CN113632022A

CN113632022A - Operation instruction device in manufacturing plant and operation instruction method in manufacturing plant

Info

Publication number: CN113632022A
Application number: CN202080024061.5A
Authority: CN
Inventors: 沟上大辅
Original assignee: Panasonic Intellectual Property Management Co Ltd
Current assignee: Panasonic Intellectual Property Management Co Ltd
Priority date: 2019-04-24
Filing date: 2020-03-27
Publication date: 2021-11-09
Also published as: JP7411918B2; JPWO2020217861A1; WO2020217861A1

Abstract

An operation instruction device in a manufacturing plant manufactures a product using at least one manufacturing device, and includes: a robot control unit that controls an operation robot that automatically transports a component consumed by the manufacturing apparatus from the component warehouse to the vicinity of the manufacturing apparatus, or transports the component from the component warehouse and automatically supplies the component to the manufacturing apparatus; a component management unit that monitors the remaining number of components in the manufacturing apparatus; an operation instruction unit that instructs an operation of the operation robot based on the remaining number of components; and an operation information management unit that displays, on the display unit, operation instruction content based on the operation instruction. The operation information management unit displays the operation instruction contents for the operation robot on the display unit.

Description

Operation instruction device in manufacturing plant and operation instruction method in manufacturing plant

Technical Field

The present disclosure relates to an operation instruction device in a manufacturing plant and an operation instruction method in a manufacturing plant.

Background

In a manufacturing plant of an electronic circuit board (mounting board) or the like, a plurality of component mounting apparatuses are arranged for mounting components (electronic components or the like) at positions where cream solder is printed on the board. As a conventional component mounting apparatus, there is known an apparatus including: whether or not replenishment (loading) of a storage component to a feeder (for example, a tape feeder) mounted on a feeder support table is completed is determined, and based on the storage content, whether replenishment of the component to the feeder is completed or not is determined when replenishment of the component is required (for example, see patent document 1).

The component mounting device guides, in a case where replenishment of a feeder with a replenishment component has ended, so that the feeder that replenishes the replenishment component is mounted on the feeder support table. On the other hand, the component mounting device guides so that the feeder is replenished with the replenishment component in a case where the replenishment component is not replenished to the feeder. Thus, accurate guidance can be performed in accordance with the ready state of the supply component, and even when the supply component is not supplied to the feeder, the efficiency of the mounting operation by the component mounter is not lowered.

Prior art documents

Patent document

Patent document 1: japanese laid-open patent publication No. 2012-142519

Disclosure of Invention

Problems to be solved by the invention

In recent years, however, in order to achieve efficiency of operation (for example, unmanned or labor-saving) in a factory as a production site, a self-propelled transfer robot that moves and transfers a supply member in the factory has been in progress. In a factory, not only an existing operator but also a transfer robot coexist in the same space and operate at the same time.

However, in the structure of patent document 1, it is assumed only that the operator is instructed as to whether or not replenishment of the feeder with the replenishment parts is necessary. That is, if it is assumed that the operator is not only the existing operator but also the transfer robot is used for installation or operation in a production site, the operator cannot accurately and precisely grasp the operation content of the transfer robot in the configuration of patent document 1. Therefore, even when trouble such as collision of the transfer robot with an obstacle in the factory occurs, for example, the operator cannot accurately grasp the situation, and smooth operation in the production site may be difficult to achieve. In view of the above conventional situation, the structure of patent document 1 has room for improvement.

The present disclosure provides an operation instruction device in a manufacturing plant and an operation instruction method in the manufacturing plant, which accurately present the operation content and operation amount of each of an operation robot and an operator to the operator in a production site and assist smooth progress of operation.

Means for solving the problem

The present disclosure is an operation instruction device in a manufacturing plant, which manufactures a product using at least one manufacturing device, the operation instruction device including: a robot control unit that controls an operation robot that automatically carries a component consumed by the manufacturing apparatus from a component warehouse to the vicinity of the manufacturing apparatus, or carries the component from the component warehouse and automatically supplies the component to the manufacturing apparatus; a component management unit that monitors the remaining number of components in the manufacturing apparatus; an operation instruction unit configured to instruct an operation of the operation robot based on the remaining number of the members; and an operation information management unit that displays, on a display unit, operation instruction content based on the operation instruction, wherein the operation information management unit displays, on the display unit, the operation instruction content for the operation robot.

Further, the present disclosure provides an operation instruction method in a manufacturing plant for manufacturing a product using at least one manufacturing apparatus, the operation instruction method having: a robot control step of controlling an operation robot that automatically carries a component consumed by the manufacturing apparatus from a component warehouse to the vicinity of the manufacturing apparatus, or carries the component from the component warehouse and automatically supplies the component to the manufacturing apparatus; a component management step of monitoring the remaining number of components in the manufacturing apparatus; an operation instruction step of instructing an operation of the operation robot based on the remaining number of the members; and an operation information management step of displaying operation instruction contents based on the operation instruction on a display unit, wherein the operation information management step displays the operation instruction contents for the operation robot on the display unit.

Effect of invention

According to the present disclosure, the operator can be accurately presented with the operation content and the operation amount of the operation robot and the operator, and smooth operation can be assisted.

Drawings

Fig. 1 is a layout diagram illustrating an arrangement relationship of a production site according to the present embodiment.

Fig. 2 is a front view illustrating a structure of the mounting substrate manufacturing line shown in fig. 1.

Fig. 3 (a) and (b) are side views illustrating the structure of the transfer robot shown in fig. 1.

Fig. 4 is a plan view illustrating the component mounting apparatus shown in fig. 2.

Fig. 5 is a side view illustrating the component mounting apparatus shown in fig. 2.

Fig. 6 is a block diagram illustrating a functional configuration of a control section of the component mounting apparatus shown in fig. 2.

Fig. 7 is a functional block diagram illustrating the structure of the production management system.

Fig. 8 is a screen diagram illustrating a screen displayed by the display device shown in fig. 7.

Fig. 9 is a classification diagram illustrating types of icons displayed by the display device shown in fig. 7.

Fig. 10 is a screen diagram illustrating a screen update mode in the display device shown in fig. 7.

Detailed Description

Hereinafter, an embodiment specifically disclosing an operation instructing device and an operation instructing method in a manufacturing plant according to the present disclosure will be described in detail with reference to the drawings as appropriate. However, unnecessary detailed explanation may be omitted. For example, detailed descriptions of known matters and repetitive descriptions of substantially the same structure may be omitted. This is to avoid unnecessary redundancy in the following description, as will be readily understood by those skilled in the art. In addition, the drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter recited in the claims by these.

In the manufacturing plant, at least one (for example, a plurality of manufacturing apparatuses in embodiment 1) is used to manufacture a product. For example, in the embodiments, a mounting substrate manufacturing apparatus such as a screen printing apparatus, a component mounting apparatus, a reflow apparatus, and the like is exemplified as a manufacturing apparatus disposed in a manufacturing plant (an example of a production site), a mounting substrate is exemplified as a product manufactured by the manufacturing apparatus, a component such as an electronic component and a consumable material such as solder, an adhesive, and the like are exemplified as a member consumed by the manufacturing apparatus, but the invention is not limited thereto. In the case of a production site where a manufacturing apparatus consuming a component is disposed, the manufacturing apparatus and the component are not limited to such a manufacturing apparatus and a component, and for example, an assembling apparatus for assembling a component by welding or a production site equipped with a welding robot may be employed. In the present specification, the description is given without limiting the type of the manufacturing apparatus, and is simply referred to as "manufacturing apparatus".

In the embodiments, the "unit" or "device" is not limited to a physical configuration realized by hardware alone, and includes a function realized by software such as a program. Further, the functions of one configuration may be realized by two or more physical configurations, or the functions of two or more configurations may be realized by one physical configuration, for example.

< overview of layout of production site >

First, the layout in a production site F (an example of a manufacturing plant) according to the present embodiment will be described in brief with reference to fig. 1. Fig. 1 is a layout diagram illustrating an arrangement relationship of a production site F according to embodiment 1.

As shown in fig. 1, a production site F in a manufacturing plant or the like includes a plurality of mounting substrate manufacturing lines L, and is divided into four sides by a predetermined wall. In the production site F, a plurality of manufacturing apparatuses (see below) and a plurality of handling robots constituting the mounting substrate manufacturing line L are arranged. The operation robot assists, for example, an operation of replenishing the manufacturing apparatus with a component consumed by the manufacturing apparatus such as the component mounting apparatus (for example, an operation of transporting the component to the vicinity of the manufacturing apparatus), or performs the replenishment (for example, the replenishment of the manufacturing apparatus by the operator is replaced). Thus, at the production site F, an Automated Guided Vehicle (AGV) as an operation robot operates as follows, and the component storage stored in the Automated warehouse 3 is transported by the operator H or the type 1 transport robot 41 or the type 2 transport robot 42 (an example of an operation robot) and is supplied to the manufacturing apparatus. Here, the component storage body is, for example, a carrier tape in which components are enclosed, a reel on which the carrier tape is wound, a tray, a stick, or the like, and a reel is exemplified. The component containers that store consumables C such as electronic components are reels CA and CB, and are consumed by the manufacturing apparatus (e.g., the component mounting apparatus 20). Therefore, these component storage bodies need to be constantly supplied or replenished during operation at the production site F.

At the production site F, at least a production area a1 and a warehouse area a2 for storing and storing electronic components and the like are disposed. The production area a1 is disposed in the production site F, for example, with a certain range on one side thereof. The production area a1 of the present embodiment is an area for manufacturing a mounting substrate to which electronic components are soldered. The warehouse area a2 is disposed apart from the production area a1, and is similarly disposed to occupy a certain range on the other side of the production site F, for example. Further, in the production area a1 and the warehouse area a2, a conveying path R for running a conveying robot (see fig. 3 (a) and (b)) is arranged. The transfer robot travels on the transfer path R and transfers the component containers of the electronic components and the like from the warehouse area a2 to the production area a 1. The conveyance path R is defined by physical information such as a logo and a guide line provided at the production site F, or path information and map information stored in the robot control unit 51 (see fig. 7).

The conveyance path R is a travel path dedicated to the type 1 conveyance robot 41 (see fig. 3 a) and the type 2 conveyance robot 42 (see fig. 3 b). In addition, in the production site F, a plurality of the stock racks 2 are arranged so as to be separated from each other in addition to the production area a1, the warehouse area a2, and the conveyance route R. The inventory rack 2 is used for temporarily storing and holding component containers for storing electronic components such as consumables C. The stock shelf 2 is disposed in the vicinity of the mounting substrate manufacturing line L, and is laid out to shorten the line of movement of the operator H to and from the stock shelf 2 and the mounting substrate manufacturing line L. Further, the operation area for the operator H to safely operate is also disposed separately from the production area a1, the warehouse area a2, and the conveyance path R. In fig. 1, the conveyance path R is shown as a simple straight line or a rectangular shape for convenience of explanation, but the present invention is not limited to this. The conveyance path R is provided in various shapes (e.g., a zigzag shape, an oblique direction, etc.) as necessary. Similarly, the production area a1 and the warehouse area a2 may be designed as appropriate according to the specifications of the production site F, in any of the positions, occupied areas, and the like.

In the production area a1, a plurality of (3 in embodiment 1) mounting substrate manufacturing lines L are provided linearly, respectively. The plurality of mounting substrate manufacturing lines L are arranged in parallel with each other. The mounting substrate manufacturing line L is configured to include a plurality of types of manufacturing apparatuses (see below), and automatically performs a series of manufacturing processes such as solder printing on a substrate, mounting of an electronic component on the substrate, and solder reflow. The consumable supplies C necessary for the various manufacturing apparatuses are transported or replenished by the operator H, the type 1 transfer robot 41, and the type 2 transfer robot 42.

In the warehouse area a2, two automatic warehouses 3 as an example of component warehouses are arranged in a row. The automatic warehouse 3 accommodates component containers that accommodate consumables C including electronic components, identifies and manages the types of consumables C such as electronic components accommodated in the component containers, and automatically delivers and receives the component containers that accommodate the required consumables C through the component gateway.

In the conveyance path R, the type 1 conveyance robot 41 and the type 2 conveyance robot 42 travel along the conveyance path R, and automatically convey the component storage bodies containing consumables from the automated warehouse 3 to the vicinity of the manufacturing apparatus of the mounting substrate manufacturing line L, for example, the vicinity of the operator H or the stock shelf 2. The type 1 and type 2

transfer robots

41 and 42 transfer component containers from the automated warehouse 3 to a manufacturing apparatus (see below) and automatically supply the component containers to the manufacturing apparatus, depending on the types of the components. Similarly to the type 1 transfer robot 41 and the type 2 transfer robot 42, the operator H visually recognizes the display contents of the display device 18 as an example of the display unit, appropriately conveys the component storage bodies, and directly supplies the component storage bodies to the manufacturing apparatus. Further, the operator H operates in the production site F by carrying an operator terminal 4 such as a hand-held terminal, a tablet computer, or a smartphone. When the operator H finishes the operation corresponding to the operation instruction content (see below), an end notification of the operation is input to the operator terminal 4 and transmitted.

< Structure of mounting substrate production line >

Next, the structure of the mounting substrate manufacturing line L disposed at the production site F will be described with reference to fig. 2. Fig. 2 is a front view illustrating the structure of the mounting substrate manufacturing line L shown in fig. 1.

As shown in fig. 2, each of the plurality of mounting substrate manufacturing lines L is centrally managed by the production management system 1, and includes: a substrate supply device 11, a screen printing device 12, a printed solder inspection device 13, a component mounting device 20, a component mounting state inspection device 14, a reflow device 15, a mounting substrate inspection device 16, a mounting substrate recovery device 17, and a display device 18. Specifically, the substrate supply device 11, the screen printing device 12, the printed solder inspection device 13, the component mounting device 20, the component mounting state inspection device 14, the reflow device 15, the mounting substrate inspection device 16, and the mounting substrate recovery device 17 are manufacturing devices. The screen printing device 12, the printed solder inspection device 13, the component mounting device 20, the component mounting state inspection device 14, the reflow device 15, and the mounting substrate inspection device 16 are provided with a conveyor belt for conveying substrates, and are connected in sequence in accordance with the manufacturing process. These manufacturing apparatuses receive substrates from the conveyor of the manufacturing apparatus in the upstream process, and when a predetermined operation for the received substrates is completed, the substrates are transferred to the conveyor of the manufacturing apparatus in the next process. Therefore, the mounting substrate manufacturing line L automatically performs a series of manufacturing processes such as solder printing on a substrate, mounting of an electronic component on the substrate, and solder reflow.

The production management system 1 is configured to include an operation instructing device 50 described below, and the display device 18 is display-controlled by the operation instructing device 50. The mounting substrate manufacturing line L is not limited to these devices, and may be configured to include various other devices.

The substrate supply device 11 is disposed at the front end of the mounting substrate manufacturing line L, and supplies substrates conveyed by the operator H, the type 1 transfer robot 41, and the type 2 transfer robot 42, to the screen printing device 12 in sequence. The screen printing device 12 screens a given substrate with, for example, cream solder or the like at a predetermined position. The printed solder inspection device 13 inspects the state of solder printed on the substrate. The plurality of component mounting apparatuses 20 mount electronic components at positions where cream solder is printed by the screen printing apparatus 12 by the mounting heads 27 (see fig. 4), respectively. The component mounting apparatus 20 further includes a component supply unit 23 (see below) for supplying the electronic component to a mounting head 27 (see fig. 4). The component supply unit 23 is provided with a component housing storing electronic components, and supplies the components of the component housing to a position where a mounting head 27 (see fig. 4) of the component mounting device 20 can hold the components. When the electronic components of the component supply unit 23 are consumed and the number of the broken components or the remaining components is reduced, the component storage is exchanged for a new component by the operator H. In addition, as the component storage body, a member for winding a tape reel of a conveyor belt for storing electronic components or a member for storing electronic components in a tray is generally used. The component mounting state inspection device 14 inspects the state of the electronic component mounted on the substrate. In embodiment 1, since a plurality of electronic components of different types are mounted on each substrate, a plurality of component mounting apparatuses 20 (3 in embodiment 1) are used.

Furthermore, the reflow apparatus 15 performs soldering on the substrate on which the electronic components are mounted. That is, the reflow apparatus 15 is a so-called heating furnace, heats and melts solder on a substrate, and then cools and solidifies the substrate to solder electronic components to the substrate. The mounting board inspection device 16 inspects the mounting board which has been soldered by the reflow device 15. Specifically, the soldering state of the electronic components in the substrate is inspected. The mounting substrate recovery apparatus 17 recovers and arranges the substrate on which the electronic component is soldered in such a manner that the substrate can be transported to the outside of the mounting substrate manufacturing line L.

The display device 18 is configured to include a liquid crystal panel, for example, and is adjustably suspended from a ceiling of the production site F by a predetermined holding member in an arbitrary posture. The display devices 18 are arranged in a pair of back-to-back positions for each mounting substrate manufacturing line L. This allows the operator H to easily and quickly visually recognize the display device 18 even from an arbitrary place in the production site F.

< construction of transfer robot >

Next, the configurations of the type 1 transfer robot 41 and the type 2 transfer robot 42 will be described with reference to fig. 3. Fig. 3 (a) and (b) are side views illustrating the structure of the transfer robot shown in fig. 1.

As shown in fig. 3 (a), the type 1 transfer robot 41 includes: a rectangular base portion 41A, a plurality of wheels 41B arranged below the base portion 41A, a member housing portion 41C arranged on the rear side of the upper end surface of the base portion 41A with respect to the traveling direction, and an arm portion 41E arranged on the front side of the traveling direction on the upper end surface of the base portion 41A.

The member housing portion 41C is formed in a tower shape, and a plurality of shelves 41D are arranged in the tower shape along the vertical direction. The rack 41D stores component containers (e.g., reels) for storing the consumables C individually. Further, the shelves 41D are provided so as to be open with respect to the front end faces of the member housing portions 41C, respectively. Thus, the arm 41E disposed on the front side in the traveling direction can easily approach the component container that contains the consumables C stored in the rack 41D. The arm portion 41E is an articulated arm having a plurality of joints and links, and an optional hand 41F is attached to a distal end portion thereof. Thus, the type 1 transfer robot 41 can pick up the consumable parts C with the hand 41F and place the consumable parts C at a predetermined place. That is, the type 1 transfer robot 41 picks up the consumables C by the hand 41F of the arm 41E at the destination, and can place the consumables C in a predetermined place (for example, the stock shelf 2) or supply the consumables C to the manufacturing apparatus.

As shown in fig. 3 (b), the type 2 transfer robot 42 includes: a rectangular base portion 42A, a plurality of wheels 42B disposed below the base portion 42A, and a member housing portion 42C disposed over the entire upper end surface of the base. The member housing portion 42C is formed in a box shape, and an upper surface thereof is opened. In the component storage section 42C, a reel CA (see below) on which a carrier tape CC enclosing small electronic components is wound and a reel CB (see below) on which a carrier tape enclosing large electronic components is wound are stored in an upright state. Thus, the transfer robot 42 of type 2 can automatically transfer the consumable parts C from the automated warehouse 3 to the vicinity of the manufacturing apparatus or the operator H who needs the consumable parts C, in a state where the component storage bodies storing the plurality of consumable parts C are accommodated.

The type 1 transfer robot 41 and the type 2 transfer robot 42 also include, for example, a wireless communication unit (not shown) and automatically transfer the objects along the transfer route R by receiving a wireless signal based on map information transmitted from the robot control unit 51 (see fig. 7). The type 1 and type 2

transfer robots

41 and 42 may read magnetic tapes provided in the transfer path R by magnetic sensors mounted on the

base portions

41A and 42A, and may automatically transfer the magnetic tapes. The type 1 transfer robot 41 and the type 2 transfer robot 42 are collectively managed and controlled by a robot control unit 51 (see fig. 7) of the operation instruction device 50. When the operation corresponding to the operation instruction contents (see below) of the type 1 transfer robot 41 and the type 2 transfer robot 42 ends, the end notification of the operation is transmitted to the operation instruction device 50. The guidance system of the type 1 transfer robot 41 and the type 2 transfer robot 42 is not limited to the system using magnetic force (electromagnetic induction system), and various other systems, such as an electromagnetic system and a laser system, can be appropriately employed.

< Structure of component mounting apparatus >

Next, the structure of the component mounting apparatus 20 mounted on the substrate manufacturing line L will be described with reference to fig. 4 and 5. Fig. 4 is a plan view illustrating the structure of the component mounting apparatus 20 shown in fig. 2. Fig. 5 is a side view illustrating the structure of the component mounting apparatus 20 shown in fig. 2.

As shown in fig. 4 and 5, a pair of substrate conveyance mechanisms 22 are disposed along the X direction (substrate conveyance direction) in the center portion of the main body base portion 21 of the component mounting apparatus 20. The substrate transfer mechanism 22 includes: a pair of conveyor belt parts 22A extending along the X direction, and a substrate holding part 22B provided by coupling the pair of conveyor belt parts 22A in the Y direction (direction orthogonal to the X direction). Substrate holders 22C for fixing and holding the substrate are disposed at the ends of the substrate holding portion 22B. The substrate conveyance mechanism 22 conveys, positions, and holds a substrate supplied from an upstream device (for example, the printed solder inspection device 13).

A pair of front and rear component supply units 23 are provided on both sides (upper and lower sides in fig. 1, and left and right sides in fig. 2) of the substrate conveyance mechanism 22. A pair of wall portions 21A are provided on both sides of the body base portion 21, and the component supply portions 23 are arranged in the space surrounded by the pair of wall portions 21A. The component supply portions 23 respectively have feeder bases 23A provided with gaps (slots) 23B in which a plurality of tape feeders 23C are mounted in parallel as component feeders.

Further, the component mounting apparatus 20 includes a supply cart 24, and the supply cart 24 includes: a carriage unit 24A having a plurality of wheels disposed on the lower side thereof, and a plurality of reel stock units 24B disposed on the upper side of the carriage unit 24A at different heights from each other. The reel stock portions 24B respectively accommodate reels CA, respectively draw out carrier tapes CC accommodating electronic components from the reels CA, and supply the tape feeders 23C with the electronic components. Thereby, the tape feeder 23C pitch-feeds the carrier tape CC in the tape feeding direction, and supplies the electronic components by a mounting head 27 of the component mounting device 20 described below.

Further, on the upper surface of the main body base part 21, at both ends in the X direction, a pair of Y-axis table mechanisms 25 are disposed along the Y direction. Further, the X-axis table mechanism 26 is slidably movably mounted in the Y direction so as to bridge these Y-axis table mechanisms 25 between a pair of Y-axis table mechanisms 25. Further, a mounting head 27 is slidably attached to a front end portion of the X-axis table mechanism 26 along the X direction. In addition, the X-axis table mechanism 26 and the Y-axis table mechanism 25 each include a linear guide driving mechanism.

The mounting head 27 is a multiple connection type head having a plurality of holding heads, and the component holding nozzle 27A is attached to the lower end portion of each holding head. The component holding nozzle 27A is configured to vacuum-adsorb and hold the electronic component by air pressure, and to move up and down independently. The mounting head 27 further includes a Z-axis lifting mechanism (not shown) for lifting and lowering the component holding nozzle 27A, and a θ -axis rotating mechanism (not shown) for rotating the component holding nozzle 27A about the nozzle axis. The mounting head 27 can be positioned at an arbitrary position on a horizontal plane (XY plane) by driving the Y-axis table mechanism 25 and the X-axis table mechanism 26. Thereby, the mounting head 27 can take out the electronic component from the take-out position of the tape feeder 23C of the component supply portion 23 by the component holding nozzle 27A.

Further, a component recognition camera 28 is disposed between the component supply unit 23 and the substrate transfer mechanism 22. When the mounting head 27 that takes out the electronic component from the component supply section 23 moves above the component recognition camera 28, the component recognition camera 28 photographs the electronic component held by the mounting head 27. By performing recognition processing on the imaging result, recognition and position detection of the electronic component are performed. Further, a substrate recognition camera 29 disposed on the lower surface side of the X-axis table mechanism 26 and moving integrally with the mounting head 27 is fixed to the mounting head 27. The mounting head 27 moves, and the substrate recognition camera 29 moves above the substrate positioned on the substrate transfer mechanism 22, thereby capturing an image of the substrate. By performing recognition processing on the imaging result in the same manner, the position of the substrate can be detected.

In this way, by mounting the electronic component and the like on the substrate in the component mounting apparatus 20, the electronic component and the consumable part C such as the reel CA on which the electronic component is mounted are consumed. The remaining amount of consumable supplies C for each component mounting apparatus 20 is appropriately replenished by the operator H, the type 1 transfer robot 41, and the type 2 transfer robot 42 so that the consumable supplies C in the component supply unit 23 are not broken (out of stock) with the consumption. The component mounting apparatus 20 configured as described above is further provided with a control unit 30, and the configuration of each part of the component mounting apparatus 20 is controlled and operated as described above by the control unit 30.

Next, the control unit 30 of the component mounting apparatus 20 will be described with reference to fig. 6. Fig. 6 is a block diagram illustrating a functional configuration of the control unit 30 of the component mounting apparatus 20 shown in fig. 2. The control unit 30 of the component mounting apparatus 20 includes a storage device such as a ROM or a RAM, and an arithmetic device such as a CPU that executes a program as software stored in the storage device. In other words, each block shown in fig. 6 represents a function realized by software such as a program. However, the functions represented by the respective blocks are not limited to software, and may be realized by hardware as a physical configuration of "device".

As shown in fig. 6, the control unit 30 of the component mounting apparatus 20 includes: an installation control unit 31, an installation storage unit 32, a flow rate detection unit 33, an installation operation unit 34, and a communication unit 35.

The mounting control unit 31 gives a control instruction to the mounting operation unit 34 based on the data stored and held in the mounting storage unit 32. In order to improve the positioning accuracy, the mounting control unit 31 includes a positional deviation amount calculation unit 31A and a feed amount calculation unit 31B. The positional deviation amount calculation unit 31A calculates a positional deviation amount from a normal position with respect to the substrate positioned at the operation position based on the captured image captured by the substrate recognition camera 29. The feed amount calculation section 31B calculates a feed amount (correction value) based on the positional deviation amount calculated by the positional deviation amount calculation section 31A and returns the calculation result to the installation control section 31.

The mounting storage unit 32 stores a production program necessary for a control instruction of the mounting control unit 31, component mounting data including mounting operation parameters, equipment information (device ID for specifying the operating machine) of the component mounting device 20, and operation information 32A. The operation information 32A is various information related to the state and operation history of the component mounting apparatus 20, and includes the number of processed substrates, abnormality information (suction error, clogging of the component holding nozzle 27A, a failure, an emergency stop, an erroneous stop, or the like of the consumable part (component) C), measurement results of various sensors, the number of consumed components, the remaining number, and the like.

The flow rate detecting unit 33 detects the flow rate of the air flowing into the component holding nozzle 27A. The control unit 30 detects the occurrence of the adsorption abnormality with reference to the detection result of the flow rate detection unit 33. Specifically, when the flow rate detecting unit 33 detects that the air flows in from the component holding nozzle by a predetermined amount or more after the component holding nozzle 27A performs the operation of vacuum-sucking and holding the electronic component, the control unit 30 detects that an adsorption abnormality occurs in which the component holding nozzle 27A does not hold the electronic component or does not adsorb the electronic component in a correct posture. When the flow rate detector 33 does not detect the outflow of the predetermined air during the air blowing, the controller 30 determines that an abnormality such as a failure of the air supply source or a blockage of the component holding nozzle 27A has occurred.

The mounting operation unit 34 controls the driving units of the substrate transport mechanism 22, the component supply unit 23, the X-axis table mechanism 26, the Y-axis table mechanism 25, the component holding nozzle 27A, and the like based on the production program. Thereby, the mounting operation section 34 mounts the electronic component on the substrate supplied to the component mounting device 20. The communication unit 35 is a communication interface, and transmits and receives information and signals to and from devices such as the other component mounting device 20 via a wireless or wired communication network.

As described above, at the production site F, the operator H and the type 1 transfer robot 41 perform the component replenishment operation on the component feeder 23C and the like of the component mounting apparatus 20, and the component container (see above) is transferred by the type 2 transfer robot 42. That is, in the production site F according to embodiment 1, the operator H is used and operated together with the type 1 transfer robot 41 and the type 2 transfer robot 42, and the operator H needs to grasp the operation contents of the type 1 transfer robot 41 and the type 2 transfer robot 42 in detail. Therefore, the production management system 1 according to embodiment 1 includes the operation instructing device 50 for accurately presenting the operation contents and the operation amounts of the type 1 transfer robot 41, the type 2 transfer robot 42, and the operator H to the operator H. The operator H performs not only the component replenishment operation for the component feeder 23 of the component mounting apparatus 20 but also the component replenishment operation for the type 1 carrier robot 41 and the type 2 carrier robot 42 as appropriate.

< construction of production management System >

Next, the configuration of the production management system 1 including the operation instruction device 50 according to embodiment 1 will be described with reference to fig. 7. Fig. 7 is a functional block diagram illustrating the structure of the production management system 1.

As shown in fig. 7, the production management system 1 includes an operation instruction device 50, a component mounting device 20, an automated warehouse 3, a type 1 transfer robot 41, a type 2 transfer robot 42, an operator terminal 4, and a display device 18.

The operation instructing device 50 is connected to the component mounting device 20, the automatic warehouse 3, the type 1 transfer robot 41, the type 2 transfer robot 42, the operator terminal 4, and the display device 18 via a wired or wireless communication network. The operation instruction device 50 is configured similarly to a server, and includes a CPU, a memory, an external memory, an interface circuit, and the like. The operation instructing device 50 includes a robot control unit 51, an information collecting unit 52, a member managing unit 53, an operation instructing unit 54, and an operation information managing unit 55. Identification Information (ID) is assigned to each of the component mounting apparatus 20, the automated warehouse 3, the type 1 transfer robot 41, and the type 2 transfer robot 42. Further, with respect to the component mounting device 20, IDs are also assigned to the component supply portion 23 and the gap 23B thereof, and the operation instructing device 50 associates and manages these IDs for each device thereof and a part thereof. In embodiment 1, the functions of the robot control unit 51, the information collection unit 52, the member management unit 53, the operation instruction unit 54, and the operation information management unit 55 of the operation instruction device 50 are realized by software such as a program, but the present invention is not limited thereto. At least a part of the functions thereof may be realized by hardware as a physical structure of "means".

The robot control unit 51 controls the type 1 transfer robot 41 and the type 2 transfer robot 42, respectively (i.e., a robot control step). The information collection unit 52 collects, stores, and holds, for example, in-device inventory information, a production plan, device operation information, and the like. The component management unit 53 monitors the remaining quantity of the consumable supplies C and the like for each of the component mounting apparatus 20 and the automatic warehouse 3 based on the storage information of the information collection unit 52, and predicts the time of outage of the consumable supplies C (i.e., the component management process). The operation instructing unit 54 generates an operation instruction (i.e., an operation instructing step) for the operator H regarding the component replenishment operation to the type 1 transfer robot 41, the type 2 transfer robot 42, and the component mounting apparatus 20 based on the remaining number of components of each of the component mounting apparatus 20 and the automated warehouse 3.

The operation information management unit 55 displays the operation instruction contents based on the operation instruction generated by the operation instruction unit 54 on the operator terminal 4 and the display device 18 (i.e., operation information management step). At this time, the operation information management unit 55 displays a list of operation instruction contents for the operator H, the type 1 transfer robot 41, and the type 2 transfer robot 42, respectively. The operation information management unit 55 displays the progress of the operation of the type 1 transfer robot 41 or the type 2 transfer robot 42 and the states of the members transferred by the type 1 transfer robot 41 or the type 2 transfer robot 42, with respect to the contents of the operation instruction to the type 1 transfer robot 41 or the type 2 transfer robot 42. When an end notification of an operation corresponding to the operation instruction contents of the operator H, the type 1 transfer robot 41, and the type 2 transfer robot 42 is transmitted from the operator terminal 4, the operation information management unit 55 updates the display so that the display of the operation instruction contents corresponding to the end notification is canceled on the display device 18 (see below). The operation information management unit 55 is provided to be able to directly acquire information such as the type of consumable supplies C stored for each of the automated warehouses 3 and the remaining number thereof from the automated warehouse 3.

< display content of operation information management section >

Next, the contents displayed on the display device 18 by the operation information management unit 55 according to embodiment 1 will be described in more detail with reference to fig. 8 and 9. Fig. 8 is a screen diagram illustrating a screen displayed by the display device 18 shown in fig. 7. Fig. 9 is a classification diagram illustrating the kind of the icon S displayed by the display device 18 shown in fig. 7.

As shown in fig. 8, the operation information management unit 55 collectively displays the operation instruction contents for the operator H, the type 1 transfer robot 41, and the type 2 transfer robot 42 on the screen of the display device 18 by using a single table T (table format). That is, the operation information management unit 55 displays not only the operation instruction contents for the operator H but also the operation instruction contents for the type 1 carrier robot 41 and the type 2 carrier robot 42 simultaneously on the display device 18.

The table T displayed on the screen of the display device 18 is displayed with the status of the consumables C listed for each row. The attributes of the consumables C are displayed in the list of the consumables C, respectively, for each column of the table T, so that the status of the consumables C can be grasped specifically. As the attributes, for example, in embodiment 1, "state", "component name" (name of consumable part C), "remaining time", "manufacturing apparatus ID", "component supply part ID", and "gap ID" are displayed in order from the left column of the table T. In addition, these attributes are examples and are not limited thereto. The operation instruction content can be appropriately displayed if the display has other necessary attributes.

The "component name" in column 2 of the table T shows the name of the consumable part C consumed by any one of the manufacturing apparatuses and approaching a shipment break (stock out) or having been broken (stock out). For example, reels CA, CB, etc. to be supplied to the component supply section 23 of the component mounting apparatus 20 are displayed. In column 3, "remaining time", how much the remaining time is with respect to the time (scheduled end time) at which the supply of the consumable part C should be ended is displayed in units of minutes and seconds. The "manufacturing apparatus ID" in column 4 indicates the ID of the manufacturing apparatus (e.g., the component mounting apparatus 20) to which the consumable supplies C are supplied. In embodiment 1, a plurality of numerals, a combination of numerals and letters, or other symbols are displayed as the ID of the manufacturing apparatus.

In the case where the "component supply unit ID" in column 5 is the component mounting apparatus 20 as the supply target of the consumable part C, it is displayed to which of the pair of component supply units 23 before and after the component mounting apparatus 20 should be supplied. For example, "front" (meaning of the component providing section 23 on the front side) or "rear" (meaning of the component providing section 23 on the rear side) is displayed. The "gap ID" in column 6 indicates which gap 23B of the gaps 23B of the component supply unit 23 should be replenished with the fluid. For example, a symbol such as a combination of a number and a letter is displayed as the ID of the gap 23B. In addition, when the remaining time of each operation instruction content is within a predetermined time, the operation information management unit 55 causes the entire line (field) corresponding to the operation instruction content to flash and highlight the operation instruction content. Thereby, the operation information management unit 55 calls the attention of the operator H. In addition, the IDs in the table T shown in fig. 8 are not limited to numbers, combinations of numbers and letters. If they are mutually identifiable, various codes and symbols can be used.

As shown in fig. 8 and 9, in the 1 st column of the table T, the operation instruction contents of the type 1 and type 2 transfer robots 41, the type 2 transfer robot 42, and the operator H are displayed so as to be recognizable by a plurality of icons S (symbols), respectively. The icons S are prepared in plural kinds so as to have mutually different meanings. Specifically, the icon S includes a rectangular graphic part SA and a character part SB arranged to overlap the graphic part SA. 14 kinds of icons S according to embodiment 1 are prepared by combining the graphic part SA and the character part SB.

As shown in fig. 9, first, the type (classification) of the icon S is roughly classified into two types, "delivery" indicating a state where all the consumables C are consumed and out of stock, and "warning" indicating a state where the remaining amount is insufficient and the delivery is approaching the delivery. The operation instruction contents are classified into 3 types by which the operator H, the type 1 transfer robot 41, or the type 2 transfer robot 42 is in charge. At this time, in the case of the operation instruction contents held by the operator H, the pattern of the graphic part SA is set to be a dense diagonal stripe toward the lower right with respect to the operation instruction contents of the operator H in the "delivery" state. In the "warning" state, the pattern of the graphic part SA is set to a sparse white pattern with a gray background. In addition, the character portions SB of "delivery" or "warning" are arranged in a superimposed manner on these graphic portions SA (see fig. 9).

On the other hand, in the case of the type 1 and type 2

transport robots

41 and 42, the pattern of the graphic portion SA is commonly set to be a diagonal line with a small width toward the lower right with respect to the operation instruction contents in the "broken" state in the icon S of the type 1 transport robot 41. The operation instruction contents in the "warning" state are set in common as a sparse black dot pattern of a white background in the pattern of the graphic section SA. In the icon S of the type 2 transfer robot 42, the pattern of the graphic part SA is commonly set to be a sparse diagonal stripe toward the upper right with respect to the operation instruction contents in the "delivery" state. The operation instruction content in the "warning" state is set in such a manner that the pattern of the graphic portion SA is a dense black dot pattern with a white background. Similarly, the graphic portions SA are also arranged so that the character portions SB of "delivery" or "warning" are superimposed (see fig. 9).

Further, the icons S of the type 1 and type 2

transfer robots

41, 42 are displayed with the text portion SB superimposed on the graphic portion SA of the icon S so that the transfer states of the consumables C transferred by the type 1 and type 2

transfer robots

41, 42 can be recognized. Specifically, the letters "B", "M", and "F" are used for the character part SB of the icon S. "B" means a state before conveyance, "M" means a state during conveyance, and "F" means a state after conveyance. By the above-described superimposed display, the progress of the operation of the type 1 transfer robot 41 and the type 2 transfer robot 42 and the status of the consumables C transferred by the type 1 transfer robot 41 and the type 2 transfer robot 42 are displayed together with the operation instruction content of the operator H. By providing the icons S so as to be different from each other, the progress statuses of the operation instruction contents can be collectively displayed in a list, and the operator H can easily understand the progress statuses.

< Screen update of operation information management section (example) >

Here, a description will be given of a case where the operation information management unit 55 updates the screen of the display device 18, by taking a specific example with reference to fig. 10. Fig. 10 is a screen diagram illustrating a screen update state in the display device 18 shown in fig. 7.

As shown in fig. 10, the operation instruction contents listed at the 3 rd thereof from the upper level indicate that the "member name" is the reel CA and is "warning" for the operator H according to the icon S. At this time, the operator H visually recognizes the operation instruction content through the display device 18, supplies the reel CA to the component mounting device 20 whose ID is "No. 342", and ends the operation. As the operation ends, the operator H transmits an operation end notification corresponding to the operation instruction content to the operation instruction device 50 through the operator terminal 4 carried by the operator H. On the other hand, at substantially the same time, the robot control unit 51 of the operation instruction device 50 detects that the transfer robot 41 of type 1 is being replenished by notification from the component management unit 53 and the robot control unit 51. Specifically, the robot control unit 51 detects that the reel CB of the component mounting apparatus 20 having the ID "No. 143" is out of stock, and the type 1 transfer robot 41 supplies the component mounting apparatus 20 with the reel CB.

By the notification of the end of the operation and the detection of the replenishment operation as described above, the operation information management unit 55 of the operation instruction device 50 deletes or adds the operation instruction contents corresponding to the end notification or the operation detection from the screen of the display device 18, and updates and displays the screen of the display device 18. Thereby, the latest operation condition in the production site F is always displayed on the display device 18.

As described above, the operation instruction device 50 according to embodiment 1 is used in the production site F where a product is manufactured using at least one manufacturing apparatus. The operation instructing device 50 controls the type 1 transfer robot 41 and the type 2 transfer robot 42, and the type 1 transfer robot 41 and the type 2 transfer robot 42 automatically transfer components such as consumables C consumed by the manufacturing apparatus from a component warehouse such as the automatic warehouse 3 to the vicinity of the manufacturing apparatus, or automatically supply the components from the component warehouse to the manufacturing apparatus. The operation instructing device 50 monitors the remaining number of components for each manufacturing apparatus. The operation instructing device 50 instructs an operator H who performs a component replenishment operation to the type 1 transfer robot 41, the type 2 transfer robot 42, and the manufacturing apparatus, based on the remaining number of components for each manufacturing apparatus. The operation instruction device 50 displays the operation instruction content based on the operation instruction on the display device 18. The operation instruction device 50 displays the contents of the operation instruction for the operator H and the contents of the operation instruction for the type 1 transfer robot 41 and the type 2 transfer robot 42 on the display device 18.

Thus, with the operation instruction device 50 and the operation instruction method according to embodiment 1, the operation instruction contents based on the operation instruction for the operator H are displayed on the display device 18, and at this time, the operation instruction contents for the operator H and the operation instruction contents for the type 1 transfer robot 41 and the type 2 transfer robot 42 are displayed on the display device 18. Therefore, the operation instructing device 50 can accurately present the operation contents and the operation amounts of the type 1 transfer robot 41, the type 2 transfer robot 42, and the operator H to the operator H, and can assist in smooth operation.

In the operation instruction device 50 according to embodiment 1, the operation information management unit 55 displays the operation instruction contents for the type 1 transfer robot 41 and the type 2 transfer robot 42 on the display device (display unit) 18, and also displays the progress of the operation by the type 1 transfer robot 41 and the type 2 transfer robot 42 or the state of the consumable parts (components) C transferred by the type 1 transfer robot 41 and the type 2 transfer robot 42 on the display device 18. Therefore, the operation instructing device 50 can present the operation content of the operation robot and the operation amount thereof to the operator H more accurately and in detail.

In the operation instruction device 50 according to embodiment 1, the operation information management unit 55 highlights at least one of the contents of the operation instruction to the type 1 transfer robot 41 and the type 2 transfer robot 42 and the contents of the operation instruction to the operator H on the display device 18. Therefore, the operation instruction device 50 can improve the visibility of the display content to the operator H.

In the operation instruction device 50 according to embodiment 1, the operation information management unit 55 causes the operation instruction contents to be displayed in a blinking manner when the remaining time from the scheduled end time of the operation instruction contents is within a predetermined time period in at least one of the operation instruction contents for the type 1 carrier robot 41, the type 2 carrier robot 42, and the operation instruction contents for the operator H. Therefore, the operation instruction device 50 can call the attention of the operator H more strongly for the operation instruction contents that need to be promptly dealt with. As a result, the operation instructing device 50 can improve the operation efficiency of the operator H. In addition to the manner of blinking the operation instruction contents as described above, the operation instruction device 50 may highlight the operation instruction contents or display the operation instruction contents through an image such as a predetermined icon or an icon corresponding to the operation instruction contents.

In the operation instruction device 50 according to embodiment 1, the operation information management unit 55 displays the operation instruction contents for the type 1 transfer robot 41 and the type 2 transfer robot 42 and the operation instruction contents for the operator H on the display device 18 so as to be recognizable by a plurality of different icons S. Therefore, the operation instruction device 50 can improve the visibility and the comprehensibility of the display contents of the screen device for the operator H, and can further improve the operation efficiency of the operator H.

In the operation instruction device 50 according to embodiment 1, when the end notification of the operation corresponding to the operation instruction contents for the operator H, the type 1 transfer robot 41, and the type 2 transfer robot 42 is transmitted from the operator terminal 4, the operation information management unit 55 updates the display so that the display on the display device 18 of the operation instruction contents corresponding to the end notification is canceled. Thus, the operation instructing device 50 can suppress the latest display from being displayed for each of the operation contents and the operation amounts of the operation robot and the operator H, and can prompt the operator H to perform more accurate operations.

The embodiments have been described above with reference to the drawings, but the present disclosure is not limited to the examples. Various modifications, adaptations, alternatives, additions, deletions, and equivalents will occur to those skilled in the art, and are within the scope of the present disclosure. In addition, the respective components in the above embodiments may be arbitrarily combined without departing from the scope of the invention.

In addition, the present application is based on japanese patent application No. 4/24 in 2019 (japanese patent application No. 2019-082778), the contents of which are incorporated herein by reference.

Industrial applicability

The present disclosure is useful as an operation instruction device in a manufacturing plant and an operation instruction method in a manufacturing plant, which can accurately present the operation content and the operation amount of each of an operation robot and an operator to the operator and can assist smooth progress of an operation in a production site.

-description of symbols-

1 production management system

2 stock goods shelf

3 automatic warehouse

4 operator terminal

11 substrate supply device

12 Screen printing apparatus

13 printed solder inspection device

14 parts assembling state inspection device

15 reflux device

16-mount board inspection device

17 mounting substrate recovery device

18 display device

20 parts mounting device

22 substrate conveying mechanism

22B substrate holding part

22C substrate holder

23 parts supply part

24 supply vehicle

25Y-axis worktable mechanism

26X-axis worktable mechanism

27 carrying head

27A part holding nozzle

28 parts recognition camera

29 substrate recognition camera

30 control part

31 mounting control part

31A position deviation amount calculating part

31B feed amount calculating part

32 mounting storage part

32A job information

33 flow rate detecting part

34 installing the operation part

35 communication part

41 st type 1 transfer robot

42 nd type 2 transfer robot

50 operation indicating device

51 robot control part

52 information collecting unit

53 Member management part

54 operation instruction unit

55 operation information management unit

F production site

L mounting substrate manufacturing line.

Claims

1. An operation instruction device in a manufacturing plant that manufactures a product using at least one manufacturing device, the operation instruction device comprising:

a robot control unit that controls an operation robot that automatically carries a component consumed by the manufacturing apparatus from a component warehouse to the vicinity of the manufacturing apparatus, or carries the component from the component warehouse and automatically supplies the component to the manufacturing apparatus;

a component management unit that monitors the remaining number of components in the manufacturing apparatus;

an operation instruction unit configured to instruct an operation of the operation robot based on the remaining number of the members; and

an operation information management unit for displaying operation instruction contents based on the operation instruction on a display unit,

The operation information management unit displays the operation instruction content for the operation robot on the display unit.

2. The operation indicating apparatus in a manufacturing plant according to claim 1,

the operation information management unit displays the operation instruction content for the operation robot on the display unit, and displays a progress status based on an operation of the operation robot or a state of a member carried by the operation robot on the display unit.

3. The operation indicating apparatus in a manufacturing plant according to claim 1,

the operation instruction unit also gives an operation instruction to an operator who performs a component replenishment operation for the manufacturing apparatus.

4. The operation indicating apparatus in a manufacturing plant according to claim 3,

the operation information management unit displays the operation instruction contents for the operation robot and the operation instruction contents for the operator on the display unit.

5. The operation indicating apparatus in a manufacturing plant according to claim 4,

the operation information management unit displays at least one of the operation instruction contents for the operation robot and the operation instruction contents for the operator on the display unit with emphasis.

6. The operation indicating apparatus in a manufacturing plant according to claim 1,

the operation information management unit displays the operation instruction content on the operation robot on the display unit when a remaining time of the operation instruction content with respect to a scheduled end time of the operation instruction content is within a predetermined time.

7. The operation indicating apparatus in a manufacturing plant according to claim 4,

the operation information management unit displays the operation instruction contents for the operation robot and the operation instruction contents for the operator on the display unit so as to be recognizable by a plurality of different icons.

8. The operation indicating apparatus in a manufacturing plant according to claim 3,

when an end notification of an operation corresponding to the operation instruction content for the operator or the operation robot is transmitted from an operator terminal, the operation information management unit updates a display so that the display of the operation instruction content corresponding to the end notification is eliminated on the display unit.

9. An operation instruction method in a manufacturing plant that manufactures a product using at least one manufacturing apparatus, the operation instruction method having:

A robot control step of controlling an operation robot that automatically carries a component consumed by the manufacturing apparatus from a component warehouse to the vicinity of the manufacturing apparatus, or carries the component from the component warehouse and automatically supplies the component to the manufacturing apparatus;

a component management step of monitoring the remaining number of components in the manufacturing apparatus;

an operation instruction step of instructing an operation of the operation robot based on the remaining number of the members; and

an operation information management step of displaying operation instruction contents based on the operation instruction on a display unit,

in the operation information management step, the operation instruction contents for the operation robot are displayed on the display unit.

10. The operation instruction method in a manufacturing plant according to claim 9,

in the operation information management step, the operation instruction contents for the operation robot are displayed on the display unit, and the progress status of the operation by the operation robot or the state of the member transported by the operation robot is displayed on the display unit.

11. The operation instruction method in a manufacturing plant according to claim 9,

In the operation instruction step, an operation instruction is also given to an operator who performs a component replenishment operation for the manufacturing apparatus.

12. The operation instruction method in a manufacturing plant according to claim 11,

in the operation information management step, the operation instruction contents for the operation robot and the operation instruction contents for the operator are displayed on the display unit.

13. The operation instruction method in a manufacturing plant according to claim 12,

in the operation information management step, at least one of the operation instruction contents for the operation robot and the operation instruction contents for the operator is highlighted on the display unit.

14. The operation instruction method in a manufacturing plant according to claim 9,

in the operation information management step, when the remaining time of the operation instruction contents for the operation robot with respect to the scheduled end time of the operation instruction contents is within a predetermined time, the display unit is displayed so that the remaining time is within the predetermined time.

15. The operation instruction method in a manufacturing plant according to claim 12,

In the operation information management step, the operation instruction contents for the operation robot and the operation instruction contents for the operator are displayed on the display unit so as to be recognizable by a plurality of different icons.

16. The operation instruction method in a manufacturing plant according to claim 11,

in the operation information management step, when an end notification of an operation corresponding to operation instruction content for the operator or the operation robot is transmitted from an operator terminal, the display of the operation instruction content corresponding to the end notification is updated so that the display on the display unit is canceled.