read Only Memory (ROM), etc. The manual operation control unit 55, the job control unit 56, the map information generation unit 57, the position recognition unit 58, the battery level recognition unit 59, the job management unit 60, and the input / output interface 61 achieve their functions through computer programs stored in an appropriate recording medium of the control device 50 and execute the following-described processing. In addition, the job program storage unit 51, the moving position storage unit 52, the action posture storage unit 53, and the map information storage unit 54 are composed of an appropriate recording medium such as a RAM.

[0047] The manual operation control unit 55 is a functional unit that operates the unmanned carrier 30 and the robot 40 according to an operation signal input by an operator from an operation panel (not shown). That is, the operator can manually operate the unmanned carrier 30 and the robot 40 (including the hand device 45 and the camera device 46) using the operation panel (not shown) under the control of the manual operation control unit 55.

[0048] The job program storage unit 51 is a functional unit that stores an automatic operation program and a map generation program. The automatic operation program is used to automatically operate the unmanned carrier 30 and the robot 40 during automatic operation, and the map generation program is used to operate the unmanned carrier 30 when generating map information in the factory described below. The automatic operation program and the map generation program are input, for example, from the management device 10 connected via the network 15 or from an input / output unit provided on the operation panel (not shown), and are stored in the job program storage unit 51.

[0049] In addition, the automatic operation program includes instruction codes related to the moving position, moving speed, and orientation of the unmanned carrier 30, which are the target positions to which the unmanned carrier 30 is to move, and further includes instruction codes related to the actions of the robot 40 operating in sequence, as well as instruction codes related to the operations of the hand device 45 and the camera device 46. In addition, the map generation program includes the following instruction codes: for enabling the unmanned carrier 30 to travel around the factory without a track so that map information can be generated in the map information generation unit 57.

[0050] The map information storage unit 54 is a functional unit that stores map information. The map information includes the configuration information of machines, devices, equipment, etc. (devices, etc.) arranged in the factory where the unmanned carrier 30 travels, and this map information is generated by the map information generation unit 57.

[0051] Under the control of the operation control unit 56 of the control device 50, when the unmanned carrier vehicle 30 travels according to the map generation program stored in the operation program storage unit 51, the map information generation unit 57 acquires the spatial information in the factory based on the distance data detected by the sensor, and at the same time identifies the planar shapes of the devices and the like disposed in the factory. For example, based on the planar shapes of the pre-registered devices and the like, the specific devices disposed in the factory are identified. In this example, the positions, planar shapes, etc. (configuration information) of the respective machine tools 100 are identified. Then, the map information generation unit 57 stores the acquired spatial information and the configuration information of the devices and the like as the map information in the factory in the map information storage unit 54.

[0052] The position identification unit 58 is a functional unit that identifies the position and posture of the unmanned carrier vehicle 30 in the factory based on the distance data detected by the sensor and the map information in the factory stored in the map information storage unit 54, and controls the movement of the unmanned carrier vehicle 30 based on the position and posture of the unmanned carrier vehicle 30 identified by the position identification unit 58 by the operation control unit 56.

[0053] The movement position storage unit 52 is a functional unit that stores the movement position, which is the specific target position to which the unmanned carrier vehicle 30 is to move, that is, the specific movement position corresponding to the instruction code in the program, and the movement position includes the respective operation positions set for the above-mentioned machine tools 100. In addition, the movement position is set, for example, by the following operation: under the control of the manual operation control unit 75, the unmanned carrier vehicle 30 is manually operated using the operation panel (not shown) to move it to the respective target positions, and then the position data identified by the position identification unit 58 is stored in the movement position storage unit 52. This operation is called a so-called teaching operation.

[0054] The movement posture storage unit 53 is a functional unit that stores the postures (movement postures) of the robot 40 that change sequentially as the robot 40 operates in a specified order, that is, the data related to the movement postures corresponding to the instruction code in the program. The data related to the movement postures is the rotation angle data of the respective joints (motors) of the robot 40 in each posture when the robot 40 is manually operated to obtain the respective target postures by a teaching operation using the operation panel (not shown) under the control of the manual operation control unit 55, and the rotation angle data is stored in the movement posture storage unit 53 as the data related to the movement postures.

[0055] The specific action postures of the robot 40 are respectively set in each machine tool 100, raw material storage device 102, product storage device 103, raw material storage device 104, product storage device 105, product storage device 107, and cleaning device 106. For example, during the operation of the machine tool 100, the loading and unloading actions of the raw material W1 and the product W2 relative to the machine tool 100 are set. Specifically, after unloading the processed product W2 from the machine tool 100 and storing it in the product storage device 103, the postures involved in the respective actions of taking out the raw material W1 from the raw material storage device 102 and loading it onto the machine tool 100 are set.

[0056] In addition, during the operation of taking out the raw material W1 from the raw material storage device 104, the postures involved in the respective actions of taking out the raw material W1 from the raw material storage device 104 and storing it in the first tray 34 are set. In addition, during the operation of storing the product W2 in the product storage device 105, the postures involved in the respective actions of taking out the product W2 stored in the second tray 35 and storing it in the product storage device 105 are set.

[0057] In addition, during the operation of supplying the raw material W1 to each raw material storage device 102, the postures involved in the respective actions of taking out the raw material W1 stored in the first tray 34 and storing it in the raw material storage device 102 are set. In addition, during the operation of taking out the product W2 from each product storage device 103, the postures involved in the respective actions of taking out the product W2 stored in the product storage device 103 and storing it in the second tray 35 are set.

[0058] In addition, during the operation of taking out the product W2 from the product storage device 105 and storing it in the cleaning device 106, the postures involved in the respective actions of taking out the product W2 from the product storage device 105 and storing it in the first tray 34, and the respective actions of taking out the product W2 stored in the first tray 34 and storing it in the cleaning device 106 are set.

[0059] In addition, during the operation of taking out the cleaned product W2 from the cleaning device 106 and storing it in the product storage device 107, the postures involved in the respective actions of taking out the product W2 from the cleaning device 106 and storing it in the second tray 35, and the respective actions of taking out the product W2 stored in the second tray 35 and storing it in the product storage device 107 are set.

[0060] The operation control unit 56 is a functional unit that operates the unmanned carrier 30 and the robot 40 according to either the automatic operation program or the map generation program stored in the operation program storage unit 51. At this time, the data stored in the moving position storage unit 52 and the action posture storage unit 53 are used as needed.

[0061] The job management unit 60 is a functional unit that receives job instructions from the management device 10 and causes the job control unit 56 to execute the received jobs. The job control unit 56 reads out a program corresponding to the job from the job program storage unit 51 according to the job instructions from the job management unit 60 and executes this program.

[0062] The battery remaining amount identification unit 59 is a functional unit that identifies the remaining amount of the battery 70 via the input / output interface 61, and performs the following processing: transmitting information related to the identified battery remaining amount to the management device 10 via the input / output interface 61 at a prescribed time interval.

[0063] The management device 10 is composed of a computer including a CPU, a RAM, a ROM, etc., is connected to each of the machine tools 100 and the automatic work device 20 via the network 15, and has a function of managing its working state according to a prescribed processing schedule. For example, according to the prescribed processing schedule, job instruction processing for instructing jobs to each of the machine tools 100 and the automatic work device 20 is performed. Specifically, according to the processing schedule, a prescribed machine tool 100 is commanded to machine a prescribed workpiece W, and at the same time, a prescribed automatic work device 20 is commanded to perform a loading / unloading operation, where the loading / unloading operation is the removal of the machined product W2 from the corresponding machine tool 100 and the installation of a new raw material W1, thereby managing the machining in each of the machine tools 100.

[0064] The management function of the management device 10 (including the function of the processing shown later Figure 6 is realized by the management device 10 executing a computer program (management device program) stored in an appropriate recording medium of the management device 10. Additionally, as another form, the management device program can be recorded in a conventionally known external program recording medium such as a portable USB (universal serial bus) memory or a CD-ROM (Compact Disc Read-Only Memory), the management device 10 can execute the management device program stored in the program recording medium, or can execute after reading the management device program from the program recording medium. Further, the management device program can be stored (downloaded) into the management device 10 via an appropriate network such as the network 15.

[0065] The loading and unloading operation is equivalent to the operation of taking out the processed product W2 in the machine tool 100, storing it in the product storage device 103, and then taking out the raw material W1 in the raw material storage device 102 and supplying it to the machine tool 100. In addition, in the case of performing this loading and unloading operation, in this example, the automatic operation device 20 is always located at the operation position of the corresponding machine tool 100 to perform this loading and unloading operation. During this loading and unloading operation, the battery 70 is charged by the power supply device 101.

[0066] In addition, the management device 10 commands the specified automatic operation device 20 to execute a raw material supply operation and a product recovery operation according to the processing schedule. The raw material supply operation is to take out the raw material W1 stored in the raw material storage device 104 from the raw material storage device 104 and supply it to the raw material storage device 102 of each machine tool 100; the product recovery operation is to take out the product W2 stored in the product storage device 103 of each machine tool 100 and recover it to the product storage device 105. During this raw material supply operation and product recovery operation, the automatic operation device 20 moves between the raw material storage device 102 and the product storage device 103 attached to each machine tool 100, and the raw material storage device 104 and the product storage device 105 to perform the operation.

[0067] In addition, the management device 10 commands the specified automatic operation device 20 to execute a cleaning operation according to the processing schedule. The cleaning operation is to take out the product stored in the product storage device 105 and supply it to the cleaning device 106, and store the product W2 cleaned by the cleaning device 106 in the product storage device 107. In the case of performing this cleaning operation, the automatic operation device 20 performs the operation while moving between the product storage device 105, the cleaning device 106, and the product storage device 107.

[0068] In addition, in Figure 2In the example shown, the automatic operation device 20A performs the supply operation of the raw material W1 with respect to the machine tool 100A and the take-out operation of the processed product W2, and the automatic operation device 20B performs the supply operation of the raw material W1 with respect to the machine tool 100B and the take-out operation of the processed product W2. In addition, the automatic operation device 20C performs the supply operation of the raw material W1 and the recovery operation of the product W2 between the raw material storage devices 102A and 102B attached to the respective machine tools 100A and 100B, the product storage devices 103A and 103B, and the raw material storage device 104 and the product storage device 105. In addition, the automatic operation device 20C performs a cleaning operation between the product storage device 105, the cleaning device 106, and the product storage device 107. In addition, the automatic operation device 20A and the automatic operation device 20B are respectively powered by the power supply device 101A and the power supply device 101B during their operations to supply power to their respective batteries 70, and the battery 70 maintains a fully charged state.

[0069] In addition, the management device 10 identifies the remaining amount of the battery 70 of each automatic operation device 20, and performs an operation adjustment process for adjusting the operations of each automatic operation device 20 according to the remaining amount. Specifically, the management device 10 performs Figure 6 the processing shown. That is, the management device 10 monitors the remaining battery amount sent from the battery remaining amount identification unit 59 of each automatic operation device 20 (step S1), and determines whether the operation commanded for each automatic operation device 20 can be completed based on the remaining battery amount (step S2). For example, the management device 10 previously holds the remaining battery amount required for the indicated operation in a table form as a reference remaining amount, and when the remaining battery amount of the automatic operation device 20 is lower than the reference remaining amount set for the indicated operation, it is determined that the operation cannot be completed.

[0070] Then, when there is an automatic operation device 20 with a remaining battery amount lower than the reference remaining amount, the management device 10 searches for whether there is an automatic operation device 20 with a remaining battery amount exceeding the reference remaining amount (step S3). If there is no corresponding automatic operation device 20, an instruction is issued to the automatic operator 20 via the power supply device 108 to charge the battery 70 with insufficient remaining amount (step S8).

[0071] On the other hand, in step S3, when there is a corresponding automatic work device 20, it is determined whether the automatic work device 20 is in operation (step S4). When it is determined that the automatic work device 20 is in operation, it is determined whether the automatic work device 20 with insufficient remaining capacity can complete the work of the automatic work device 20 to be exchanged (step S5). When it is determined that the work can be completed, the management device 10 gives an instruction as follows: exchange the previously instructed work between the automatic work device 20 with sufficient remaining capacity and the automatic work device 20 with insufficient remaining capacity (step S7). When it is determined that the work cannot be completed, an instruction via the power supply device 108 is sent to the automatic work device 20 with insufficient remaining capacity to charge the battery 70 with insufficient remaining capacity (step S8).

[0072] For example, in Figure 2 In the example shown, when the automatic work device 20C performing the supply operation of the raw material W1 and the recovery operation of the product W2 has insufficient remaining capacity, if it is confirmed that the automatic work devices 20A, 20B, and 20D are automatic work devices 20 with sufficient remaining capacity, the management device 10 determines whether these automatic work devices 20A, 20B, and 20D are in operation. When they are in operation, it is determined whether the automatic work device 20C can take over the work of these devices.

[0073] Then, when it is determined that the automatic work device 20C can take over the work of any one of the automatic work devices 20A, 20B, and 20D, the management device 10 gives an instruction as follows: exchange the previously instructed work between any one of the automatic work devices 20A, 20B, and 20D and the automatic work device 20C. For example, when the automatic work device 20C can take over the work of the automatic work device 20D, the management device 10 can exchange the work between the automatic work device 20C and the automatic work device 20D.

[0074] On the other hand, when it is determined that the automatic work device 20C cannot take over the work of any one of the automatic work devices 20A, 20B, and 20D, the management device 10 gives an instruction to the automatic work device 20C via the power supply device 108 to charge the battery 70 with insufficient remaining capacity.

[0075] In addition, in step S4, when it is determined that the corresponding automatic work device 20 is in a standby state where it is not in operation, the automatic work device 20 with sufficient remaining capacity takes over the work of the automatic work device 20 with insufficient remaining capacity, and at the same time, an instruction via the power supply device 108 is sent to the automatic work device 20 with insufficient remaining capacity to charge the battery 70 with insufficient remaining capacity (step S6).

[0076] After that, the management device 10 repeatedly executes the processes of the above-described steps S1 to S8 until it becomes a state of ending the process (step S9).

[0077] According to the production system 1 of this example having the above structure, under the management of the management device 10, the machining in each machine tool 100 is managed, and the necessary machining is executed in each machine tool 100 in accordance with the schedule provided in the management device 10. In addition, the supply operation of the raw material W1 before machining, the take-out operation of the product W2 after machining, with respect to each machine tool 100, and the supply operation of the raw material W1 and the recovery operation of the product W2 performed between the raw material storage device 102 and the product storage device 103 attached to each machine tool 100 and the raw material storage device 104 and the product storage device 105, and the cleaning operation performed between the product storage device 105, the cleaning device 106, and the product storage device 107 are executed by the automatic operation device 20 selected by the management device 10.

[0078] Moreover, the management device 10 executes Figure 6 the operation adjustment process shown. That is, the management device 10 monitors the remaining amount of the battery 70 of each automatic operation device 20, determines whether the operation commanded for each automatic operation device 20 can be completed based on the identified remaining amount of each battery, and in the case where there is an automatic operation device 20 with insufficient remaining amount that cannot complete the operation, if an operation exchange can be performed between the automatic operation device 20 with insufficient remaining amount and another automatic operation device 20 with sufficient remaining amount, the operations are exchanged between them.

[0079] On the other hand, in the case where there is no other automatic operation device 20 with which an operation exchange can be performed, when there is another standby automatic operation device 20 that can take over the operation, the management device 10 causes the standby automatic operation device 20 to take over the operation and charges the battery 70 of the automatic operation device 20 with insufficient remaining amount. In addition, even in the case where there is no other automatic operation device 20 that can take over the operation, the management device 10 charges the battery 70 of the automatic operation device 20 with insufficient remaining amount.

[0080] As described above, according to the production system 1 of this example, in the case where there is an automatic operation device 20 that cannot complete the operation, when there is another automatic operation device 20 that can complete the operation, the other automatic operation device 20 is caused to take over the operation, and thus the production device that is the object of the operation provision can be operated without stopping, and thereby, the production efficiency (operation rate) of the production device can be improved compared to the prior art.

[0081] For example, in the above example, when the battery of the automatic working device 20C that performs the supply operation of the raw material W1 and the recovery operation of the product W2 has insufficient remaining capacity, if the operations are exchanged between the automatic working device 20C and the automatic working device 20D that performs the cleaning operation, it is possible to prevent the automatic working device 20C from detaching for charging, which may cause a delay in the supply of the raw material W1 to the raw material storage devices 102A and 102B, or a delay in the recovery of the product W2 from the product storage devices 103A and 103B, and it is possible to prevent a decrease in the operating rates of the machine tools A and B caused thereby.

[0082] In addition, if the operations of the automatic working device 20 with insufficient battery remaining capacity and the automatic working device 20 with sufficient remaining capacity are exchanged with each other, the time for the automatic working device 20 to detach for charging can be made extremely short, thereby improving the operating rate of the automatic working device 20.

[0083] The above has described one embodiment of the present invention, but the forms that the present invention can adopt are not limited to any of the above examples.

[0084] For example, in the above example, it is configured that the management device 10 performs operation adjustment corresponding to the battery remaining capacity of the automatic working device 20, but it is not limited to such a structure, and the operation adjustment can also be autonomously performed in each automatic working device 20.

[0085] The production system 1' equipped with such an automatic control device 20' is shown in Figure 7 . In addition, regarding this production system 1', only the processing of the management device 1 and the control device 50 of the automatic working device 20 in the production system 1 of the above example is different, and other structures are the same.

[0086] Specifically, the structure of the management device 1' in this example is different from that of the management device 1 in the above example only in that it does not perform the operation adjustment processing shown above Figure 6 . In addition, the structure of the control device 50' is different from that of the control device 50 in the above example only in that its operation management unit 60' is configured to additionally perform the operation adjustment processing shown above Figure 8 compared with the operation management unit 60 in the above example. Therefore, in this example, the operation adjustment corresponding to the battery remaining capacity is autonomously performed in each automatic working device 20'.

[0087] Specifically, the operation management unit 60' in this example performs the process of receiving an operation instruction from the management device 10 and causing the operation control unit 56 to execute the received operation, and in addition, performs the autonomous operation adjustment processing shown above Figure 8 between it and another automatic working device 20'.

[0088] That is to say, the operation management unit 60' of each automatic operation device 20' monitors the remaining amount of the battery 70 identified by the battery remaining amount identification unit 59 (step S11), and determines whether the operation commanded by the management device 10' can be completed based on the remaining amount of the battery (step S12). For example, the operation management unit 60' previously holds the remaining amount of the battery required for the indicated operation in the form of a table as the reference remaining amount. When the remaining amount of the battery identified by the battery remaining amount identification unit 59 is lower than the reference remaining amount set for the indicated operation, it is determined that the operation cannot be completed.

[0089] Then, when the remaining amount of the battery is lower than the reference remaining amount, the operation management unit 60' of one automatic operation device 20' communicates with the operation management unit 60' of another automatic operation device 20' to search for an automatic operation device 20' having a remaining amount of the battery exceeding the reference remaining amount. When there is no corresponding automatic operation device 20' (step S13), an instruction for a charging operation is sent to the operation control unit 56 to perform a process of charging the battery 70 via the power supply device 108 (step S18).

[0090] On the other hand, when it is confirmed in step S13 that there is a corresponding automatic operation device 20', the operation management unit 60' further determines whether the target automatic operation device 20' is in operation through mutual communication with the automatic operation device 20' (step S14). When it is determined that the device is in operation, it is further determined whether it can complete the operation of the target automatic operation device 20' (step S15). When it is determined that the operation can be completed, after performing a process of exchanging their respective operations with the target automatic operation device 20', for example, a process of sending information (such as operation codes) related to their respective operation contents to each other, an instruction is given to the operation control unit 56 of itself to execute the received operation of the other party (step S17). On the other hand, when it is determined that the operation cannot be completed, the operation management unit 60' sends an instruction for a charging operation to the operation control unit 56 of itself to perform a process of charging the battery 70 via the power supply device 108 (step S18).

[0091] In addition, in step S14, when it is determined that the corresponding automatic operation device 20' is not in operation but in standby, the operation management unit 60' causes the corresponding target automatic operation device 20' to take over its own operation, and at the same time sends an instruction for a charging operation to the operation control unit 56 of itself to perform a process of charging the battery 70 via the power supply device 108 (step S16).

[0092] After that, the operation management unit 60' repeatedly executes the processes of the above steps S11 to S18 until it becomes a state of ending the process (step S19).

[0093] As described above, according to the production system 1' of this example, similar to the production system 1 of the previous example, in the case where there is an automatic work device 20' that cannot complete the work, when there is another automatic work device 20' that can complete the work, the other automatic work device 20' can take over the work. Therefore, the production device that is the object of work provision can be operated without stopping. Thus, compared with the past, the production efficiency (operation rate) of this production device can be improved.

[0094] In addition, if the work of the automatic work device 20' with insufficient battery remaining and the automatic work device 20' with sufficient remaining are exchanged with each other, the time for the automatic work device 20' to disconnect for charging can be set to an extremely short time, thereby improving the operation rate of the automatic work device 20'.

[0095] In addition, the job management computer program (the computer program that functions as the job management unit 60') for executing the Figure 8 processing shown can also be recorded on a portable external program recording medium. The control device 50' of each automatic work device 20' can execute the job management computer program stored in this program recording medium, or the job management computer program can be read from the program recording medium into the control device 50' and then executed. In addition, the job management computer program can be stored (downloaded) into the control device 50' via an appropriate network.

[0096] Although it is a repeated description, the description of the above embodiment is illustrative rather than restrictive in all aspects. Those skilled in the art can appropriately make deformations and changes. The scope of the present invention is shown by the claims, rather than by the above embodiment. Furthermore, the scope of the present invention includes changes according to the embodiment within the scope equivalent to the claims.

[0097] Description of reference numerals 1: Production system 10: Management device 20 (20A, 20B, 20C, 20D): Automatic work device 30: Automated guided vehicle 34: First pallet 35: Second pallet 40: Robot 50: Control device 70: Battery 100 (100A, 100B): Machine tool 101 (101A, 101B): Charging device 102 (102A, 102B): Raw material storage 103 (103A, 103B): Product storage bin 104: Raw material storage bin 105: Product storage bin 106: Cleaning device 107: Product storage bin 108: Charging device

Claims

1. A production system includes a plurality of automatic operation devices and a management device. The automatic operation devices perform operations on one or more production devices. The management device issues operation instructions to the automatic operation devices and manages the operations of the automatic operation devices. It is characterized in that the automatic operation device includes: a robot that performs operations on the production device; an automated guided vehicle that carries the robot and passes through the operation positions set for the production device; a control device that controls the automated guided vehicle and the robot; and a battery that supplies power. In the production system, the management device is configured to: monitor the battery levels of each automatic operation device, and at the same time compare the identified battery levels with the reference levels required to complete the instructed operations to confirm whether the instructed operations can be completed. In the case where there is an automatic operation device with insufficient battery level judged to be lower than the reference level and unable to complete the instructed operations, search for an automatic operation device with sufficient battery level, that is, a battery level exceeding the reference level capable of completing the instructed operations, and in the case where there is an automatic operation device with sufficient battery level, instruct the operation content instructed to the automatic operation device with insufficient battery level to the automatic operation device with sufficient battery level, so that the automatic operation device with sufficient battery level takes over the instructed operations.

2. The production system according to claim 1, characterized in that, The management device is configured to: in the case where there is no automatic operation device with sufficient battery level, issue an instruction to the automatic operation device with insufficient battery level to pass through a charging station, so that the automatic operation device with insufficient battery level passes through the charging station.

3. The production system according to claim 1, characterized in that, The management device is configured to: in the case where there is an automatic operation device with sufficient battery level, make the automatic operation device with sufficient battery level take over the operations, and at the same time issue an instruction to the automatic operation device with insufficient battery level to pass through a charging station, so that the automatic operation device with insufficient battery level passes through the charging station.

4. The production system according to claim 1, characterized in that, The management device is configured to: in the case where there is an automatic operation device with sufficient battery level, confirm whether the automatic operation device with insufficient battery level can complete the operations instructed to the automatic operation device with sufficient battery level. In the case where it is judged that the operations can be completed, swap the operations of the automatic operation device with insufficient battery level and the operations of the automatic operation device with sufficient battery level, so that the automatic operation device with insufficient battery level performs the operations of the automatic operation device with sufficient battery level, and at the same time make the automatic operation device with sufficient battery level perform the operations of the automatic operation device with insufficient battery level.

5. A production system includes a plurality of automatic operation devices that perform operations on one or more production devices. It is characterized in that the automatic operation device includes: a robot that performs operations on the production device; an automated guided vehicle that carries the robot and passes through the operation positions set for the production device; a control device that controls the automated guided vehicle and the robot; and a battery that supplies power. In the production system, the control device of each automatic working device is configured to: monitor its own battery remaining amount respectively, and at the same time compare the identified battery remaining amount with the reference remaining amount required to complete the predetermined operation to confirm whether the predetermined operation can be completed. In the case where it is determined that the battery remaining amount is lower than the reference remaining amount and the predetermined operation cannot be completed, search for another automatic working device having a battery remaining amount that exceeds the reference remaining amount capable of completing the operation through mutual communication, and in the case where there is another automatic working device having a battery remaining amount capable of completing the operation, make the other automatic working device take over its own operation.

6. The production system according to claim 5, characterized in that, The control device of each automatic working device is configured to: charge the battery via a charging station in the case where there is no such other automatic working device.

7. The production system according to claim 5, wherein, The control device of each automatic working device is configured to: in the case where there is such other automatic working device, make the other automatic working device take over its own operation and at the same time charge the battery via a charging station.

8. The production system according to claim 5, characterized in that, The control device of each automatic working device is configured to: in the case where there is such other automatic working device, confirm whether it can complete the operation instructed to the other automatic working device. In the case where it is determined that it can complete the operation, swap its own operation with the operation of the other automatic working device, make the other automatic working device execute its own operation, and at the same time itself execute the operation of the other automatic working device.

9. A method for managing a production system, which is a method of issuing operation instructions to an automatic operation device in the production system and managing the operations of the automatic operation device, wherein the production system includes a plurality of the automatic operation devices that perform operations on one or more production devices, and the automatic operation device includes: A robot that performs operations on the production device; An automated guided vehicle that carries the robot and passes through the operation positions set for the production device; A control device that controls the automated guided vehicle and the robot; and a battery that supplies power. The method includes: Monitoring the battery remaining amount of each automatic working device; Comparing the identified battery remaining amount with the reference remaining amount required to complete the instructed operation to confirm whether the instructed operation can be completed; In the case where there is an automatic working device with insufficient remaining amount determined to have a battery remaining amount lower than the reference remaining amount and unable to complete the instructed operation, searching for an automatic working device with sufficient remaining amount having a battery remaining amount that exceeds the reference remaining amount capable of completing the instructed operation; and In the case where there is an automatic working device with sufficient remaining amount, instructing the operation content instructed to the automatic working device with insufficient remaining amount to the automatic working device with sufficient remaining amount, and making the automatic working device with sufficient remaining amount take over the instructed operation.

10. A program recording medium storing a program for a management device, the program for the management device being used in a production system including a plurality of automatic operation devices and the management device, the automatic operation devices performing operations on one or more production devices, the management device issuing operation instructions to the automatic operation devices and managing the operations of the automatic operation devices, the automatic operation devices including: A robot that performs operations on the production device; An automated guided vehicle that carries the robot and passes through the operation positions set for the production device; a control device that controls the automated guided vehicle and the robot; and a battery that supplies power, and The management device program is configured to perform the following processing: Monitoring the battery remaining amount of each automatic working device; Comparing the identified battery remaining amount with the reference remaining amount required to complete the instructed operation to confirm whether the instructed operation can be completed; In the case of an automatic work device with insufficient remaining capacity that is judged to have a remaining battery capacity lower than the reference remaining capacity and unable to complete the indicated work, search for an automatic work device with sufficient remaining capacity having a remaining battery capacity that exceeds the reference remaining capacity capable of completing the indicated work; And In the case of an automatic work device with sufficient remaining capacity, indicate the work content indicated to the automatic work device with insufficient remaining capacity to the automatic work device with sufficient remaining capacity, so that the automatic work device with sufficient remaining capacity takes over the indicated work.

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