Patent Description:
Conventionally, a workpiece operation device with having a robot arm has been proposed, for example, such that the device memorizes an operation path command in a memory section in a case of an operation section being a backward moving section, and the device executes the operation path command, being memorized in the memory section, in a reverse order when there is an interruption stop input and the operation section is the backward moving section, and then returns to a retraction point (for example, see Patent Literature <NUM>). In this device, the robot arm is to quickly move to the retraction point without interfering with a workpiece.

Patent Application <CIT> relates to a control ST of an industry robot R.

Patent Application <CIT> relates to a machining program correction for a numerical control device.

Patent Application <CIT> relates to designation and/or control of a manipulator process for an industrial robot.

By the way, a robot arm moves a workpiece by performing an operation of gripping the workpiece and an operation of releasing the gripping of the workpiece. In above-described Patent Literature <NUM>, although it is considered that the robot arm moves in a reverse order to the retraction point, a process that cannot be executed in a reverse order is not considered. Therefore, in the reverse feeding process, it is necessary to take the steps such as creating a robot program individually, and a complicated process is required for returning to an operation.

The present disclosure has been made in view of such a problem, and a main object thereof is to provide a control device, a workpiece operation device, a workpiece operation system, and a control method that can more easily realize a reverse feeding process.

In the present disclosure, the following means is adopted to achieve the above-described main object.

A control device of the present disclosure is a control device used in a workpiece working device, including an operation execution section configured to execute a predetermined operation on a workpiece by moving an operation member executing the predetermined operation on the workpiece, the control device comprising: a memory section configured to store an operation order list, including an operation type and an operation position of the operation execution section, which is related to the operation order of the operation type, and an operation type list defined as a pair of an operation type at a time of a forward feeding process and an operation type at a time of a reverse feeding process; and a control section configured to control the operation execution section at the time of the forward feeding process based on an order on the operation order list and the operation type for the forward feeding process on the operation type list, while configured to control the operation execution section at the time of the reverse feeding process based on a reverse order on the operation order list and the operation type for the reverse feeding process in the operation type list.

The control device stores an operation order list, including an operation type and an operation position of the operation execution section, which is related to the operation order of the operation type, and an operation type list which is defined as a pair of the operation types at the time of the forward feeding process and at the time of the reverse feeding process. Further, at the time of the forward feeding process, the control device controls the operation execution section based on an order on the operation order list and an operation type on the operation type list for the forward feeding process, while at the time of the reverse feeding process, the control device controls the operation execution section based on a reverse order on the operation order list and an operation type on the operation type list for the reverse feeding process. For example, in a case of the workpiece operation device being configured to move and place the workpiece, if the reverse feeding process, such as returning to the operation, is simply performed during a period of the workpiece being gripped and moved in the forward feeding process, an operation of moving the workpiece and gripping the workpiece is executed, which turns out some countermeasures being required at the time of the reverse feeding process. In the control device according to the present disclosure, an operator defines an operation order of the operation type in the operation order list, and defines the operation type for the forward feeding process and the operation type for the reverse feeding process in the operation type list in a pairing manner, so that the device can automatically replace and execute the work in the reverse feeding process when returning to the operation. Therefore, in this control device, the reverse feeding process can be more easily performed without preparing independently a complicated process (for example, a program and the like) related to the reverse feeding process.

In the control device of the present disclosure, the memory section may store a position list related to recording of an operation position of the operation execution section executed at the time of the forward feeding process, and the control section may execute the reverse feeding process based on the position list when an operation of the operation execution section starts. In this control device, since the current position of the operation execution section can be gripped using the position list, the reverse feeding process can be executed more stably.

In the control device of the present disclosure for storing the position list, the control section causes the memory section to memorize the operation position of the operation execution section, being executed at the time of the forward feeding process, as operation position information from a recording start position included in the position list, to delete the operation position information when arriving at a recording end position included in the position list, and the control section controls the operation execution section to execute the reverse feeding process from the operation position included in the operation position information if the operation position information is memorized when the operation of the operation execution section starts. In this control device, whether to execute the reverse feeding process from the recording start position to the recording end position registered in the position list can be more easily determined according to the presence or absence of the operation position information.

In the control device of the present disclosure, the control section may control the operation execution section to execute the reverse feeding process when the operation execution section is stopped due to an error and then performs a return operation. In this control device, operation returning can be realized more easily.

In the control device of the present disclosure, wherein the operation member is a pick-up member configured to perform a pick-up process of the workpiece, wherein the operation execution section is a pick-up moving section having the pick-up member and configured to move the workpiece, and wherein the memory section stores the operation type list which is defined by including one or more of a pair of pick-up operation and a pick-up release operation of the workpiece, and a pair of a moving operation of the workpiece to a moving target position and a moving operation to the moving target position for one previous operation type. In this control device, the reverse feeding process can be executed by automatically replacing the pick-up operation and the moving operation.

A workpiece operation device of the present disclosure includes an operation execution section configured to execute a predetermined operation on a workpiece by moving an operation member configured to execute the predetermined operation on the workpiece, and the control device according to any one of the above configured to control the operation execution section. In the workpiece operation device, similar to the above-described control device, when the operator defines an operation order of the operation type in the operation order list, and defines an operation type at the time of the forward feeding process and an operation type at the reverse feeding process as a pair in the operation type list, in the reverse feeding process such as when returning to the operation, the device can automatically replace the work. Therefore, in this workpiece operation device, the reverse feeding process can be more easily realized without separately preparing a complicated process (for example, a program and the like) related to the reverse feeding process.

In the workpiece operation device of the present disclosure, the operation member is a pick-up member configured to perform a pick-up process of the workpiece, and the operation execution section may be a pick-up moving section having the pick-up member and configured to move the workpiece. For example, in a multi-joint robot or the like as the pick-up moving section, an operation such as teaching may be required even for operation return or the like; however, in the workpiece operation device of the present disclosure, the reverse feeding process can be easily realized without such a work.

A workpiece operation system of the present disclosure includes any one of the multiple workpiece operation devices described above. In this workpiece operation system, the forward feeding process and the reverse feeding process can be easily realized, and for example, interference of the multiple workpiece operation devices can be prevented.

A control method of the present disclosure is a control method used in a workpiece operation device including an operation execution section configured to execute a predetermined operation on a workpiece by moving an operation member configured to execute the predetermined operation on the workpiece, and the method storing, in a memory section, an operation order list, including an operation type and an operation position of the operation execution section, which is related to an operation order of the operation type, and an operation type list defined as a pair of an operation type at a time of a forward feeding process and an operation type at a time of a reverse feeding process, wherein the method includes a step of controlling the operation execution section at the time of the forward feeding process based on an order on the operation order list and the operation type for the forward feeding process defined in the operation type list, and controlling the operation execution section at the time of the reverse feeding process based on a reverse order on the operation order list and the operation type for the reverse feeding process defined in the operation type list.

In this control method, similar to the above-described control device, when the operator defines an operation order of the operation type in the operation order.

An embodiment of a workpiece operation system <NUM> disclosed in the present specification will be described below with reference to the drawings. <FIG> is a schematic explanatory diagram illustrating an example of workpiece operation system <NUM>. <FIG> is a perspective view illustrating an example of workpiece operation device <NUM>. <FIG> is an explanatory diagram of operation order list <NUM>, operation type list <NUM>, position list <NUM>, and operation position information <NUM> memorized in memory section <NUM>. Workpiece operation system <NUM> includes multiple workpiece operation devices <NUM> that perform predetermined operation with respect to an operation target object (workpiece W). Workpiece operation system <NUM> includes one or more workpiece operation devices <NUM>, base <NUM> on which workpiece operation devices <NUM> are disposed, conveyance unit <NUM> that conveys and fixes disposition member <NUM>, on which workpiece W (see <FIG>) is placed, to an operation region, and system interface (I/F) <NUM> that inputs an instruction from control device <NUM>. Here, an example will be described in which workpiece operation system <NUM> performs an operation of moving workpiece W from a supply position to a disposition position (disposition member <NUM>). A left-right direction (X-axis), a front-rear direction (Y-axis) and a vertical direction (Z-axis) of workpiece operation system <NUM> is as illustrated in <FIG>. In addition, although the directions are not fixed specific directions since workpiece operation device <NUM> is movable in all directions, for convenience of description, the directions illustrated in <FIG> will be described as the left-right direction (X axis), the front-rear direction (Y axis), and the vertical direction (Z axis) with respect to workpiece operation device <NUM>.

Workpiece operation device <NUM> is configured as a device for performing a predetermined operation on an operation target object. The operation target object is not particularly limited, and includes, for example, various components such as a mechanical component, an electrical component, an electronic component, and a chemical component as well as food, a biotechnological object, and a biological-related object. Further, the predetermined operation includes, for example, a moving operation of performing pick-up, moving, and arrangement from a supply position to a target position, an assembling operation of assembling components, a working operation of performing working, an applying operation of applying a viscous material, a heating operation of performing heating, a processing operation of performing chemical and/or physical predetermined processing, and an inspection operation of performing inspection. The assembling operation includes, for example, a fastening operation of fastening members such as a screw and a bolt, an insertion operation for a connector, a wiring-related handling operation, a component fitting operation, a member attaching operation, a pressing operation of pressing a workpiece, and the like. Examples of the working operation include a grinding operation, a cutting operation, a deformation operation, a connection operation, a joining operation, and the like. Examples of the viscous material include an adhesive, a solder paste, grease, and the like. The inspection operation includes, for example, an operation of inspecting one or more of the above-described operation results, and may be accompanied by an operation of moving workpiece W.

Workpiece operation device <NUM> is configured as a multi-joint arm robot, and includes first arm <NUM>, second arm <NUM>, third support portion <NUM>, pedestal portion <NUM>, and end effector <NUM>, as illustrated in <FIG>. End effector <NUM> is rotatably disposed at a tip end of first arm <NUM> via first driving section 21a. First arm <NUM> is rotatably disposed at a tip end of second arm <NUM> via second driving section 22a. Second arm <NUM> is rotatably disposed at a tip end of third support portion <NUM> via third driving section 23a. Third support portion <NUM> is rotatably supported by pedestal portion <NUM> via pedestal driving section <NUM>. The arms and the driving sections constitute operation execution section <NUM> that performs a picking up and moving operation for workpiece W. End effector <NUM> picks up workpiece W, and has pick-up member <NUM>. Pick-up member <NUM> is an operation member for grasping and picking up workpiece W, and is moved by operation execution section <NUM>. Pick-up member <NUM> may be a suction nozzle for picking up workpiece W by a negative pressure.

Control device <NUM> is a computer that controls entire workpiece operation device <NUM> included in workpiece operation system <NUM>. Control device <NUM> includes control section <NUM>, memory section <NUM>, and display section <NUM>. Control section <NUM> is configured as a microprocessor centered on CPU <NUM>. Control section <NUM> outputs drive signals to first driving section 21a, second driving section 22a, third driving section 23a, pedestal driving section <NUM>, end effector <NUM>, and the like. For example, memory section <NUM> is configured as a large-capacity memory device such as an HDD. As illustrated in <FIG>, memory section <NUM> stores operation order list <NUM>, operation type list <NUM>, position list <NUM>, operation position information <NUM>, and the like, which are used for controlling workpiece operation device <NUM>. Display section <NUM> displays a screen including information on workpiece operation device <NUM>, and is, for example, a liquid crystal display.

Operation order list <NUM> includes the following information: a processing order, an operation type, and an operation position, related to an operation order of the operation type of workpiece operation device <NUM>. The operation position may be a position of workpiece W or a position of an operation member (pick-up member <NUM>), which can be treated as synonymous although coordinates thereof are different. Here, for convenience of description, the position of pick-up member <NUM> is mainly described as the operation position. Operation type list <NUM> includes
information defined as a pair of an operation type at a time of a forward feeding process and an operation type at a time of a reverse feeding process. Position list <NUM> includes information related to recording of an operation position of operation execution section <NUM> executed at the time of the forward feeding process. Position list <NUM> includes a specific target position and recording start and recording end of operation position information <NUM> as processing executed when pick-up member <NUM> reaches the target position. Operation position information <NUM> is information recorded based on position list <NUM>, and is information in which the processing order and position coordinates during an operation are associated with each other. Operation position information <NUM> is temporary data that is deleted from memory section <NUM> when pick-up member <NUM> reaches a position of the recording end of position list <NUM>. Control section <NUM> is programmed to execute the operation type defined in operation order list <NUM> in a processing order by using operation contents defined at a time of the forward feeding of operation type list <NUM>. On the other hand, control section <NUM> is programmed to execute the operation type defined in operation order list <NUM> in a reverse order of the processing order using operation contents defined at a time of the reverse feeding of operation type list <NUM> when operation position information <NUM> is memorized.

Next, the operation using above-described workpiece operation system <NUM> will be described. First, a process of inputting contents of operation order list <NUM>, operation type list <NUM>, and position list <NUM> will be described. <FIG> is an explanatory diagram of list content input screen <NUM> displayed on display section <NUM> of control device <NUM>. Cursor <NUM>, operation order list input field <NUM>, operation type list registration field <NUM>, position list input field <NUM>, determination key <NUM>, and the like are arranged on list content input screen <NUM>. Cursor <NUM> selects an input position and various keys, and operates in conjunction with a mouse and a keyboard connected to control device <NUM>. Operation order list input field <NUM> is a region for inputting information included in operation order list <NUM>, and is a field for inputting information such as a processing order, an operation type (command), and an operation position (X, Y, Z coordinates). Operation type list registration field <NUM> is a field for registering the operation type at the time of the forward feeding process and the operation type at the time of the reverse feeding process, which are included in operation type list <NUM>, in a paired manner. In the operation type (the command), the operation contents at the time of the forward feeding process are determined in advance, and in this field, after the operation type at the time of the forward feeding process is selected, the operation type at the time of the reverse feeding process corresponding thereto is registered. In <FIG>, since "pick-up release" is registered at the time of the reverse feeding process of "pick-up", workpiece operation device <NUM> performs a pick-up release operation at the time of the reverse feeding process; however, for example, when "-" indicating that nothing is executed is registered, a setting is made to execute the reverse feeding process without the pick-up release. Position list input field <NUM> is a field for inputting a position at which the recording of operation position information <NUM> is started and a position at which the recording is ended, which are included in position list <NUM>. In position list input field <NUM>, the target position is automatically registered according to the processing order in conjunction with the input contents to operation order list input field <NUM>. In <FIG>, the recording of operation position information <NUM> is performed once; however, a setting can be made to provide multiple recording start positions and multiple recording end positions and to record operation position information <NUM> multiple times. Determination key <NUM> is a key to be pressed when the input contents are determined. An operator can easily set an operation of workpiece operation device <NUM> by inputting various pieces of information to list content input screen <NUM> without using, for example, a teaching pendant.

Next, an operation of above-configured workpiece operation system <NUM> of the present embodiment, particularly, an operation related to the forward feeding process and the reverse feeding process, will be described. Here, a process of arranging and fixing workpiece W to disposition member <NUM> by workpiece operation device <NUM> will be described as an example. <FIG> is a flowchart illustrating an example of an operation execution routine executed by CPU <NUM> of control device <NUM>. <FIG> is a flowchart illustrating an example of an operation position memory processing routine executed by CPU <NUM> of control device <NUM>.

The operation position memory processing routine of <FIG> is executed by CPU <NUM> in parallel with the operation execution routine. Further, <FIG> is an explanatory diagram illustrating an example of operation with respect to workpiece W executed by workpiece operation device <NUM> based on the content of <FIG>. <FIG> is an explanatory diagram illustrating an example of the forward feeding process (<FIG>) and the reverse feeding process (<FIG>) after stopping halfway. The operation execution routine and the operation position memory processing routine are memorized in memory section <NUM>, and are executed in response to a start instruction by the operator.

First, the operation position memory processing routine of <FIG> will be described. When the operation position memory processing routine is started, CPU <NUM> reads out and acquires position list <NUM> from memory section <NUM> (S200), and determines whether pick-up member <NUM> has reached the recording start position of operation position information <NUM> based on a progress status of operation order list <NUM> (S210). When pick-up member <NUM> does not reach the recording start position, CPU <NUM> waits as it is. On the other hand, when pick-up member <NUM> reaches the recording start position, the present processing order and the present operation position are memorized in memory section <NUM> as operation position information <NUM> (S220). Next, CPU <NUM> determines whether pick-up member <NUM> has reached the recording end position based on the progress status of operation order list <NUM> (S230). When pick-up member <NUM> does not reach the recording end position, CPU <NUM> continues a process of S220, and when pick-up member <NUM> reaches the recording end position, CPU <NUM> deletes operation position information <NUM> from memory section <NUM> (S240), and determines whether a series of operations is completed (S250). When the series of operations is not completed, CPU <NUM> executes S210 and subsequent processes, and when the series of operations is completed, CPU <NUM> ends the routine as it is. As described above, control device <NUM> memorizes operation position information <NUM> in memory section <NUM> during the operation determined by the operator.

Next, the operation execution routine of <FIG> will be described. When the operation execution routine is started, CPU <NUM> reads out and acquires operation order list <NUM> and operation type list <NUM> from memory section <NUM> (S100), and determines whether operation position information <NUM> is memorized in memory section <NUM> (S110). When operation position information <NUM> is not memorized in memory section <NUM>, CPU <NUM> performs the forward feeding process (S120-S140). In detail, CPU <NUM> acquires an operation type according to the processing order from operation order list <NUM> (S120), acquires operation contents corresponding to the acquired operation type from operation type list <NUM>, and causes workpiece operation device <NUM> to execute the operation (S130). For example, CPU <NUM> acquires the operation type "moving" in processing order <NUM> as illustrated in <FIG>, and causes the workpiece operation device <NUM> to execute a process of moving pick-up member <NUM> to target position A (see <FIG>). Next, CPU <NUM> determines whether all of the set operations have been completed based on whether the operation has been performed up to the last operation in operation order list <NUM> (S140), and when the operation has not been completed, executes S120 and subsequent processes. That is, the operation type "moving" in processing order <NUM> is acquired, and a process of moving pick-up member <NUM> to target position B is executed by workpiece operation device <NUM> (see <FIG>). By repeating such a process, CPU <NUM> picks up workpiece W at position B, moves positions C to E, releases the pick-up of workpiece W at position E, and moves pick-up member <NUM> to position F. On the other hand, when the operation is completed in S140, the routine is terminated as it is.

On the other hand, in S110, when operation position information <NUM> is memorized in memory section <NUM>, CPU <NUM> determines that the process returns to the operation after being interrupted in the middle of the previous series of operations, and executes the reverse feeding process (S150-S170). In detail, CPU <NUM> uses coordinates in a processing order included in operation position information <NUM> as start coordinates, and acquires the operation type according to a reverse processing order of operation order list <NUM> (S150), and acquires, from operation type list <NUM>, the operation contents corresponding to the acquired operation type at the time of the reverse feeding process, and causes workpiece operation device <NUM> to execute the operation (S160). Next, CPU <NUM> determines whether all of the set operations have been completed based on whether the first operation in operation order list <NUM> has been executed (S170), and executes S150 and subsequent processes when the operation has not been completed. For example, as illustrated in <FIG>, an example will be described in which the operation is interrupted while moving to position D in processing order <NUM> (see <FIG>). A reason for the interruption of the operation includes, for example, a case where the operator operates an emergency stop key, a case where a sensor or the like detects infiltration of an object such as the operator to an operation region, and the like. In control device <NUM>, operation position information <NUM> is temporarily memorized between the recording start position and the recording end position based on position list <NUM>. Therefore, operation position information <NUM> is not memorized in memory section <NUM> except the time of the interruption. Therefore, at a time of starting the operation, CPU <NUM> can determine whether a process is the reverse feeding process after the interruption is released, based on the presence or absence of operation position information <NUM>. In this reverse feeding process, for example, CPU <NUM> acquires the operation type "move to the previous target position" in processing order <NUM> from operation type list <NUM> based on operation position information <NUM>, and causes workpiece operation device <NUM> to execute a process of moving pick-up member <NUM> from starting coordinates (Xa, Ya, Xa) to previous target position C (see <FIG>). By repeating such a process, CPU <NUM> moves pick-up member <NUM> from position C to position B, releases pick-up of workpiece W at position B, and moves pick-up member <NUM> to position A. On the other hand, when the operation is completed in S170, the routine is terminated as it is. In this way, control device <NUM> can easily switch and execute the forward feeding process and the reverse feeding process after the operation is interrupted, using operation order list <NUM>, operation type list <NUM>, position list <NUM>, and operation position information <NUM>.

Here, a correspondence relationship between the constituent elements of the present embodiment and the constituent elements of the present invention will be clarified. Pick-up member <NUM> of the present embodiment corresponds to an operation member of the present disclosure, operation execution section <NUM> corresponds to an operation execution section, memory section <NUM> corresponds to a memory section, and control section <NUM> corresponds to a control section. Further, operation order list <NUM> corresponds to an operation order list, operation type list <NUM> corresponds to an operation type list, position list <NUM> corresponds to a position list, and operation position information <NUM> corresponds to operation position information. Further, control device <NUM> corresponds to a control device, workpiece operation device <NUM> corresponds to a workpiece operation device, and workpiece operation system <NUM> corresponds to a workpiece operation system. In the present embodiment, an example of a control method of the present disclosure is also clarified by explaining an operation of control device <NUM>.

In above-described control device <NUM> of the present embodiment, operation order list <NUM> related to an operation order of the operation type including the operation type and the operation position of operation execution section <NUM>, operation type list <NUM> defined by pairing the operation type at the time of the forward feeding process and the operation type at the time of the reverse feeding process, position list <NUM> related to recording of an operation position of operation execution section <NUM> executed at the time of the forward feeding process, and operation position information <NUM> are memorized in memory section <NUM>. Further, control device <NUM> controls, during the forward feeding process, the operation execution section <NUM> based on an order on the operation order list and the operation type on the operation type list at the time of the forward feeding process, and controls, during the reverse feeding process, operation execution section <NUM> based on operation position information <NUM>, a reverse order of operation order list <NUM>, and the operation type on the operation type list <NUM> at the time of the reverse feeding process. For example, when workpiece operation device <NUM> moves and places workpiece W, if gripping of workpiece W and moving of workpiece W are executed in the forward feeding process, when the reverse feeding process is simply executed if returning to the operation, an operation of moving the workpiece and gripping the workpiece is executed, so that some countermeasures are required in the reverse feeding process. In control device <NUM>, when the operator defines an operation order of the operation type in operation order list <NUM>, and defines the operation type at the time of the forward feeding process and the operation type at the time of the reverse feeding process in operation type list <NUM>, in the reverse feeding process when the process returns to the operation, the device can automatically replace and execute the work. In control device <NUM>, it is not necessary to separately prepare a complicated countermeasure (for example, a program or the like) related to the reverse feeding process, and the reverse feeding process can be realized more easily. Further, since control device <NUM> can grasp a current position of operation execution section <NUM> by using position list <NUM>, the reverse feeding process can be executed more reliably. Further, in control device <NUM>, whether the reverse feeding process is executed between the recording start position and the recording end position registered in position list <NUM> can be easily determined based on the presence or absence of operation position information <NUM> deleted when a series of operations are completed.

Further, since control device <NUM> executes the reverse feeding process when operation execution section <NUM> returns to the operation after an error stop, the operation return can be realized more easily. Further, operation execution section <NUM> has pick-up member <NUM> and moves the workpiece W, and memory section <NUM> stores operation type list <NUM> defined to include at least one of a pair of a pick-up operation of workpiece W and a pick-up release operation of workpiece W and a pair of a moving operation of the workpiece to the moving target position and a moving operation of one previous operation type to the moving target position. Control device <NUM> can execute the reverse feeding process by automatically replacing the pick-up operation and the moving operation.

Further, workpiece operation device <NUM> includes operation execution section <NUM> configured to move an operation member for executing a predetermined operation with respect to workpiece W and to execute the predetermined operation with respect to workpiece W, and above-described control device <NUM> configured to control operation execution section <NUM>. In workpiece operation device <NUM>, similarly to above-described control device <NUM>, the reverse feeding process can be more easily realized without separately preparing a complicated countermeasure related to the reverse feeding process. Further, operation execution section <NUM> is a multi-joint robot having pick-up member <NUM> and configured to move workpiece W. For example, in the multi-joint robot, although the operation such as teaching may be required for returning to the operation, workpiece operation device <NUM> can easily realize the reverse feeding process without such a work.

Further, workpiece operation system <NUM> includes above-described multiple workpiece operation devices <NUM>. In workpiece operation system <NUM>, since workpiece operation device <NUM> can easily realize the forward feeding process and the reverse feeding process, and the reverse feeding process can be reliably executed by each workpiece operation device <NUM>, interference between multiple workpiece operation devices <NUM> and the like can be prevented.

It is obvious that the present disclosure is not limited to above-described embodiments at all, and can be realized various aspects as long as the modes belong to the technical scope of the present disclosure.

For example, in the above-described embodiment, the forward feeding process or the reverse feeding process is determined based on the presence or absence of operation position information <NUM>; however, the present invention is not particularly limited thereto. At a time of error stop, information (for example, a flag) to that effect and the like may be stored. The same effect as that of the above-described embodiment can be obtained even by this control device.

In the above-described embodiment, workpiece operation device <NUM> is mainly described as performing an operation of moving the workpiece W; however, the present invention is not limited thereto. Workpiece operation device <NUM> may execute various operations as long as the operations move an operation member configured to perform a predetermined operation on workpiece W. For example, it has been described that workpiece operation device <NUM> moves from the supply position to the disposition position; however, workpiece W may move from the supply position to an inspection position and, then moves to a sorting position. Further, workpiece operation device <NUM> may perform one or more operations on one or more workpieces W. For example, workpiece operation device <NUM> may perform an operation of picking up and moving a bolt as workpiece W and an assembling operation of assembling the same to a main body as another workpiece W, and then execute an operation of inserting a washer as workpiece W into the bolt and a fastening operation of fastening a nut as workpiece W. At this time, CPU <NUM> may store one or more pieces of operation position information <NUM> with respect to each work. In control device <NUM>, since operation order list <NUM>, operation type list <NUM>, position list <NUM>, and the like are used, a setting for executing multiple workpieces and multiple kinds of operations can be performed more easily.

In the above-described embodiment, operation type list <NUM> includes information in which "pick-up" and "pick-up release" are paired. For example, in the reverse feeding process after the error stop, workpiece W picked up by pick-up member <NUM> may be dropped or may be removed by the operator at the time of the error stop. In the above embodiment, a process of releasing pick-up of workpiece W at the supply position and returning workpiece W is performed; however, various countermeasures such as pick-up to an initial position and returning can be considered. In operation type list <NUM>, accordingly, the reverse feeding process may be registered according to the production.

In above-described embodiment, operation execution section <NUM> has been described as a multi-joint robot; however, the present invention is not particularly limited thereto. Any structure may be used as long as the structure performs the forward feeding process and the reverse feeding process on the operation member, and for example, the structure may not have multiple joints or may not be provided with an arm.

In the above-described embodiment, control device <NUM> has been described as controlling operation execution section <NUM> of workpiece operation device <NUM>; however, the present invention is not particularly limited thereto. For example, control device <NUM> may control a simulator configured to operate the operation execution section of electronic data in the reverse feeding process set offline. That is, the present disclosure may be realized as a control method executed by control device <NUM>. <FIG> is an explanatory diagram illustrating an example of a simulator image displayed on display section <NUM>. The simulator image is an image generated by a 3D-CAD operation simulator program. In control device <NUM>, it is possible to identify, on a screen, a return operation from the error stop at a predetermined timing before workpiece operation device <NUM> is actually worked.

In the above-described embodiment, control device <NUM> has been described as a computer connected to the outside of workpiece operation device <NUM>; however, the present invention is not particularly limited thereto. For example, a controller provided in workpiece operation device <NUM> may be used as control device <NUM>.

The control device, the workpiece operation device, the workpiece operation system, and control method disclosed in the present specification can be used in a technical field of a device configured to perform a predetermined operation on a workpiece.

Claim 1:
A workpiece operation device (<NUM>) comprising:
an operation execution section (<NUM>) configured to execute a predetermined operation on a workpiece (W) by moving an operation member (<NUM>) configured to execute the predetermined operation on the workpiece; and
a control device (<NUM>) configured to control the operation execution section,
wherein the control device comprises:
a memory section (<NUM>) configured to store:
- an operation order list (<NUM>), including operation orders, each operation order comprising a processing order, an operation type being one of moving, pick-up and pick-up release, and an operation position of the operation member (<NUM>), the operation order list (<NUM>) including at least one operation order of the operation type moving and at least one operation order of the operation type pick-up release,
- a position list (<NUM>) including information related to recording of the operation position of the operation member (<NUM>) executed at the time of a forward feeding process, and
- an operation type list (<NUM>) defined as a pair of an operation type at a time of the forward feeding process and an operation type at a time of a reverse feeding process, , wherein the operation type list (<NUM>) comprises the following pairs:
• the operation type at a time of the forward feeding process being moving to a target position and the operation type at a time of the reverse feeding process being moving to a previous target position,
• the operation type at a time of the forward feeding process being pick-up and the operation type at a time of the reverse feeding process being pick-up release, and
• the operation type at a time of the forward feeding process being pick-up release and the operation type at a time of the reverse feeding process indicating non-execution; and
a control section (<NUM>) configured to:
- control the operation execution section at the time of the forward feeding process to execute the operation type for the forward feeding process in the operation type list (<NUM>) in the processing order, and
- control the operation execution section at the time of the reverse feeding process, based on the position list when an operation of the operation execution section starts, so as to execute the operation type for the reverse feeding process in the operation type list in a reversed order of said processing order.