Device provided with multiple actuators

Abstract

To provide a device that allows an operator to easily check the state of each actuator even when a trouble does not occur, and to easily identify the actuator in the actual device when the trouble occurs in any actuator.SOLUTION: A device having multiple actuators for moving a target object, comprises: a control unit which determines the operating state of each actuator on the basis of the detection results from multiple sensors that detect the operating positions of the respective actuators; and a touch panel 90. The touch panel 90 displays each of the multiple actuators in such a manner that their three-dimensional positional relationships within the device can be recognized, and indicates the determination results of the operating states of the respective actuators by the control unit by changing the display method of each actuator.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an apparatus including a plurality of actuators.

Background Art

[0002] Dialysate used in dialysis treatment is prepared by mixing two different concentrated chemical solutions, namely stock solution A and stock solution B, with highly purified purified water (RO water) at a ratio specified by the pharmaceutical manufacturer.

[0003] To prepare these stock solutions A and B, a dissolving device for dissolving chemicals (agent A for preparing stock solution A and agent B for preparing stock solution B) is used. In the dissolving device, a large number of actuators operate at a predetermined timing, so that the chemicals are introduced into the dissolving tank and these stock solutions are prepared.

[0004] Generally, when any trouble occurs in the apparatus, the operator has to identify the part where the trouble has occurred and take measures. Actuators involving operations are parts that are likely to cause trouble. However, when there are a large number of actuators, it is a heavy burden to confirm which one of them is causing trouble.

[0005] In Patent Document 1, the dissolving device is divided into a plurality of operating parts and displayed on a touch panel, and it is possible to automatically detect whether the actuators belonging to each operating part are in a normal position. And if there is an operating part including an actuator not in a normal position, it is disclosed that the color of that operating part on the touch panel is changed to let the operator recognize the operating part with trouble.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] However, as in Patent Document 1, even if the color of a malfunctioning operation unit among the operation units displayed on the touch panel can be changed to allow the operator to identify and recognize the operation unit, it is difficult for the operator to immediately recognize the location of the operation unit in the actual device. Furthermore, since the operation units usually include a plurality of actuators, after discovering a malfunctioning operation unit in the device, it is further necessary to confirm which actuator within the operation unit is malfunctioning. Also, even before a malfunction occurs, the operator may want to check the state of each actuator. However, in the device of Patent Document 1, it is difficult to check the state of each actuator until a malfunction occurs.

[0008] In view of the above circumstances, an object of the present invention is to provide a device including a plurality of actuators, in which the operator can easily check the state of each actuator even before a malfunction occurs, and further, when any actuator malfunctions, the actuator in the actual device can be easily identified.

Means for Solving the Problems

[0009] To achieve the above object, the present invention adopts the following configuration. [1] A device including a plurality of actuators for moving an object, a plurality of sensors for detecting the operating positions of each of the plurality of actuators, a control unit that commands operation contents for the plurality of actuators and determines the operating states of the plurality of actuators based on the detection results of the plurality of sensors, and a display unit. The display unit displays the plurality of actuators so that the three-dimensional positional relationship within the device can be recognized, and shows the determination result by the control unit of the operating state of each of the plurality of actuators by changing the display method of each of the plurality of actuators. The device is characterized by this. [2] Further, the display unit displays each of the plurality of sensors so that the three-dimensional positional relationship within the device can be recognized, and shows the detection result of each of the plurality of sensors by changing the display method of each of the plurality of sensors. The device according to [1]. [3] Further, the display unit displays the operation content of each of the plurality of actuators over the display of each of the plurality of actuators or in the vicinity of the display of each of the plurality of actuators. The device according to [1] or [2]. [4] Further, the display unit changes and displays the operation content being executed in a display method distinguishable from other operation contents. The device according to [3]. [5] The display unit is a touch panel, and changes and displays the operation content that can be commanded by the operator touching it in a display method distinguishable from other operation contents. The device according to [3] or [4]. [6] The determination of the operation state by the control unit includes a determination of whether each of the plurality of actuators is in an initial state, and the display unit changes the display method of the actuator not in the initial state to a display method distinguishable from the actuator in the initial state and displays it. The device according to any one of [1] to [5]. [7] The determination of the operation state by the control unit includes a determination of whether each of the plurality of actuators is in an initial state, the display unit is a touch panel, and when any of the plurality of actuators is not in the initial state, a reset button that can be restored to the initial state by the operator touching it is displayed. The device according to any one of [1] to [6]. [8] The determination of the operating state by the control unit includes determining whether each of the plurality of actuators conforms to the command of the operation content by the control unit, and the display unit changes the display method of the actuator that does not conform to the command of the operation content by the control unit and is in an abnormal state to a display method distinguishable from the actuator that conforms to the command of the operation content by the control unit and displays it. The device according to any one of [1] to [7]. [9] The display unit is a touch panel, and when any one of the plurality of actuators is in an abnormal state, when the operator touches the display of the actuator in the abnormal state, a coping method for the abnormal state is displayed. The device according to [8].

[10] A light emitter is attached to each of the plurality of actuators, and when any one of the plurality of actuators is in an abnormal state, the lighting state of the light emitter attached to the actuator in the abnormal state changes. The device according to [8].

[11] A light emitter is attached to each of the plurality of sensors, and when any one of the plurality of actuators is in an abnormal state, the lighting state of the light emitter attached to any one or more of the sensors that detect the operating position of the actuator in the abnormal state changes. The device according to [8].

[12] A device comprising a plurality of actuators for moving an object, A plurality of sensors for detecting the operating position of each of the plurality of actuators, A control unit that commands the operation content for the plurality of actuators and determines the operating state of the plurality of actuators based on the detection results of the plurality of sensors, and a light emitter attached to each of the plurality of actuators, The device is characterized in that when the operating state of any one of the plurality of actuators is in an abnormal state, the lighting state of the light emitter attached to the actuator in the abnormal state changes.

[13] A device comprising a plurality of actuators for moving an object, A plurality of sensors for detecting the operating position of each of the plurality of actuators, A control unit that commands operation contents for the plurality of actuators and determines the operation states of the plurality of actuators based on the detection results of the plurality of sensors, and a light emitter attached to the plurality of sensors. An apparatus, wherein when any one of the operation states of the plurality of actuators becomes an abnormal state, the lighting state of the light emitter attached to any one or more of the sensors that detect the operation position of the actuator in the abnormal state changes.

[14] The apparatus according to any one of [1] to

[13] , wherein at least a part of the object is a chemical container that stores a chemical, and the apparatus is a dissolving apparatus that dissolves the chemical.

Advantages of the Invention

[0010] According to the apparatus including a plurality of actuators of the present invention, an operator can easily confirm the states of the plurality of actuators without causing troubles. Further, when any one of the actuators causes a trouble, the actuator in the actual apparatus can be easily specified.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0012] The meanings and definitions of the terms in this specification are as follows. The "object" is an object that can be directly or indirectly moved, such as translated or rotated, by the operation of each actuator. The "operating range" means the range within which each actuator can operate to move the object.

[0013] The "operating position" means the position of each actuator within its operating range. Examples of operating positions include the starting point (the operating position in the initial state), the ending point, and intermediate points thereof within its operating range. The "operating direction" means the direction in which the object is moved by each actuator. Examples include the horizontal direction (left direction, right direction, etc.), the vertical direction (upward direction, downward direction), and the rotational direction (clockwise, counterclockwise, etc.).

[0014] The "operation content" means the content of how each actuator should operate based on the commands of the control unit or the operator. Examples include changing from the starting point to the ending point within its operating range, or returning from the ending point to the starting point within its operating range. The "operating state" means the actual state of each actuator. Examples include what operating position it is in, and what operation content it is executing.

[0015] <Dissolving device> The present invention will be described by taking, as an example, a dissolving device for dissolving chemicals in order to prepare Stock Solution A and Stock Solution B for dialysis.

[0016] FIG. 1 is a schematic configuration diagram of a dissolving device according to an embodiment of the present invention. The dissolving device of this embodiment includes an operation unit 10, a liquid circuit unit 60, a control unit 80, and a touch panel 90 that functions as a display unit of the present invention. Normally, the operation unit 10, the liquid circuit unit 60, and the control unit 80 are housed within a housing, and the touch panel 90 is disposed at a location where it can be externally confirmed, such as on the wall surface of the housing or the outside of the door.

[0017] The liquid circuit unit 60 includes an A dissolution tank 61 that dissolves the agent A supplied by the operation unit 10, a B dissolution tank 62 that dissolves the agent B supplied by the operation unit 10, an A storage tank 63 that stores the A stock solution prepared in the A dissolution tank 61, and a B storage tank 64 that stores the B stock solution prepared in the B dissolution tank 62.

[0018] An A bottle connection part 71 is provided at the upper end of the A dissolution tank 61. When the opening of the A bottle 25 is inserted, the opening can be unsealed and the contained agent A can be transferred into the A dissolution tank 61. A B bottle connection part 72 is provided at the upper end of the B dissolution tank 62. When the opening of the B bottle 26 is inserted, the opening can be unsealed and the contained agent B can be transferred into the B dissolution tank 62.

[0019] Note that a pump 65 is provided downstream of the A dissolution tank 61 for circulating the solution in the A dissolution tank 61 or sending the A stock solution prepared in the A dissolution tank 61 to the A storage tank 63. A pump 66 is provided downstream of the B dissolution tank 62 for circulating the solution in the B dissolution tank 62 or sending the B stock solution prepared in the B dissolution tank 62 to the B storage tank 64.

[0020] A pump 67 is provided downstream of the A storage tank 63 for circulating the A stock solution in the A storage tank 63 or sending it to a supply destination or the like. A pump 68 is provided downstream of the B storage tank 64 for circulating the B stock solution in the B storage tank 64 or sending it to a supply destination or the like. These pumps are operated under the control of the control unit 80.

[0021] The operation unit 10 uses an A bottle 25, which is a chemical container containing the agent A for preparing the A stock solution, and a B bottle 26, which is a chemical container containing the agent B for preparing the B stock solution, as objects to be moved to predetermined positions. Then, in order to supply the chemicals (agent A and agent B) respectively contained to the liquid circuit unit 60, under the control of the control unit 80, the A bottle 25 and the B bottle 26 are moved from their respective stock locations to a predetermined location, and then they perform the function of volume reduction processing.

[0022] In order to exhibit such functions, the operation unit 10 includes a plurality of actuators that operate at a predetermined timing under the control of the control unit 80. The operation unit 10 also includes a plurality of sensors that detect the operation positions of the respective actuators. In FIG. 1, each of the actuators is shown in a schematic shape in which a cylinder is attached to a square base. Also, its operation direction is indicated by an arrow. Each of the sensors is shown as a shaded circle. A light emitter capable of changing the lighting state (not shown in the figure) is attached to each actuator and each sensor.

[0023] As the sensor, for example, a photoelectric sensor, a fiber sensor, a laser sensor, a proximity sensor, an ultrasonic sensor, an image discrimination sensor, a magnetic sensor, a contact sensor (micro switch), a weight sensor, etc. can be used. The detection of the operation position of each actuator by each sensor may be a method of detecting that the drive part of each actuator exists at a specific position, or a method of detecting that an object directly or indirectly moved by the operation of each actuator exists at a specific position.

[0024] The operation unit 10 of the present embodiment includes a turntable 20, a lift 30, a rotation mechanism 33, a conveyor 35, and a volume reducer 40. The turntable 20 has a lower A table 21, an upper A table 22, a B table 23, a rotation shaft 24 fixed to the center of these tables, and an actuator M1 that rotates the rotation shaft 24 in one direction.

[0025] The lower A table 21 and the upper A table 22 are each a rotating table for stocking A bottles 25. The B table 23 is a rotating table for stocking B bottles 26. Actuator M1 directly targets the A lower table 21, the A upper table 22, and the B table 23, and indirectly targets the A bottles 25 and B bottles 26 stocked on these tables. By rotating the rotating shaft 24 in one direction (clockwise in the example of FIG. 1), these objects are moved in the clockwise operation direction.

[0026] An actuator M2 is provided to transfer the A bottle 25 stored on the A lower table 21 to the elevator 30 (specifically, the lift platform 31 described later). An actuator M3 is provided to transfer the A bottle 25 stocked on the A upper table 22 to the elevator 30 (specifically, the lift platform 31 described later). An actuator M4 is provided to transfer the B bottle 26 stocked on the B table 23 to the elevator 30 (specifically, the lift platform 31 described later).

[0027] As the actuator M2, the actuator M3, and the actuator M4, for example, a pusher that pushes out the A bottle 25 or the B bottle 26 from each table, an arm mechanism that grips and conveys these bottles, etc. can be adopted. These actuators directly target the A bottle 25 and the B bottle 26 respectively, and are configured to move them in the horizontal direction (right direction in the drawing).

[0028] A sensor S1 is provided to detect whether the A bottle 25 on the A lower table 21 exists at a position where it can be moved to the lift platform 31 by the actuator M2. A sensor S2 is provided to detect whether the A bottle 25 on the A upper table 22 exists at a position where it can be moved to the lift platform 31 by the actuator M3. A sensor S3 is provided to detect whether the B bottle 26 on the B table 23 exists at a position where it can be moved to the lift platform 31 by the actuator M4.

[0029] In addition, a sensor S4 is provided to detect that the operating position of the actuator M2 is at the position where the A bottle 25 of the object remains on the left side in the drawing (starting point of the operating range). Further, a sensor S7 is provided to detect that the operating position of the actuator M2 is at the position where the A bottle 25 of the object is on the right side in the drawing (ending point of the operating range).

[0030] In addition, a sensor S5 is provided to detect that the operating position of the actuator M3 is at the position where the A bottle 25 of the object remains on the left side in the drawing (starting point of the operating range). Further, a sensor S8 is provided to detect that the operating position of the actuator M3 is at the position where the A bottle 25 of the object is on the right side in the drawing (ending point of the operating range).

[0031] In addition, a sensor S6 is provided to detect that the operating position of the actuator M4 is at the position where the B bottle 26 of the object remains on the left side in the drawing (starting point of the operating range). Further, a sensor S9 is provided to detect that the operating position of the actuator M4 is at the position where the B bottle 26 of the object is on the right side in the drawing (ending point of the operating range).

[0032] The elevator 30 has an elevator platform 31 for placing each bottle transferred from the turntable 20, an elevator shaft 32, and an actuator M5. By the operation of the actuator M5, the elevator platform 31 moves up and down along the elevator shaft 32. The actuator M5 directly targets the elevator platform 31 and indirectly targets the A bottle 25 and the B bottle 26 placed on the elevator platform 31. And these objects are moved in the vertical direction (perpendicular direction).

[0033] A sensor S10 is provided to detect that the operating position of the actuator M5 is such that the vertical position of the lifting platform 31 is a position (starting point of the operating range) where the A bottle 25 can be received from the actuator M2. Also, a sensor S11 is provided to detect that the operating position of the actuator M5 is such that the vertical position of the lifting platform 31 is a position where the A bottle 25 can be received from the actuator M3. Further, a sensor S12 is provided to detect that the operating position of the actuator M5 is such that the vertical position of the lifting platform 31 is a position where the B bottle 26 can be received from the actuator M4. In addition, a sensor S13 is provided to detect that the operating position of the actuator M5 is such that the vertical position of the lifting platform 31 is a position (end point of the operating range) where the A bottle 25 and the B bottle 26 can be passed to the rotating mechanism 33, specifically, a position where they can be held by the gripper 34 described later.

[0034] As shown in FIG. 2, on the lifting platform 31, there are provided a sensor S14 for detecting that the A bottle 25 has seated on the lifting platform 31, a sensor S15 for detecting that the B bottle 26 has seated on the lifting platform 31, an S16 for determining the presence or absence of the content in the A bottle 25 seated on the lifting platform 31, and an S17 for determining the presence or absence of the content in the B bottle 26 seated on the lifting platform 31. In FIG. 1, the illustration of these sensors S14 to S17 is omitted.

[0035] The rotating mechanism 33 includes a gripper 34 that grips near the openings of the A bottle 25 and the B bottle 26, an actuator M6 that opens and closes the gripper 34, an actuator M7 that rotates the A bottle 25 and the B bottle 26 held by the gripper 34 from the upright state to the inverted state with the opening facing downward, and an actuator M8 that lowers the A bottle 25 and the B bottle 26 in the inverted state. The actuator M6, the actuator M7, and the actuator M8 directly target the gripper 34, and the actuator M7 and the actuator M8 indirectly target the A bottle 25 and the B bottle 26 held by the gripper 34.

[0036] In the state of being lowered (insertion state) by the actuator M8, the opening of the A bottle 25 is inserted into the A bottle connection part 71 of the A dissolution tank 61. Also, the opening of the B bottle 26 is inserted into the B bottle connection part 72 of the B dissolution tank 62.

[0037] In the state of being raised (retracted state) by the actuator M8, the opening of the A bottle 25 is separated from the A bottle connection part 71 of the A dissolution tank 61. Also, the opening of the B bottle 26 is separated from the B bottle connection part 72 of the B dissolution tank 62.

[0038] Also, a sensor S18 for detecting that the operating position of the actuator M6 is at the position (starting point of the operating range) where the gripper 34 is open, and a sensor S19 for detecting that the operating position of the actuator M6 is at the position (ending point of the operating range) where the gripper 34 is closed are provided. Also, a sensor S20 for detecting that the operating position of the actuator M7 is at the position (starting point of the operating range) where the A bottle 25 and the B bottle 26 are in an upright state is provided. Also, a sensor S21 for detecting that the operating position of the actuator M7 is at the position (ending point of the operating range) where the A bottle 25 and the B bottle 26 are in an inverted state is provided.

[0039] Also, a sensor S22 for detecting that the operating position of the actuator M8 is in the retracted state where the A bottle 25 and the B bottle 26 are separated from the A bottle connection part 71 and the B bottle connection part 72 is provided. Also, a sensor S23 for detecting that the operating position of the actuator M8 is in the inserted state where the A bottle 25 and the B bottle 26 are inserted into the A bottle connection part 71 and the B bottle connection part 72 is provided.

[0040] The conveyor 35 includes a conveyor table 36 for placing the empty A bottles 25 and B bottles 26, and an actuator M9 for moving the conveyor table 36. The actuator M9 directly targets the conveyor table 36, and indirectly targets the A bottles 25 and B bottles 26 placed on the conveyor table 36. As the actuator M9, for example, a belt conveyor can be used.

[0041] Also, a sensor S24 is provided to detect that the operating position of the actuator M9 is at a position (starting point of the operating range) where the horizontal position of the conveyor table 36 is on the side of the rotating mechanism 33. Also, a sensor S25 is provided to detect that the operating position of the actuator M9 is at a position (ending point of the operating range) where the horizontal position of the conveyor table 36 is on the side of the volume reducing machine 40.

[0042] The volume reducing machine 40 includes cutting blades 42 and 43, an actuator M11 for moving the cutting blades 42 and 43 up and down, a pushing table 44 for placing the empty A bottles 25 and B bottles 26, a pusher 41 for discharging the A bottles 25 and B bottles 26 with the bottom cut out of the device, and an actuator M10 for operating the pusher 41. Note that the actuator M10 directly targets the pusher 41, and indirectly targets the A bottles 25 and B bottles 26 pushed by the pusher 41. Also, the targets of the actuator M11 are the cutting blades 42 and 43.

[0043] Also, a sensor S26 is provided to detect that the operating position of the actuator M10 is at the right side in the figure (starting point of the operating range) where the horizontal position of the pusher 41 is on the side of the conveyor table 36. Also, a sensor S27 is provided to detect that the operating position of the actuator M10 is at the left side in the figure (ending point of the operating range) where the horizontal position of the pusher 41 discharges the A bottles 25 and B bottles 26 out of the device.

[0044] In addition, a sensor S28 is provided to detect that the operating position of the actuator M11 is at the upper side in the drawing (retracted state, starting point of the operating range) where the cutting blades 42 and 43 are separated from the A bottle 25 and the B bottle 26. Further, a sensor S29 is provided to detect that the operating position of the actuator M11 is at the lower side in the drawing (cutting state, end point of the operating range) where the cutting blades 42 and 43 are pressed against the cutting table 44.

[0045] Based on the command of the operation content from the control unit 80, the operation unit 10 operates the actuator described above, thereby supplying the drug contained in the A bottle 25 to the A dissolution tank 61, supplying the drug contained in the B bottle 26 to the B dissolution tank, and performing a series of operations to reduce the volume of the emptied A bottle 25 and B bottle 26 for disposal.

[0046] For example, when simultaneously supplying the A bottle 25 on the A upper table 22 and the B bottle 26 on the B table 23 to the A dissolution tank 61 and the B dissolution tank 62 respectively, the operation is as follows.

[0047] First, the actuator M1 is rotated as necessary so that the A bottle 25 is detected by the sensor S2. Also, the actuator M5 raises the lifting platform 31 to a position where it can be detected by the sensor S11. Then, the actuator M3 moves the A bottle 25 on the A upper table 22 to the lifting platform 31.

[0048] Next, the actuator M1 is rotated as necessary so that the B bottle 26 is detected by the sensor S3. Also, the actuator M5 raises the lifting platform 31 to a position where it can be detected by the sensor S12. Then, the actuator M4 moves the B bottle 26 on the B table 23 to the lifting platform 31.

[0049] Then, sensors S14 and S16 confirm that A bottle 25 with contents has seated on the lifting platform 31, and after sensors S15 and S17 confirm that B bottle 26 with contents has seated on the lifting platform 31, the lifting platform 31 is raised to a position where it can be detected by sensor S13.

[0050] Next, the actuator M6 closes the gripper 34 to grip the vicinity of the openings of A bottle 25 and B bottle 26 on the lifting platform 31. After the sensor S19 confirms that the gripper 34 has gripped these bottles, the actuator M5 lowers the lifting platform 31 to a vertical position where the sensor S12 can detect it so that these bottles do not interfere with the lifting platform 31 when the gripper 34 is rotated. Then, the actuator M7 rotates the gripper 34 together with A bottle 25 and B bottle 26 to an inverted state with the openings facing downwards.

[0051] After that, the actuator M8 lowers A bottle 25 and B bottle 26, and by inserting the respective openings into the A bottle connection part 71 of the A dissolution tank 61 and the B bottle connection part 72 of the B dissolution tank 62, the contained A agent and B agent are supplied to the A dissolution tank 61 and the B dissolution tank 62 respectively.

[0052] If A bottle 25 and B bottle 26 become empty, the actuator M8 raises these bottles and separates them from the A bottle connection part 71 and the B bottle connection part 72. Then, the actuator M7 rotates the gripper 34 together with A bottle 25 and B bottle 26 to a state where the openings face to the right side, and then the actuator M6 opens the gripper 34 and transfers it to the transfer table 36 of the transfer machine 35.

[0053] The emptied A bottle 25 and B bottle 26 are moved by the transfer machine 35 to the volume reducer 40, and the bottoms of the respective bottles are cut by the cutting blades 42 and 43. Since the bottles with the bottoms cut can be stacked in multiple layers, the emptied bottles can be discharged outside the apparatus without taking up much space.

[0054] The signals indicating the detection results of the respective sensors in the operation unit 10 described above are input to the control unit 80. Based on the detection results of the respective sensors, the control unit 80 determines the operating states of the respective actuators. Then, based on the determination result, the display content of the touch panel 90 is changed. Hereinafter, the determination content by the control unit 80 and the display content on the touch panel 90 in response to the determination will be described.

[0055] <Display of Touch Panel> Examples of the display content of the touch panel 90 are shown in FIGS. 2 to 5. The touch panel 90 displays each actuator with the actuator number such as M1, M2, etc. in parentheses together with a simple phrase indicating the operation direction, etc. inside a square. The display positions of the respective actuators follow the three-dimensional positional relationship within the apparatus. In addition, displays that help understanding of the functions of the respective actuators, such as "under the A pusher", are appropriately added.

[0056] Further, the touch panel 90 displays illustrations of members other than the actuators, such as the respective tables of the turntable 20 shown in FIG. 1 and the elevating shaft 32 of the elevator 30, according to the three-dimensional positional relationship within the apparatus. Furthermore, illustrations of the object A bottle 25, B bottle 26, and the liquid circuit unit 60 are also displayed according to the three-dimensional positional relationship with these members of the operation unit 10. In addition, displays that help understanding of the functions of members other than the actuators, such as "under the A stock", are appropriately added.

[0057] In this way, by displaying illustrations of members other than the actuators around, an operator viewing the touch panel 90 can more accurately recognize the three-dimensional positional relationship of each actuator within the apparatus.

[0058] In addition, arrows indicating the operation content of each actuator are displayed in the vicinity of each actuator. These arrows also function as touch buttons that can be used to command the operation content when touched by the operator.

[0059] Also, for a plurality of sensors that detect the operating positions of the respective actuators, the numbers of the sensors such as S1 and S2 are shown in the form of being described inside the ellipse. The display positions of the respective sensors follow the three-dimensional positional relationship within the device. Also, a reset button for returning all the actuators to the initial state by the operator touching is displayed as "Actuator Reset" surrounded by a square.

[0060] The control unit 80 transmits information on the detection results (presence or absence of detection input) for each of the plurality of sensors to the touch panel 90. Based on the information from the control unit 80, the touch panel 90 lights up and displays (in FIGS. 2 to 5, for convenience, it is shown without shading) the sensors with an input, that is, the sensors where the operating position of the actuator is at a position detectable by that sensor. Also, the touch panel 90 turns off and displays (in FIGS. 2 to 5, for convenience, it is shown shaded) the sensors without an input, that is, the sensors where the operating position of the actuator is not at a position detectable by that sensor. That is, the detection results of the respective sensors are shown by changing the display method of that sensor.

[0061] The control unit 80 determines the operating state of each of the plurality of actuators based on the detection results (presence or absence of detection input) of the respective sensors. As one of the determinations of the operating state, it is determined whether each of the plurality of actuators is in the initial state. Also, it is determined whether each of the plurality of actuators conforms to the command of the operation content by the control unit 80. Then, based on these determination results, a command is given to the touch panel 90 on how to display each actuator.

[0062] In accordance with the command of the control unit 80, the touch panel 90 displays, for example, in green (in FIGS. 2 to 5, for convenience, it is shown shaded) the actuator at the operation position (starting point) in the initial state. Also, the actuator not at the operation position (starting point) in the initial state is displayed in a color different from the color indicating the initial state, for example, in purple (in FIGS. 3 and 4, for convenience, it is shown with diagonal hatching).

[0063] In addition, the actuator that is detected to be abnormal and does not conform to the command of the operation content by the control unit 80 is further displayed in a different color, for example, in red (in FIG. 5, for convenience, it is shown with thick diagonal hatching), and the actuator is enlarged and displayed. That is, the determination result regarding the operation state of each actuator is shown by changing the display method of the actuator.

[0064] When the control unit 80 commands the operation content to any one of the actuators, it transmits information indicating that the operation content is being executed to the touch panel 90. The touch panel 90 changes the arrow indicating the operation content received from the control unit 80 that the operation is in progress to a display method distinguishable from the arrows indicating other operation contents and displays it. For example, it blinks (in FIG. 3, for convenience, it is shown as a broken line).

[0065] As one of the determinations of the operation states of the plurality of actuators based on the detection results (presence or absence of detection input) of the respective sensors, the control unit 80 determines whether each operation content is an operation content that can be executed by the operator's command. Specifically, it determines whether it is an operation content that can be commanded by the operator's touch.

[0066] The touch panel 90 receives the determination result of the control unit 80 and changes the display method of the operation content that can be commanded by the operator's touch to a display method distinguishable from other operation contents and displays it. For example, the arrow indicating the operation content that can be commanded by the operator's touch is turned on (in FIGS. 2 to 5, for convenience, it is shown without shading). Also, the arrow indicating the operation content that cannot be commanded even if the operator touches it is turned off (in FIGS. 2 to 5, for convenience, it is shown shaded).

[0067] As one of the determinations of the operating states of the plurality of actuators based on the detection results (presence or absence of detection inputs) of the respective sensors, the control unit 80 determines whether or not any one or more of the actuators can be returned to the initial state by an operator's command. Specifically, it is determined whether or not the operator can touch and operate a reset button that can return all actuators not in the initial state to the initial state.

[0068] The touch panel 90 displays the reset button in different display methods so that it can be identified whether or not the reset button (display of "actuator reset") can be operated in accordance with the determination result of the control unit 80. For example, when the reset button can be operated, the reset button is changed to a lit display (in FIG. 4, it is displayed without being shaded for convenience). Also, when the operator touches it but the reset button cannot be operated, it is turned off (in FIGS. 2, 3, and 5, it is displayed shaded for convenience).

[0069] FIG. 2 is an example of the display content of the touch panel 90 in the initial state. In the initial state, all the actuators on the touch panel 90 are colored, for example, green, indicating that they are in the initial state. Also, for the sensor, the sensor that detects the case where the operating position is the starting point is lit, and the other sensors are turned off. Also, since there are no actuators to be returned by the reset button, the reset button is turned off.

[0070] FIG. 3 is an example of the display content of the touch panel 90 when the actuator M9 is in operation after the control unit 80 has commanded the operation content of changing the operating position of the actuator M9 in the leftward direction shown in the figure. In FIG. 3, the arrow indicating the operation content of changing the operating position of the actuator M9 in the leftward direction shown in the figure blinks. Also, when the operation starts, since both the sensors S24 and S25 are in a state of having no input, the displays indicating the sensors S24 and S25 are both turned off. In addition, since the actuator M9 enters a state different from the initial state, the color of the display indicating the actuator M9 changes, for example, from green to purple.

[0071] FIG. 4 is an example of the display content of the touch panel 90 when the control unit 80 commands the actuator M9 to change its operating position in the leftward direction shown in the figure and the commanded operating content is completed. In FIG. 4, while the operation is completed and the sensor S24 remains in a state without input, the sensor S25 is in a state with input. Therefore, the display indicating the sensor S24 remains turned off, while the display indicating the sensor S25 lights up.

[0072] In addition, the arrow indicating the operating content of changing the operating position of the actuator M9 in the leftward direction shown in the figure turns off. On the other hand, the arrow indicating the operating content of changing the operating position of the actuator M9 in the rightward direction shown in the figure lights up because it can be operated by the operator's touch. In addition, since the actuator M9 continues to be in a state different from the initial state, the color of the display indicating the actuator M9 continues in the same state as in FIG. 3. In addition, since the actuator M9 can be returned to the initial state by the operator's operation, the reset button lights up.

[0073] FIG. 5 is an example of the display content of the touch panel 90 when, even after a certain period of time has passed, the sensor S24 remains with input or the sensor S25 does not enter a state with input, despite the control unit 80 having commanded the actuator M9 to change its operating position in the leftward direction shown in the figure.

[0074] In such a situation, the control unit 80 determines that the actuator M9 is in an abnormal operating state, that is, a state that does not conform to the command of the operation content by the control unit 80, and transmits the result to the touch panel 90. Also, in the abnormal state, since it is dangerous to forcibly operate the actuator by the operation of the operator, the control unit 80 commands the touch panel 90 to display that it does not accept the command to the actuator by the operator.

[0075] As shown in FIG. 5, the display indicating the actuator M9 determined to be in an abnormal state by the command of the control unit 80, for example, changes in color to red and the display becomes larger. Both the sensor S24 and the sensor S25 continue to be in a state without input, and the displays indicating these sensors continue to be in a state of being turned off.

[0076] Also, the arrow indicating the operation content of changing the operation position in the left direction shown in the figure of the actuator M9 and the arrow indicating the operation content of changing the operation position in the right direction shown in the figure both turn off. Also, the reset button turns off. When the operator touches the enlarged display of the actuator M9 in this state, the touch panel 90 displays a method for dealing with the abnormal state.

[0077] <Light emitter inside the device> When the control unit 80 determines that a certain actuator is in an abnormal state, the lighting state of the light emitter attached to the actuator and the light emitter attached to the sensor that detects the operation position of the actuator changes. Examples of the change in the lighting state include a change in color, a change from the off state to the on state, a change from the on state to the blinking state, and a combination of a change in color and a change from the on state to the blinking state.

[0078] For example, when it is determined that the actuator M9 is in an abnormal state, the lighting state of the light emitter attached to the actuator M9 and the light emitters attached to the sensors S24 and S25 changes. The operator can easily identify the actuator in an abnormal state just by opening the door of the device and checking the light-emitting body whose lighting state has changed by looking inside.

[0079] <Other embodiments> In the above embodiment, each actuator is displayed in a manner of writing characters such as the numbers of the actuators, such as M1, M2, etc., inside a square. However, the display of the actuator may use an illustration of the actuator instead of or together with these characters.

[0080] Also, in the above embodiment, each sensor is displayed in a manner of writing characters such as the numbers of the sensors, such as S1, S2, etc., inside an ellipse. However, the display of the sensor may use an illustration of the sensor instead of or together with these characters.

[0081] Also, in the above embodiment, the operation content of each actuator is indicated by an arrow displayed near the display of the actuator, but it may also be shown by overlapping the display of the actuator. For example, if the operation is to move to the right, it is conceivable to light up the right half of the square indicating the actuator.

[0082] Also, the change in the display method for distinguishing the operating states of each actuator may be distinguished by a change in the lighting and extinguishing states, such as lighting display and extinguishing display, or blinking display, instead of or together with changing the color as in the above embodiment. Also, these may be combined with a change in the size of the display. Furthermore, a separate display (such as an error mark) may be added near the normal display of the actuator.

[0083] Also, in the above embodiment, instead of changing the lighting state, or together with changing the lighting and extinguishing states, the display method of each sensor may be changed, for example, by changing the color. Also, these may be combined with a change in the size of the display.

[0084] Also, in the above embodiment, regarding the operation details of each actuator, whether it is in the middle of execution or not, and whether it can be commanded by the operator touching it, it was made possible to identify by changing the lighting state. However, instead of changing the lighting and extinguishing states, or together with changing the lighting and extinguishing states, for example, it may be possible to identify by changing the color. Also, these may be combined with a change in the display size.

[0085] Also, in the above embodiment, when it is determined that a certain actuator has become abnormal, the lighting state changes for all of the light emitters attached to that actuator and the light emitters attached to the sensor that detects the operating position of that actuator. However, the lighting state of only some of these light emitters may change. For example, it may be the mode in which the lighting state changes only for the light emitter attached to one of the light emitter attached to the actuator and the sensor that detects the operating position of that actuator.

[0086] Also, in the above embodiment, a configuration was adopted in which light emitters were attached to all of the plurality of actuators and the sensors that detect the operating positions of the respective actuators. However, light emitters do not necessarily have to be attached to all of these. For example, light emitters may be attached only to each actuator, or light emitters may be attached to only one of the sensors corresponding to each actuator. Also, light emitters do not necessarily have to be attached to all of the plurality of actuators and the sensors that detect the operating positions of the respective actuators.

[0087] Also, if a light emitter is provided on either each actuator or the sensor that detects the operating position of that actuator, and the lighting state changes when that actuator becomes abnormal, it is not necessary to display the actuator on the touch panel 90 or change the display method of the actuator when abnormal.

[0088] In addition, in the above-described embodiment, an illustration is used to enable recognition of the three-dimensional positional relationship. However, instead of the illustration, a 3D CAD drawing may be used.

[0089] In addition, in the above-described embodiment, for convenience of explanation, the arrangement and operation details of the actuator and other members are specifically shown. However, it goes without saying that the arrangement and operation details of each member within the device are not limited to the above-described embodiment. For example, in the above-described embodiment, a plurality of bottles are stored on a turntable and taken out from the turntable for conveyance. However, there are no particular limitations on the method of storing the bottles and the method of taking them out. In addition, in the above-described embodiment, an empty bottle is cut with a blade to reduce its volume. However, there are no particular limitations on the method of reducing the volume of the empty bottle.

[0090] In addition, in the above-described embodiment, a dissolving device in which the object includes a chemical container for storing chemicals is taken as an example for explanation. However, the device of the present invention is not limited to a chemical dissolving device, and can be widely applied to devices that include a plurality of actuators and perform a series of operations to achieve the desired operation. For example, it can be a semiconductor manufacturing device, a machining device (machine tool), an automatic analysis device, an automatic dispensing device, a mechanical parking lot control device, etc.

Explanation of Reference Numerals

[0091] 10 Operating unit 20 Turntable 25 Bottle A 26 Bottle B 30 Elevator 33 Rotation mechanism 34 Gripping tool 35 Conveyor 36 Conveyor table 40 Volume reduction machine 41 Pusher 42 Cutting blade 43 Cutting blade 44 Pushing table 60 Liquid circuit unit 61 Dissolution tank A 62 Dissolution tank B 80 Control unit 90 Touch Panel Actuators M1 to M11 Sensors S1 to S29

Claims

1. An apparatus comprising a plurality of actuators for moving an object, a plurality of sensors for detecting the operating positions of each of the plurality of actuators, a control unit that commands the operating content for the plurality of actuators and determines the operating state of the plurality of actuators based on the detection results of the plurality of sensors, and a display unit, wherein the display unit displays the plurality of actuators so that a three-dimensional positional relationship within the apparatus can be recognized, and shows the determination result by the control unit of the operating state of each of the plurality of actuators by changing the display method of each of the plurality of actuators.

2. Furthermore, the display unit displays each of the plurality of sensors so that a three-dimensional positional relationship within the apparatus can be recognized, and shows the detection result of each of the plurality of sensors by changing the display method of each of the plurality of sensors. The apparatus according to claim 1.

3. Furthermore, the display unit displays the operating content of each of the plurality of actuators over the display of each of the plurality of actuators or in the vicinity of the display of each of the plurality of actuators. The apparatus according to claim 1.

4. Furthermore, the display unit changes and displays the operating content being executed in a display method distinguishable from other operating contents. The apparatus according to claim 3.

5. The display unit is a touch panel, and the operating content that can be commanded by an operator touching it is changed and displayed in a display method distinguishable from other operating contents. The apparatus according to claim 3.

6. The determination of the operating state by the control unit includes determining whether each of the plurality of actuators is in an initial state, and the display unit changes the display method of the actuator not in the initial state to a display method distinguishable from the actuator in the initial state and displays it. The apparatus according to claim 1.

7. The determination of the operating state by the control unit includes determining whether each of the plurality of actuators is in an initial state, the display unit is a touch panel, and when any of the plurality of actuators is not in the initial state, a reset button that can be restored to the initial state by an operator touching it is displayed. The apparatus according to claim 1.

8. The determination of the operating state by the control unit includes determining whether each of the plurality of actuators conforms to the command of the operation content by the control unit. The display unit changes the display method of the actuator that does not conform to the command of the operation content by the control unit and is in an abnormal state to a display method distinguishable from the actuator that conforms to the command of the operation content by the control unit and displays it. The device according to claim 1.

9. The display unit is a touch panel. When any one of the plurality of actuators is in an abnormal state, when the operator touches the display of the actuator in the abnormal state, a coping method for the abnormal state is displayed. The device according to claim 8.

10. A light emitter is attached to each of the plurality of actuators. When any one of the plurality of actuators is in an abnormal state, the lighting state of the light emitter attached to the actuator in the abnormal state changes. The device according to claim 8.

11. A light emitter is attached to each of the plurality of sensors. When any one of the plurality of actuators is in an abnormal state, the lighting state of the light emitter attached to any one or more of the sensors that detect the operating position of the actuator in the abnormal state changes. The device according to claim 8.

12. At least a part of the object is a chemical container that stores chemicals, and the device is a dissolving device that dissolves the chemicals. The device according to any one of claims 1 to 11.

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