Automated work line control device and control method thereof

Abstract

To enable extension of the lifetime of a component of an automated work line while enabling the automated work line to accomplish a work plan such as daily production and carriage.SOLUTION: A controller of a control device that controls an automated work line including multiple mechanical operation devices creates a work plan based on work instruction information including a work amount per unit of work plan object time for the automated work line, outputs the created work plan, and controls torque of each of the multiple mechanical operation devices over an object period of the work plan based on the work plan for each of the multiple mechanical operation devices.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a control device for an automated production line for continuously and automatically carrying out various operations such as manufacturing and transporting, and a control method for an automated production line. [Background technology]

[0002] Automated work lines such as automated manufacturing lines and automated transfer lines are known as automated systems for the production, transportation, etc. of products. An automated work line includes a line that continuously moves a plurality of work objects, and industrial machines, such as robots and conveyors, that apply automated operations to the work objects are arranged along the line.

[0003] In order to maximize the efficiency of production and transportation, the control system of the automated production line tries to drive the industrial machinery quickly in accordance with the movement of the object. However, if the acceleration during driving becomes large, the mechanical shock in the drive unit becomes large, and the life of the industrial machinery is shortened.

[0004] Therefore, in order to realize control that can adjust the machining time to within the takt time while minimizing the impact on the machine as much as possible, a numerical control device has been disclosed that includes a program analysis unit that analyzes the machining program and outputs command data, an impact analysis unit that obtains the maximum value of the impact that occurs on the machine when the machining program is executed, an acceleration / deceleration time constant identification unit that identifies the acceleration / deceleration time constant at the point where the maximum value of the impact occurred based on the command data if the maximum value of the impact exceeds a predetermined threshold, an acceleration / deceleration time constant changing unit that changes the identified acceleration / deceleration time constant using a preset time constant adjustment value, a cycle time recalculation unit that calculates the cycle time of the machining program based on the changed acceleration / deceleration time constant, and an updated time constant memory unit that stores the changed time constant in association with the identified command block if the recalculated cycle time is within the preset takt time (Patent Document 1). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2016-151951 A Summary of the Invention [Problem to be solved by the invention]

[0006] Even though the conventional technology maintains the machining time within the takt time, it only attempts to minimize the impact on the machine when the maximum value of the impact generated on the machine during execution of a machining program exceeds a predetermined threshold value, and therefore cannot avoid the type of fatigue that accumulates day by day even when the maximum value of the impact generated on the machine is below the predetermined threshold value.

[0007] Therefore, an object of the present invention is to provide a control device and a control method for extending the life of the components of an automated production line while enabling the automated production line to achieve its daily production, transportation, and other work plans. [Means for solving the problem]

[0008] In order to achieve this object, the present invention is an invention for controlling an automated work line equipped with a plurality of mechanical operating devices, which is characterized by generating a work plan based on work instruction information including the amount of work for a time unit target for a work plan of the automated work line, outputting the generated work plan, and controlling the torque of each of the plurality of mechanical operating devices over a target period for the work plan based on the work plan of each of the plurality of mechanical operating devices. Effect of the Invention

[0009] According to the present invention, it is possible to provide a control device and a control method for extending the life of the components of an automated production line while enabling the automated production line to achieve its daily production, transportation, and other work plans. [Brief description of the drawings]

[0010] [Figure 1]FIG. 2 is a block diagram of a control device and an automated production line. [Diagram 2] This is an example of a database. [Diagram 3] An overview of the 5-axis robot is shown below. [Figure 4] 4 is an example of a flowchart relating to an operation performed by a controller of the control device when the controller executes a program. [Diagram 5] 4 is a graph showing the axis drive operation pattern for each axis of the robot shown in FIG. 3. [Figure 6] 1 is an example of a timing chart of a plurality of work processes belonging to an automated production line. [Figure 7] 5 is a flowchart illustrating details of the torque setting process (FIG. 4, S104, 105, 110). [Figure 8] FIG. 1 is a schematic diagram illustrating a configuration in which a plurality of industrial machines (mechanical operating devices) are arranged on an automated production line. [Figure 9] 4 is a flowchart illustrating the reduction of a practical torque of an industrial machine. [Figure 10] FIG. 1 is a schematic diagram illustrating a state in which a plurality of industrial machines are installed in parallel on a line. [Figure 11] FIG. 11 is a flowchart for managing the maintenance of multiple industrial machines. [Figure 12] 1 is a flow chart of a controller that optimizes torque in an industrial machine based on the weight of an object. [Figure 13] FIG. 1 is a model diagram relating to the behavior of a five-axis robot. [Figure 14] 13 is a flowchart for selecting a trajectory of a robot arm. [Figure 15] 11 is a flowchart for managing the life span of each operating part of a mechanically operating device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of a control device according to the present invention will be described with reference to the drawings. The control device is, for example, configured with a computer, and a controller of the computer executes a program in a memory to realize control of an automated line for operations such as manufacturing and transport.

[0012] 1 is a block diagram of an entire system including a control device 200 and an automated production line 200A. The automated production line 200A is configured with a line 220 that continuously moves a plurality of work objects for operations such as manufacturing, transport, and processing, and a plurality of mechanical operating devices 205-208 arranged adjacent to the line 220.

[0013] Each of the industrial machines 205-208 performs work such as production, transportation, processing, etc. of objects moving along the line 220, or related work. The control device 200 controls the torque as a driving characteristic of each of the multiple industrial machines 205-208. Each of the industrial machines 205-208 is a mechanical operating device equipped with a moving part such as a rotating shaft or a slider, or an operating mechanism. A higher-level device such as a computer controls the driving characteristics such as the torque (load torque or driving torque) for driving each of the multiple operating parts across the multiple industrial machines.

[0014] As the multiple industrial machines 205-208, for example, 205 and 206 are robots, 207 is a conveyor, and 208 is an automated guided vehicle. The automated guided vehicle 208 transports an object to be processed to the robot 205, which performs a first processing on the object, after which the conveyor 207 transports the object to the robot 206, which performs a second processing on the object, and the automated guided vehicle 208 then transports the object from the automated work line. The automated work line is made up of five work processes from carrying in the object to carrying it out. The work on an object is completed by moving one object through these processes in order.

[0015] The control device 200 controls the operating parts of the industrial machines, for example the drive of the rotating shafts, so that the standard amount of work (hereinafter referred to as the standard amount) per unit period, in other words, per unit time of the work plan, for example, torque capable of handling 1000 objects per day, is produced. This torque is called the standard torque. The unit period is, for example, one day (8 hours). The standard amount is determined so that each of the multiple industrial machines has the maximum amount of work without exceeding the allowable torque.

[0016] The control device 200 includes a setting module 203 that sets torque for each industrial machine, and a control module 204 that controls the industrial machine based on the set torque. The setting module 203 generates a work plan based on, for example, input information 201 related to the work plan and management information in a database 202, and determines the torque value of each of a plurality of operating parts based on the work plan. The input information 201 includes the date of the work and plan data related to work such as production and transportation, particularly the number of pieces produced and the number of pieces transported. The input information 201 is registered in the database 202 by a user or an administrator via an input device / input means. The setting module 203 sets the torque required to process the number of work pieces on a work day. The database 202 and the setting module 203 correspond to the means for generating the work plan in claim 1. The setting module 203 and the control module 204 correspond to the means for controlling the torque in claim 1. The generated work plan is output to a user or an administrator by a display drive circuit and a display device (output means).

[0017] A module is a function realized by a controller such as a CPU of a computer executing a program, and may be expressed in other terms such as a means, a unit, a part, a circuit, etc. A module may be replaced with dedicated hardware such as a chip.

[0018] An example of database 202 is shown in Fig. 2. Database 202 has an area 202A for data related to work (production) plans, and an area 202B for parameters related to the attributes of industrial machines (equipment names) that make up the automated production line. The production volume parameters in area 202A include standard production volume X, planned production volume (scheduled production volume) Y for a work day (Fig. 1: 201), and target lifespan Z for the automated production line. Standard production volume X is, for example, 1000 pieces / day, and planned production volume Y is, for example, 600 pieces / day.

[0019] The production object parameters are parameters related to the attributes of the objects of the production work, and include an identification code A1···, size X1*Y1*Z1···, weight W1···, and number n1···.

[0020] Area 202B includes the name of the industrial machine (component), and the maximum torque (Tmax), standard torque (T), and rated life of the industrial machine, which are parameters for each of the multiple moving parts (axes) of the industrial machine. It is guaranteed that the industrial machine such as a robot can operate up to its rated life at the maximum torque. For example, in the case of robot 1, if the part with the shortest life is axis 2, it is guaranteed that axis 2 will rotate up to its rated life under the condition of maximum torque Tmax12. FIG. 3 shows an overview of the robot configuration, indicating that the robot has five moving parts (axes).

[0021] 4 is an example of a flowchart related to the operation when the controller of the control device 200 executes a program. The controller starts the flowchart at a predetermined time before the work on the planned day. The controller reads out the planned amount (planned production amount) Y of the work and the standard amount X from the database 202 (S (step) 102). The manager registers the planned amount for the work planned day in the database 202 in advance.

[0022] Next, the controller proceeds to S103, where it compares the planned amount with the standard amount to determine whether the planned amount is less than the standard amount. If the controller determines that the planned amount is not less than the standard amount (S103: No), it proceeds to S108.

[0023] In S108, the controller refers to the database 202 for each of the plurality of industrial machines, sets a standard torque for each of the plurality of industrial machines (setting module: 203), and then drives the plurality of industrial machines in accordance with the standard torque (control module: 204).

[0024] The controller continues S108 until it determines in S109 that the standard amount of work (production) has been completed, that is, the standard period has elapsed. If the result of S109 is affirmative, the controller ends the flow chart.

[0025] The torque value is calculated by multiplying the weight of the work object, the acceleration of the moving part (rotational acceleration of the shaft), and the operating range (radius of rotation of the shaft). The drive circuit of the industrial machine is controlled by a controller, and can control the torque of the industrial machine by changing the rotational acceleration and / or the rotational radius.

[0026] When the controller determines in S103 that the planned amount is less than the standard amount (S103: YES), the controller proceeds to S104. In S104, the controller sets a torque value smaller than the standard torque for each of the multiple industrial machines. For example, the controller reduces the standard torque for each of the multiple machines based on the ratio of the planned amount to the standard amount, and sets this for each of the multiple machines.

[0027] Next, the controller proceeds to S105, where it simulates all the processes of the automated production line based on the torques set for each of the multiple devices in S104, and calculates the time required to complete the work for the planned amount.

[0028] The controller compares the required period with the standard period, and if the required period is outside the range of the standard period ±α (α is a predetermined error) (S105: No), adjusts the torque in S104 to increase or decrease (S110), and then returns to S105.

[0029] If the result of S105 is affirmative, the controller sets the generated torque as the practical torque and proceeds to S106. As a result of S105, the controller can make the required period approximately equal to the standard period even if the planned amount is less than the standard amount.

[0030] In S106, the controller drives the industrial machine based on the practical torque, and proceeds to S107, continuing S106 until it is determined that the planned amount of work (production) has been completed, i.e., the required period has elapsed. When the controller judges S107 as positive, it ends the flowchart. According to the flowchart of FIG. 4, a control device for an automated production line in which industrial machines installed along the line continuously perform work on a plurality of objects moving continuously along the line is provided with a controller that controls the industrial machine based on a program stored in a memory, and the controller reduces the torque for driving the industrial machine from a standard value based on a plan of work on the plurality of objects, and drives the industrial machine with the reduced torque until the work based on the plan is completed. As a result, the life of the components of the automated production line can be extended while the automated production line achieves the work plan such as daily production and transportation.

[0031] FIG. 5 is a graph showing the drive operation patterns of each axis of the robot shown in FIG. 3. The vertical axis shows the torque value of the robot axis, and the horizontal axis shows the accumulated number of revolutions indicating the total number of revolutions of the robot axis. Furthermore, the solid line shows the standard torque fluctuation pattern, and the dotted line shows the practical torque fluctuation pattern. The control device 200 varies the standard torque based on the accumulated number of revolutions of the axis. The control device 200 reduces the standard torque fluctuation pattern by a predetermined ratio to set the practical torque pattern. For example, if the standard amount is 1000 pieces and the planned amount is 600 pieces, the control device 200 reduces the load torque of each of the multiple industrial machines and devices to a practical torque consisting of (standard torque) x (600 / 1000) in accordance with S104 and 105.

[0032] Figure 6 is an example of a timing chart of multiple work processes belonging to an automated production line, where a single object is completed by passing through multiple work processes in order. (a) shows the pattern when industrial machines are driven at standard torque, and (b) shows the pattern when industrial machines are driven at practical torque. As shown in the figure, even if the control device flexibly adjusts to the planned amount that can change daily, reducing the torque of each of multiple industrial machines from the standard torque to the practical torque and extending the cycle time of each process, thereby extending the time required for the work of one object from ta to tb, as long as the work of the planned amount of objects is kept within the standard period, the life of the industrial machines can be extended while maintaining work efficiency.

[0033] The lifespan of industrial machinery decreases inversely proportional to the cumulative torque of the moving parts, for example, the integral of the torque of a rotating shaft by the cumulative number of revolutions. For example, in the case of a ball bearing structure, it is inversely proportional to the 10 / 3 power of the integral of the torque, or in the case of a roller bearing structure, it is inversely proportional to the cube of the integral of the torque. The lifespan of industrial machinery can be extended by lowering the torque. The lifespan of the shaft with the largest torque integral value is the lifespan of the equipment.

[0034] 7 is a flowchart for explaining the details of the torque setting process (FIG. 4, S104, 105, 110). The controller reads out standard production volume data Qs from the production volume parameters in database 202 in S402, and reads out planned production volume data Qt for the production plan date in S403.

[0035] In S404, the controller calculates a change ratio of the torque (practical torque) to the standard torque when implementing the planned production volume based on the ratio of Qt to Qs. The change ratio is (Qt / Qs)*K, where K is a constant.

[0036] In S405, the controller selects a predetermined one of the multiple industrial machines, proceeds to S406, and reads the standard torque of each of the multiple operating parts of the selected machine from the database 202. For example, when the controller selects the robot 1, the standard torque of each of the axes T11, T12, T13, T14, and T15 is read out.

[0037] In S407, the controller multiplies each standard torque by the torque ratio described above to calculate the practical torque of the moving part.

[0038] In S408, the controller checks whether the practical torque has been set for all the devices constituting the automated production line, and if the result is negative, returns to S405 and calculates the practical torque for the remaining devices. If the result in S408 is positive, the controller performs a simulation of the production work of the target product of the planned amount based on the practical torque set for all the devices, and calculates the time required from the start of the work to the completion of the work (S410).

[0039] Next, the controller optimizes the practical torque. The controller compares the required time with the standard time, and if the required time exceeds the standard time (S412: Long), the controller increases the constant K by a predetermined amount (S411) to increase the torque ratio and increase the working speed, and then returns to S405.

[0040] On the other hand, if the required time is shorter than the standard time (S412: Short), the controller reduces the constant K by a predetermined amount (S409) in order to reduce the torque ratio and slow down the working speed, and then returns to S405.

[0041] As a result, the controller repeats steps S405 and subsequent steps in the flowchart until it can be said that the required time has substantially converged to the standard time (S412: Yes), determines the torque of each of the multiple industrial machines that make up the automated production line, and ends the flowchart.

[0042] According to the flowchart in Figure 7, the control device dynamically limits the torque load on each industrial machine according to the daily workload, allowing the equipment to be operated with a torque sufficient to keep the production plan within the standard time, thereby extending the life of the industrial machinery while maintaining work efficiency.

[0043] The setting module 203 continuously records the practical torque set daily in the database 202. Furthermore, the setting module 203 continuously detects the acceleration of each operating part of each of the multiple industrial machines using a sensor and registers the detected acceleration in the database 202. Therefore, the setting module 203 may determine the practical torque based on machine learning based on these recorded data.

[0044] In the embodiment described above, the practical torque is set by uniformly suppressing the standard torque of each of the multiple industrial machines that make up the automated production line at the same ratio, but the degree to which the torque is suppressed may be varied between the multiple devices.

[0045] Fig. 8 is a schematic diagram illustrating a state in which a plurality of industrial machines are installed in parallel on a line 220. Fig. 8 shows a case in which a rated life is determined for each of the plurality of industrial machines, and rated life 3 is shorter than rated lives 1 and 2. Assume a case in which rated life 3 of industrial machine 3 is extended to be the same as rated lives 1 and 2. In this case, in order to reduce the work distribution of industrial machine 3 relative to industrial machines 1 and 2, the practical torque of industrial machine 3 may be reduced compared to that of industrial machines 1 and 2.

[0046] Fig. 9 is a flowchart for explaining this process. This flowchart is an operation added to the flowchart of Fig. 4. The controller reads out the target life Ltall of the automated operation line from the database 202 (S702), and further reads out the standard production volume data Qs of the automated operation line from the database 202 (S703). Next, in S704, the controller reads out the planned production volume data Qt from the database 202. Furthermore, the controller selects one of the multiple industrial machines (S705).

[0047] Next, the controller reads out the rated life value LTn of the selected equipment from the database 202 (S706), and further reads out its standard torque (standard torque for each of a plurality of operating parts) Tsn (S707). Then, in S708, the controller calculates a torque change ratio according to the work plan and life based on the above-mentioned data read out from the database, and calculates the practical torque of the industrial machine by multiplying this by the standard torque Tsn. The torque change ratio can be, for example, (LTn / LTall)*(Qt / Qs)*K (K is a constant) become.

[0048] In S709, the controller determines whether the practical torque settings for all the industrial machines have been completed, and then proceeds to S711. In S711, the controller simulates an automatic operation based on the practical torques set for each of the multiple industrial machines, and calculates the time required to produce the planned number of objects.

[0049] If the required time is longer than the standard time (S713: Long), the controller increases the constant K by a predetermined amount in order to increase the torque change ratio (S712), and returns to S705 to recalculate the practical torque.

[0050] If the required time is shorter than the standard time (S713: Short), the controller decreases the constant K by a set amount (S710) in order to lower the torque change ratio, and returns to S705 to recalculate the practical torque. As a result of S713, the required time converges to the standard time, so the controller ends the flow chart.

[0051] As described above, according to the flowchart in Fig. 9, when multiple industrial machines are arranged in parallel on a line and some of the industrial machines have a shorter lifespan than the others, the torque of the industrial machine with the shorter lifespan can be reduced more than the torque of the others to make the lifespans of the multiple industrial machines uniform. This is also true when multiple industrial machines have different lifespans, or when there are differences in attributes other than lifespan, such as differences in price or environmental impact.

[0052] One of the attributes of an industrial machine is, for example, the maintenance timing. Fig. 10 is a schematic diagram explaining a state in which a plurality of industrial machines are installed in parallel on a line, and shows a case in which a maintenance timing and a rated life are set for each of the plurality of industrial machines, and the maintenance timing 3 is shorter than the maintenance timings 1 and 2.

[0053] Assume a case where maintenance timing 3 of industrial machine 3 is extended to be the same as maintenance timings 1 and 2. In this case, the torque of industrial machine 3 can be reduced compared to industrial machines 1 and 2 in order to set the work allocation of industrial machine 3 to a lower value compared to industrial machines 1 and 2. It is also possible to stagger the maintenance timings so that the maintenance load is not concentrated among multiple industrial machines.

[0054] 11 is a flowchart for managing the maintenance of multiple industrial machines. In S802, the controller acquires sensing information of each of the multiple industrial machines, and then proceeds to S803 to acquire schedule information related to the maintenance of each of the industrial machines from the database.

[0055] In S804, the controller estimates the remaining life of each industrial machine based on the sensing information (S802), and proceeds to S805 to compare the remaining life with the maintenance schedule (S803). The controller checks whether the remaining life extends beyond the maintenance timing by a predetermined time or more, and for industrial machines for which this is confirmed (S805: Yes), the controller determines that there is no need to adjust the remaining life, and performs maintenance (S811) according to the schedule (S803) while continuing the current operation based on the standard torque or practical torque (FIG. 4) (S810).

[0056] If the controller judges in S805 that the result is negative (S805: No), it reduces the current torque of the industrial machine that is the subject of the negative judgement by a predetermined ratio to make it a low torque, and based on this, it simulates the automatic operation and recalculates the remaining life (S806).The controller compares this remaining life with the maintenance schedule, and executes the same judgment as in S805 (S807).If the controller judges in the positive (S807: Yes), it switches to operation based on low torque (S809), and performs maintenance according to the schedule (S803) (S811).

[0057] If the controller makes a negative determination (S807: No), the maintenance schedule is changed so that the maintenance is performed earlier (S808), and maintenance is performed based on this schedule (S811), and the flow chart ends.

[0058] As described above, according to the flowchart in FIG. 11, it becomes possible to carry out maintenance on a plurality of industrial machines approximately according to a predetermined schedule.

[0059] The flowchart in Figure 12 explains the operation of the controller that optimizes the torque (Figure 4) described above based on the weight of the object. The controller reads the weight Wn of the object from the database 202 (S902), and generates an acceleration target An for the moving parts of the industrial machine (S903). The acceleration target An is calculated as An = K / Wn (K: constant) so that it is inversely proportional to the weight Wn.

[0060] The controller executes S903 until acceleration target values ​​of the industrial machinery are generated for all objects (S904: No), and then proceeds to S905 (S904: Yes).

[0061] In S905, the controller obtains a torque based on the generated acceleration, and calculates the time required to complete the task by simulating the task on the planned amount of the object based on the torque.

[0062] The controller compares the required time with a target time, for example, a standard time, and if the former is longer than the latter (S907: Long), it increases the constant K by a predetermined amount to increase the torque (S906) and proceeds to S903. For "Short", the controller decreases the constant K by a predetermined amount (S908). The controller determines whether the required times for multiple objects converge within a set range with respect to the target time, and determines the accelerations for all objects (S907).

[0063] As described above, according to the flowchart in FIG. 12, the torque of the industrial machine can be corrected in accordance with the weight of each of a plurality of objects moving continuously on a line, so that the life of the industrial machine can be further improved.

[0064] Figure 13 is a model diagram of the behavior of a five-axis robot. In trajectory 2, the robot moves the arm to the target position by operating only the horizontal rotation axis (axis 1). In contrast, in trajectory 1, the robot operates axes 2, 3, and 4 in Step 1 to put the arm in a slightly closed position, rotates axis 1 horizontally in Step 2, and operates axes 2, 3, and 4 to return the arm from the slightly closed position to its original position in Step 3.

[0065] In the case of orbit 1, the turning radius of axis 1, which is the horizontal axis of rotation, can be made smaller, so the torque on axis 1 can be reduced. On the other hand, the rotation of axes 2, 3, and 4 increases the torque on these axes.

[0066] In contrast, in the case of orbit 2, the radius of rotation of axis 1, which is the horizontal axis of rotation, is large, and the torque of axis 1 increases, but axes 2, 3, and 4 do not rotate, so no torque is generated.

[0067] Fig. 14 is a flowchart for selecting trajectory 1 or trajectory 2. The controller calculates (S1402) the integral value of the load torque of each axis on trajectory 2 based on the practical torque (Fig. 4: S106). In S1403, the controller selects the axis with the maximum torque integral value, in S1404 estimates the life from the integral value of the selected axis, and in S1405 calculates the time required to complete the planned amount of work based on the set torque value.

[0068] The controller calculates the integral value of the load torque of each axis on trajectory 1 based on the standard torque (FIG. 4: S108) (S1406). In S1407, the controller selects the axis with the maximum torque integral value, in S1408, estimates the life from the torque integral value of the selected axis, in S1409, compares the life calculated in S1404 with the life calculated in S1408.

[0069] If the two are not equal in S1411, the controller changes the set torque value for each axis of trajectory 1, and repeats S1406 to S1409. If the controller determines that the life calculated in S1404 and the life calculated in S1408 are equal (S1410), the controller selects in S1412 the trajectory 1 or trajectory 2 which has the greater amount of work per hour, and controls the five-axis robot based on the selected trajectory in S1413.

[0070] Fig. 15 is a flow chart for managing the life span of each operating part and each device of industrial machinery. The controller integrates the standard torque of axis 1 of a 5-axis robot by the cumulative number of revolutions when the load torque of axis 1 fluctuates as shown in Fig. 5 (S1202). The same is true for the other axes 2 to 5 of the 5-axis robot (S1203-S1206). In S1207, the controller reads out the torque integral value of each axis up to the planned date stored in database 202, and in S1208 adds the torque integral value of each axis up to the planned date and the torque integral value on the planned date, and registers the result in database 202.

[0071] The above-described embodiment and various modified examples are merely examples, and the present invention is not limited to these contents as long as the characteristics of the invention are not impaired. In addition, although various embodiments and modified examples have been described above, the present invention is not limited to these contents. Other aspects that are conceivable within the scope of the technical idea of ​​the present invention are also included in the scope of the present invention. [Explanation of symbols]

[0072] 200···Control device, 200A···Automatic work line, 205-208···Work equipment, 220···Line

Claims

1. A control device for controlling an automated production line having a plurality of mechanical operating devices, A means for generating a work plan based on work instruction information including a work amount for a work plan target time unit of the automated work line; A means for outputting the generated work plan; and a means for controlling torque of each of the plurality of mechanical operating devices over a target period of the work plan based on the work plan of each of the plurality of mechanical operating devices generated by the means for generating the work plan; Equipped with The means for controlling the torque comprises: setting a torque for each of the plurality of mechanically operated devices to a standard value such that the plurality of mechanically operated devices performs a standard amount of work in a standard period of time; A planned amount of work is obtained from the work plan; Comparing the planned amount with the standard amount; When it is determined that the planned amount is less than the standard amount, a torque of each of the plurality of mechanical operating devices is reduced from the standard value so that each of the plurality of mechanical operating devices completes the work of the planned amount based on the standard period. Control device for automatic production line.

2. The means for controlling the torque comprises: reducing a torque of each of the plurality of mechanically operated devices from a standard value based on the work plan; operating each of the plurality of mechanically operated devices at the reduced torque until the work schedule is completed. The control device for an automated production line according to claim 1.

3. The means for controlling the torque comprises: reducing a torque of each of the plurality of mechanically operated devices from a standard value based on a ratio of the planned amount to the standard amount; The control device for an automated production line according to claim 1.

4. The means for controlling the torque comprises: When the torque of each of the plurality of mechanical operating devices is reduced from the standard value, the degree of reduction is made different among the plurality of mechanical operating devices.

3. The control device for an automated production line according to claim 2.

5. some of the plurality of mechanically operable devices have a shorter life span than other of the plurality of mechanically operable devices; The means for controlling the torque comprises: The torque of a device having a short life span is suppressed more than the torque of other devices, thereby making the lives of the plurality of mechanically operated devices uniform. The control device for an automated production line according to claim 1.

6. A maintenance timing of some of the mechanically operated devices is shorter than a maintenance timing of other devices, The means for controlling the torque comprises: The torque of a device having a short maintenance timing is suppressed more than the torque of other devices, thereby aligning the maintenance timing of each of the plurality of mechanically operated devices. The control device for an automated production line according to claim 1.

7. The means for controlling the torque comprises: setting a torque for each of the plurality of mechanically actuated devices based on a weight of each of a plurality of objects moving in succession along the line; The control device for an automated production line according to claim 1.

8. 1. A method for control of an automated work line having a plurality of mechanically operated devices, comprising: The controller that executes the control includes: generating a work plan based on work instruction information including a work amount for a work plan target time unit of the automated work line; Outputting the generated work plan; controlling torque of each of the plurality of mechanically operated devices over a target period of the work plan in accordance with the work plan of each of the plurality of mechanically operated devices; Controlling the torque includes: setting a torque for each of the plurality of mechanically operated devices to a standard value such that the plurality of mechanically operated devices performs a standard amount of work in a standard period of time; A planned amount of work is obtained from the work plan; Comparing the planned amount with the standard amount; When it is determined that the planned amount is less than the standard amount, a torque of each of the plurality of mechanical operating devices is reduced from the standard value so that each of the plurality of mechanical operating devices completes the work of the planned amount based on the standard period. A method for controlling an automated production line.

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