JP5133721B2 - Production system with work sharing function - Google Patents

Description

  The present invention relates to a production system including various work processes such as assembly and processing.

  In the conventional low-mix, mass-production era, the production process is divided into a plurality of work processes, and then each work process is placed in a separate location and a large number of workers specializing in the work process are placed. The method was mainstream. However, in the era of high-mix low-volume production due to the diversification of market demands, production where one worker is in charge of multiple work processes or multiple types of products in a common production facility. Transition to form is progressing. In particular, in a production system that assembles complex parts typified by electronic devices, etc., high-level tasks using various or many similar parts, such as fitting of fine parts and assembly of cables, are performed. Often accompanied. Although the performance of robots in recent years is becoming more intelligent than before with the use of visual sensors, force sensors, etc., the progress is still in its infancy and involves difficult tasks such as assembly and processing of complex parts. At the production site, there are still many human tasks.

  For example, in the conventional parts supply / distribution system, as shown in FIG. 16, a set of parts necessary for producing one product from the parts storage unit 101 is preliminarily collected in the parts tray 102 in order to prevent misuse of the parts. In many cases, the worker 104 is arranged on the work table 103 on which the work is performed. At this time, the assembly of the set of parts and the supply / distribution work to the work table 103 may be performed by the worker 104 who performs the actual work on the work table 103 or the worker who performs the actual work as shown in the figure. There may be a case where a person 105 other than 104 performs professionally.

  In addition, in order for one worker to be able to handle the production of various varieties, it is necessary to provide sufficient training for workers before starting production of new varieties. It takes time to learn. In order to solve such problems, even if the worker's proficiency in production technology has not been achieved, the technique called “digital stall” is used to present production information to the worker in order to prevent mistakes in the production work procedure. A production system has been proposed. As illustrated in FIG. 17, in such a production system, a computer (not shown) is arranged on a work table 106 that is a work area, and information on parts necessary for the current assembly process and its assembly method is displayed from the computer 107. It is presented to the worker 108 via The worker 108 can take out necessary parts from the part storage unit 109 based on the presented information. For example, Patent Document 1 discloses a work support method and apparatus that presents work instruction information to an operator according to the progress of actual work.

JP-A-10-301472

  When an operator who performs an actual operation such as assembly or processing also serves as an assembly / layout operation for a set of parts, the worker cannot concentrate on the actual operation, and there is a problem that the production efficiency is lowered. In addition, when a person other than the worker who performs the actual work performs the aggregation / distribution work of a set of parts, a large number of humans as a whole production system in order to employ humans for the consolidation / distribution of parts with relatively low work difficulty. In industrialized countries where labor costs are high, production running costs are high. Furthermore, in the production of complex parts, etc., it is necessary to gather and distribute a large number of necessary parts in a short time. There was also a problem that the burden was heavy.

  Further, in the above-described production system called “digital stand”, work information is presented at a suitable timing for each work process, so that work mistakes can be reduced and efficiency can be improved compared to conventional work information presentation using paper media. However, since the worker still needs to take out the necessary parts with his / her hand, it takes a considerable time to take out the parts. In addition, in work such as product assembly and processing, in order to improve work efficiency, the target part may be fixed to a dedicated jig suitable for each part. It is necessary for a person to install a dedicated jig for each part in a production workplace such as a work table and to fix the taken-out part to the jig. In the so-called setup change work corresponding to this production work preparation, it is necessary for the worker to recognize the necessary jig from the information presented for each work process, and to install the jig and fix the parts. There is a problem that efficiency is lowered and the possibility of mistakes is increased.

  Therefore, in order to solve the above problems, the present invention is a production system that realizes reduction of production running cost and improvement of production efficiency by arranging humans and robots in a production site and sharing production work between humans and robots. The purpose is to provide.

In order to achieve the above object, the invention described in claim 1 is a production system for producing a product, wherein at least one worker and at least one robot are arranged in a mixed manner and become a main part of production. The worker is in charge of the work, the robot is in charge of the preparation or setup of the actual work, and the preparation or setup of the actual work in charge of the robot is the worker in charge of the parts necessary for production. The preparation or setup of the actual work handled by the robot includes fixing the part while the robot holding the part necessary for production performs the actual work on the part. includes function as a jig, the robot, the relative to the worker in charge of the actual work, sequentially supplying components necessary for each working process of the actual work, Hisage production system To.

The invention described in claim 2 is the production system according to claim 1, wherein the production system includes a component storage section in which components necessary for the actual operation are stored or arranged, and a production workplace that performs the actual operation. A production system is provided in which the robot takes out a part necessary for production from the part storage unit and supplies the part to the production workplace .

The invention according to claim 3, consists in the production system of claim 1, wherein the production system comprises a component housing with parts disposed required the actual work, and production workshops for performing the actual work A production system is provided in which the robot takes out a part necessary for production from the part storage part to a part aggregation part, and supplies the part aggregation part to the production work site .

According to a fourth aspect of the present invention, in the production system according to the second or third aspect , the robot arm unit for taking out parts necessary for production from the component storage unit and the production work place are supplied to the production work place. A production system provided with the moving means is provided .

According to a fifth aspect of the present invention, in the production system according to any one of the second to fourth aspects, the component storage unit stores one or more component boxes storing components and the component box. The first and second robot arms for picking up the parts, the first robot arm pulls out the parts box from the parts shelf, and the second shelves. A production system is provided in which a robot arm is configured to pick up a part from the part box pulled out by the first robot arm .

The invention according to claim 6 is the production system according to claim 1 , further comprising means for presenting information on necessary parts or work procedure information to the worker for each step of the actual work. I will provide a.

Invention according to claim 7, in the production system of claim 1, wherein the relative operator, the information of the information or routings of necessary parts for each of the actual working process, the worker said actual work A production system is provided having means for displaying on the upper surface of the work table .

  According to the production system of the present invention, the worker is mainly responsible for the actual work that is the main part of the production, and the work is divided so that the preparation or setup of the actual work is handled by the robot. It is possible to concentrate on high-level actual work and to reduce production running costs.

  By supplying the parts necessary for production to the worker by the robot, it is possible to shorten the part take-out time and setup change time of the worker, and the work efficiency is improved.

  Since the robot also serves as a component fixing jig, it is not necessary for the operator to perform the operation of fixing the component to the jig, thereby further reducing the burden on the operator and improving the work efficiency.

  By supplying a part or a set of parts necessary for production from the parts storage unit to the worker who performs the actual work at the production workplace, the robot can use parts in the actual work in excess or shortage, Eliminates use and improves product quality. Also, labor costs can be reduced compared to the case where parts are collected and supplied by humans.

  In addition, by collecting the components taken out from the component storage unit by the robot into the component aggregating unit and supplying them to the operator, a large number of components can be supplied to the operator at a time.

  Since the robot is provided with a robot arm section for picking up parts and a moving means for supplying the parts to the production workplace, it is possible to collect a larger number of parts.

  The component storage unit is composed of a component box and a component shelf, and the robot arm unit includes two or more robot arms, so that the component box can be pulled out and removed by the robot arm. This eliminates the need for special work such as a component box drawing mechanism in the component storage section, and can suppress an increase in capital investment cost when adding components necessary for production.

  The robot sequentially supplies necessary parts for each work process of the worker's actual work, so that the order of the worker's actual work and mistakes of parts to be used can be eliminated, and the setup time can be shortened. By doing so, it is possible to improve product quality and production efficiency.

  By presenting necessary parts and work procedure information for each work process to the worker, it is possible to improve product quality by eliminating work mistakes and work efficiency by shortening work time.

  By displaying the necessary parts and work procedure information for each work process on the work table where the worker performs the actual work, the worker can confirm the information without taking his eyes off the actual work. Can be further improved.

  For production systems that produce products, assembly systems that produce a single product by combining various and many complex parts typified by electronic parts, etc., and finishing and drilling the parts material according to the specified drawing There are various forms such as a processing system that performs deburring and the like. In many cases, these production systems are divided into a plurality of processes until the product to be produced is completed, and are used as the “actual work process” that is the main part of production such as assembly and processing, and the production workplace where the actual work is performed. For the "preparation / setup process" typified by the process of supplying and arranging the necessary parts and the process of fixing the target parts to the jigs required to efficiently assemble and process the parts. being classified.

  FIG. 1 shows the appearance of a production system according to the present invention. As illustrated in the figure, in the production system, the worker 1 and the robots 2 and 12 are mixedly arranged, the worker 1 is in charge of the “actual work process” described above, and the robots 2 and 12 are “ Responsible for "preparation and setup process". The robots 2 and 12 perform production preparation and setup such as supply of parts necessary for production to the worker 1 who performs actual work, supply of jigs necessary for actual work, and change of jigs according to the contents of the production work. Do. On the other hand, the worker 1 uses the parts and jigs supplied from the robots 2 and 12 to perform actual work with high difficulty such as assembly and processing. Here, the positional relationship between the worker and the robot may be such that the working space is completely separated as in the positional relationship between the worker 1 and the robot 12 shown in FIG. As in the positional relationship of the robot 2, a certain work space may be shared. In order to completely separate the work space, a sensor 7 such as a photoelectric sensor is disposed between the worker 1 and the robot 12 to reliably prevent the robot 12 from entering the work space of the worker 1. Is preferred.

  On the other hand, when the work space is shared, the output of the robot 2 is limited so that damage does not occur even if the robot 2 comes into contact with the worker, or a safety sensor (not shown) is installed between the worker 1 and the robot 2. It is desirable to take safety measures such as In FIG. 1, the robot 2 is illustrated as a vertical articulated industrial robot. However, the installed robots 2 and 12 are not limited to this form, and have a manipulation function or a movement function by automatic control. However, other types of robots can be used as long as they can be executed by a program. In addition, the number of workers and robots arranged is not limited to that shown in FIG. 1, and one or more robots may be installed for one worker, or for a plurality of workers. One or a plurality of robots may be arranged.

  FIGS. 2A and 2B show an embodiment in which a robot supplies parts necessary for production work. As shown in FIG. 2 (a), a hand 4 is mounted on the robot 2 ', and the robot 2' uses the hand 4 to hold a part 3 necessary for the actual work performed by the worker 1 '. . The hand 4 is configured as a hand capable of gripping one or more types of parts 3, and when the types and shapes of the parts 3 are diverse, a plurality of hands 4 are prepared in advance, and the robot can be controlled according to the shape of the parts 3. 2 'may replace the hand 4. The robot 2 ′ configured as described above supplies the part 3 gripped by the hand 4 to the worker 1 ′, and the worker 1 ′ performs actual work such as assembly and processing on the supplied part 3. .

  Further, as shown in FIG. 2B, when the robot 2 'supplies the part 3' to the worker 1 ', the part 3' is not directly gripped by the hand 4 and supplied. It is also possible to use a form in which one or more component aggregation sections 5 are held by the hand 4 'and supplied to the operator 1'. The parts collecting section 5 may have any shape as long as it can accommodate or arrange the parts 3 ′, and a generally available tray-shaped container as shown in FIG. 3 is an example.

  FIGS. 4A and 4B show an embodiment in the case where the robot is in charge of setting up the actual production work. In the example shown in FIG. 4A, a hand 4 ″ for gripping the jig 6 is mounted on the robot 2 ″. The hand 6 ″ is used to grip the jig 6 necessary for production, and the production is performed. The jig 6 is supplied to the worker 1 ″ in the workplace. The hand 4 ″ is configured as a hand that can hold one or more types of jigs 6. If the types and shapes of the jigs 6 are diverse, a plurality of hands 4 ″ are prepared in advance. The robot 2 ″ may replace the hand 4 ″ according to the shape of 6. According to such a configuration, not only can the robot 2 ″ supply the necessary jig 6 to the worker 1 ″, but also when the production process is switched, the robot 2 ″ can replace the jig 6 It is also possible to perform replacement work with a jig 6 'of a different type and shape.

  Further, as shown in FIG. 4B, after the robot 2 ″ supplies the component 3 ″ to the worker 1 ″, it continues to hold the component 3 ″ and also serves as a jig for fixing the component 3 ″. In this case, when the production process is switched, the robot 2 ″ takes out the next necessary part 3 ″ ′, sends it out to the worker 1 ″, and continues to hold it. In addition to the removal, it is possible to omit setup change such as jig change accompanying production process switching, and the worker 1 ″ can concentrate on actual work such as assembly and processing.

  As described above, workers and robots are mixedly arranged. By constructing a production system in which workers are assigned “actual work” and robots are assigned “preparation / setup”, the worker can assemble. It is possible to concentrate on work processes with high difficulty such as machining and processing. By letting the robot take charge of preparation and setup work, automate the corresponding partial processes, and reduce the number of people in charge of parts arrangement, thereby reducing labor costs and reducing production running costs. In addition, since parts used and jigs necessary for production are supplied by the robot, the possibility of human error in work is eliminated or reduced, and the quality of production products and work efficiency can be improved.

  FIG. 5 shows an embodiment of a production system composed of a component storage unit and a production workplace. This production system includes a component storage unit 57 in which one or more types of components 53 required for actual work are arranged, a production work place (workbench in the illustrated example) 58 where the worker 51 performs actual work such as assembly and processing, The robot 52 is configured to take out the parts 53 necessary for production from the parts storage unit 57 and supply them to the worker 51 of the work table 58. The part 53 may be a part of a part necessary for production or a set of parts necessary for production. The component storage portion 57 has various forms, such as a configuration in which the component 53 is placed as it is as shown in FIG. 6A, and a component box 59 in which the component 53 is stored as shown in FIG. 6B. A form in which a plurality of parts are stacked, or a form in which a part box 59 in which a part 53 is accommodated as shown in FIG.

  As shown in FIG. 5, the robot 52 is equipped with a hand 54 for taking out the component 53 or the component box 59, and the hand 54 is configured to be able to hold one or more types of components 53 or the component box 59. The In addition, when the types and shapes of the parts 53 and the parts box 59 are diverse, a plurality of hands are prepared in advance, and the robot 52 is configured to replace or use the hands depending on the types and shapes of the parts 53 and the parts box 59. You can also. Further, when the robot 52 takes out the part 53 from the part storage unit 57, in addition to the configuration in which the part 53 is taken out only by the robot 52, as shown in FIG. It is also possible to configure the component storage portion 57 so as to be movable in the direction of the arrow 56 by not shown) and take out the component 53 from the component box 59 from which the robot 52 has been pulled out.

  When the robot 52 supplies a set of parts necessary for the actual work of the worker 51 to the production workplace 58, all the parts 53 necessary for the production are provided to the worker 51 who performs the actual work without excess or deficiency. Accordingly, leakage of parts used in actual work and unnecessary misuse of parts are eliminated, and the quality of the produced product can be improved.

  Further, as shown in FIG. 8, the robot 52 'takes out the parts 53' required for production from the parts storage part 57 'once to the parts collecting part 55', and the parts collecting part 55 'is used as an operator 51 in the production workplace 58'. It is also possible to supply to ′. The component collecting portion 55 ′ may have any shape as long as it can accommodate or arrange the component 53 ′, and the tray-like container shown in FIG. 3 is an example. In this way, by accommodating the necessary parts 53 ′ in the parts aggregation part 55 ′, the parts necessary for the actual work are supplied to the worker 51 ′ without being dispersed. In particular, when the component 53 ′ includes a plurality of components, the effect of preventing component dispersion is great. Further, in each work process in actual work such as assembly and processing, the inside of the component collecting section 55 ′ is confirmed by using a sensor attached to the robot 52 ′ or an external sensor (both not shown). It is possible to confirm that all the parts to be used are accommodated in the parts collecting section 55 'before being supplied to the user 51', and whether all the parts to be used at the end of each work process have been used. It can also be confirmed. In this way, the operator does not need to separately check whether all the parts to be used in each work process have been used.

  In the configuration of FIG. 5 or FIG. 8, the robot 52 or 52 ′ is fixed to the installation surface of the production system, but the robot form is not limited to this. For example, as shown in FIG. 9, a robot arm 61 for taking out a part 53 ″ required for production from a part storage part 57 ″ and a part aggregating part in which the taken out part 53 ″ or parts are stored. 55 ″ may be constituted by a moving means 62 for supplying the production work place 58 ″ where the worker 51 ″ performs the actual work. The robot 52 ″ includes the moving means so that it can be expanded to a wider range. Since it is possible to install the span component storage portion 57 ″, it is possible to take out a wider variety of components.

  As the moving means 62, as shown in FIG. 10A, means 62 that travels along a guide such as a rail 64 installed on the installation surface 63 of the production system, or as shown in FIG. There is a self-propelled moving means 65 that does not require a guide such as a rail and can travel freely in an arbitrary direction as indicated by an arrow on the installation surface 63 of the production system. By using the self-propelled moving means 65, the operation program of the self-propelled moving means 65 can be changed even when the layout of the parts storage section 57 ″ and the production work place 58 ″ is changed in accordance with the production content change of the production system. The parts 53 ″ and the parts collecting part 55 ″ containing the parts can be supplied to the production work place 58 ″ only by the change, and the flexibility of the system can be improved.

  Further, by configuring the robot arm unit from a plurality of robot arms, it is possible to improve the degree of freedom when taking out the component from the component storage unit. FIGS. 11A and 11B are views of an embodiment of a robot composed of a plurality of robot arms viewed from different angles. The robot arm 61 ′ of the robot 52 ″ ′ includes a robot arm 61 ′ including two robot arms 66 and 67. On the other hand, the component storage unit 57 ″ ′ includes one or more component boxes storing each component. 68 and a parts shelf 69 for housing the parts box 68, and the parts box 68 is installed on the shelf of the parts shelf 69. In particular, in the illustrated example, the component box 68 is aligned with the shelf portion of the component shelf 69. The robot arm 61 ′ may be fixed to the installation surface 63 ′ of the production system in the vicinity of the front surface 70 of the component storage unit 57 ″ ′, or may be moved by the moving means 65 ′ such as the self-propelled moving means 65 described above. It may be configured to be movable in the vicinity of the front surface 70 of the component storage portion 57 ″ ′. One of the robot arms 66 and 67 (the robot arm 66 in the illustrated example) is equipped with a hand 71 (FIG. 11A) for pulling out the component box 68, and the other robot arm (the robot arm in the illustrated example). 67) is mounted with a hand 72 (FIG. 11B) for taking out the component 53 ″ stored in the component box 68. The hand 72 mounted on the robot arm 67 has one or more types. It is configured as a hand that can grip the part 53 ″ ′. In addition, when the types and shapes of the parts 53 ″ ′ are diverse, a plurality of hands 72 may be prepared in advance, and the robot arm 67 may replace the hands 72 depending on the shape of the parts 53 ″ ″. In the above configuration, the robot arm 66 pulls out the component box 68 in the direction of the arrow with the mounted hand 71, and the other robot arm 67 takes out the component 53 ″ stored in the pulled out component box 68. After that, the parts box 68 pulled out by the robot arm 66 is returned to the original position of the parts shelf 69. When there are a plurality of parts required for production, the parts taken out by the robot arm part 61 'are repeated as many times as necessary to complete the set of necessary parts. It is also possible to aggregate.

  In FIG. 11, the robot arm portion 61 'is composed of two robot arms. However, the robot arm portion is composed of three or more robot arms, and the remaining two from the parts box pulled out by one robot arm. The above robot arm can simultaneously take out the parts. Also, the two robot arms can pull out separate parts boxes, and the parts can be taken out from the two parts boxes from which the remaining robot arms are pulled out. Further, the robot arm unit may include a single robot as represented by a double-arm robot including a plurality of arm units, or may include a plurality of single-arm robots composed of one arm unit.

  As described above, when the parts box 68 containing the parts 53 ″ ′ is installed on the shelf of the parts shelf 69 and the robot arm 61 ′ is composed of a plurality of robot arms, the parts box 68 is drawn out. Further, by taking out the parts, the parts can be taken out without performing any special work such as a drawing mechanism of the parts box 68 with respect to the parts storage portion 57 ″ ′. Even when the types of parts required for production are added, the parts can be picked up simply by adding the parts box 68 containing the new parts to the shelf of the parts shelf 69, so the increase in capital investment cost is reduced. Can be suppressed.

  In the production system according to the present invention, when the actual work that the worker is in charge of is an assembly work of parts, the improvement in production efficiency by preparation / setup of the actual work by the robot becomes remarkable. For example, in the assembly of electronic devices, the types and quantities of parts required for one product are large, and the burden of supplying and arranging parts to the assembly work place is large. In addition, since there are many types of parts, production efficiency tends to decrease due to an increase in jig setup time required for parts assembly. Robots supply part or a set of necessary parts to the assembly workshop, and the robot continues to grip the necessary parts during the assembly work and also serves as a jig, eliminating these problems and reducing production running costs.・ Production efficiency can be improved.

  Further, according to the configuration in which the worker and the robot are mixedly arranged, as shown in FIG. 12, the robot 82 sequentially supplies necessary parts for each work process of the worker 81 and the work procedure is performed. In this way, it is possible to completely eliminate misuse of the worker's parts in the production process and to obtain higher product quality and production efficiency. For example, when the order of parts used in the actual work to be performed in the order of the work processes A → B → C shown in FIG. 12 is 53a → 53b → 53c, the robot 82 moves to the worker 81 in the work process A. On the other hand, while supplying the component 53a, the component 53a continues to be gripped as necessary and also serves as a jig. After the worker 81 completes the actual work such as assembly or processing in the work process A, the robot 82 supplies the worker 53 with the parts 53b required in the work process B. Further, after the worker 81 completes the actual work in the work process B, the robot 82 supplies the worker 81 with the parts 53c required in the work process C. As described above, the robot 82 supplies appropriate parts to the worker 81 at appropriate timing for each work process, so that it is possible to completely eliminate the mistake of the used parts. Moreover, since the robot 82 also functions as a fixing jig for the parts 53a to 53c as necessary, the worker 81 does not need to perform setup change for each work process, and the work efficiency is improved. The present embodiment is not limited to the case where the production system is an assembly work, and can be applied to any other production work such as processing.

  In the example shown in FIG. 12, as a means for the robot 82 to recognize that the worker 81 has completed the predetermined work in each process, the work object is assembled or processed into a predetermined shape by a sensor (not shown). The operator may operate a foot switch (not shown) after completion of the predetermined work so that the robot can recognize the switch operation. After completion of the above operation, a hand may be held over a predetermined area and detected by a sensor (not shown).

  As shown in FIG. 13, in a production system in which a worker 81 'and a robot 82' are mixed, information on necessary parts and information on a work procedure are added to eliminate work mistakes by the worker and improve work efficiency. It is also effective to present it to the worker as information. An information presentation unit 83 such as a display or a projector projection unit is installed in an area that is visible to the worker 81 ′ who performs the actual work. The information presenting unit 83 can present part information required for each work process, external information such as photographs, and the like, as well as work contents for each work process, precautions during work, and the like.

  Alternatively, as shown in FIGS. 14 (a) and 14 (b), in a production system in which workers 81 ″ and robots 82 ″ are mixed, the production work place used by the workers 81 ″, that is, the upper surface of the work table 84 ′ (work is performed. (Region) A transparent plate 86 is disposed in the area 85, and a display 87 is disposed on the lower surface of the transparent plate 86, so that the display 87 provides information on necessary parts and work procedures to the worker 81 ″. It is. With the configuration as shown in FIG. 14, the worker 81 ″ can confirm information without taking his eyes off the actual work. In addition, when the information is presented by projection from above with a projector or the like, the worker 81 ″ works. Depending on the situation, there is a possibility that the light projection including the information may be blocked. However, if the configuration is as shown in FIG. 13 or FIG. 14, the work information is always obtained regardless of the work posture of the worker 81 ′ or 81 ″. Is possible.

  In addition to the visual information presentation described above, it is also possible to provide the worker with information such as work contents and precautions during the work, if necessary. The worker acquires the work information presented for each work process by visual or auditory sense, understands the work contents, and then uses the parts supplied by the robot 82 'or 82 "to perform actual operations such as assembly and processing. With such work support for the worker, work mistakes are completely eliminated and work efficiency is improved by shortening the work time.

  Here, the work information presented for each work process may be composed of a plurality of pieces of information, or may be composed of a single piece of information. In particular, if work information is presented one by one in a visual or auditory manner, work mistakes can be more reliably eliminated. In addition, if the robot prepares and sets up the actual work in conjunction with the timing of switching the presentation to the next work information, the work efficiency can be further improved, and the work skill level of the worker is low Is particularly effective.

  Furthermore, the work procedure information can be presented to the worker in charge of the actual work by using means linked to the operation of the robot in charge of the preparation and setup of the work. FIG. 15 shows a production system in which a worker 81 ″ ″ and a robot 82 ″ are mixed. In the actual production work of the worker 81 ″ ″ at the production work place 84 ″, the predetermined part 93 a of the part 93 is formed in the work process A ′. On the other hand, after assembling and processing the parts, an example in which the assembling and processing of the parts are performed on the predetermined part 93b different from the part 93a of the same part 93 in the work process B ′ is shown. In the work process A ′, the robot 82 ″ ″ supplies a part 93 necessary for production to the worker 81 ″ and holds the part 93 as it is, and also has a part fixing jig function.

  In this state, the instruction means (light projector in the illustrated example) 94 installed in the production work place 84 ″ for indicating work information visually points to the part 93a of the component 93, and the part 93a is the work target part. The worker 81 ″ ′ recognizes this. As the instruction means 94, a laser pointer capable of projecting a laser beam 95 or a projector capable of projecting an image can be used, but includes a rod-like or needle-like member configured to be movable so that a specific part can be designated. Means (not shown) can also be used. Since the position and orientation of the component 93 can be uniquely and accurately defined by the robot, the instruction means 94 can point to the portion 93a with high accuracy by operating in conjunction with the operation of the robot 82 ″ ′. Here, in the positional relationship between the instruction means 94 and the part 93, the instruction means 94 may be fixed and only the part 93 may be moved by the robot 82 ″, or the part 93 may be fixed and the instruction means. 94 may change the indicated portion of the laser beam 95 by a swinging operation or the like, or both the component 93 and the laser beam 95 may be moved.

  If the instruction means 94 is arranged and used at an appropriate position, the actual work such as assembly or processing of the worker 81 ″ is not hindered. First, the worker 81 ″ ″ is the work object designated by the laser beam 95. Actual work such as assembly and processing is performed on the portion 93a. When the work process A ′ is completed, the positional relationship between the component 93 and the instruction means 94 changes so that the work target part 93b in the work process B ′ is indicated by the laser beam 95, and the worker 81 ″ is The actual work is performed on 93b.

  Here, as shown in the figure, a display 96 displaying instructions or information on the work contents and procedures is provided in advance on a work table 84 ″, and the laser light 95 from the instruction means 94 is only the component 93. By configuring so that the display object 96 can be pointed out, it is possible to make the worker 81 ″ clearly recognize the work procedure and its contents in conjunction with the operation of the robot 82 ″ ″. In addition, the robot 82 ″ not only supplies the parts to be used to the worker 81 ″ in order for each work process, but also the work target part, work procedure, and contents of the part 93 to be worked by the instruction means 94. Is indicated to the worker 81 ″ ′, a more detailed work procedure for each work process can be presented, work errors are eliminated, and production efficiency is improved.

It is a figure which shows the external appearance of the production system which concerns on this invention. (A) It is a figure which shows the state which has supplied the components itself required for production work, (b) It is a figure which shows the state in which the robot is supplying the components collection part which accommodated the components. It is a figure which shows an example of a component aggregation part. (A) It is a figure which shows the state which is in charge of supply and replacement | exchange of a jig | tool in the setup change of production real work, (b) The state which the robot has hold | gripped a part and is functioning as a jig | tool FIG. It is a figure which shows the state which the robot takes out components from the components storage part, and is supplying to a production workplace. (A) It is a figure which shows the form by which components are mounted as it is as a specific form of a components storage part, (b) It is a figure which shows the form on which the component box was loaded, (c) The component box is a component It is a figure which shows the form arranged on the shelf. It is a figure which shows the state which the robot is taking out components from the components storage part which has a drawer mechanism of a components box. It is a figure which shows the flow which a robot takes out from a component storage part to a parts collection part, and supplies it to a production workplace. It is a figure which shows an example of the robot comprised from the robot arm part and the moving means. (A) It is a figure which shows the means to move along guides, such as a rail, as a concrete form of a moving means, (b) It is a figure which shows the self-propelled moving means which can drive | work freely in arbitrary directions. (A) It is a figure which shows the example which takes out components from a components shelf using a some robot arm, (b) It is the figure which looked at (a) from a different angle. It is a figure which shows the state in which the robot is supplying the required components for every work process. It is a figure which shows the form which shows information on required components and work procedure information to an operator. It is a figure which shows the form which shows information of a required component and work procedure information to an operator using the display installed in the work bench lower surface. It is a figure which shows an example of the work information presentation means linked with the robot. It is a figure which shows the example of the conventional parts supply and arrangement | positioning by hand. It is a figure which shows the example of the required information presentation system to an operator by the conventional "digital stand" format.

Explanation of symbols

1, 51, 81 Worker 2, 12, 52, 82 Robot 3, 53, 93 Parts 6 Jig 58, 84 Production workplace 87 Display 94 Instruction means

Claims (7)

In a production system for producing a product, at least one worker and at least one robot are mixedly arranged, and the worker is in charge of actual work that is a main part of production, and prepares or sets up the actual work. The robot is in charge ,
Preparation or setup of actual work handled by the robot includes supplying parts necessary for production to the worker in charge of the actual work,
The preparation or setup of the actual work that the robot is in charge of means that the robot in a state of gripping the parts necessary for production functions as a fixing jig for the parts while the operator performs the actual work on the parts. Including
A production system in which the robot sequentially supplies necessary parts for each work process of the actual work to the worker in charge of the actual work . The production system is composed of a component storage unit in which components necessary for the actual work are stored or arranged, and a production work place for performing the actual operation, and the robot takes out the components required for production from the component storage unit. The production system according to claim 1 , wherein the production system is supplied to the production workplace . The production system is composed of a part storage unit in which parts necessary for the actual work are arranged and a production work place for performing the actual work, and the robot collects parts necessary for production from the part storage part. The production system according to claim 1, wherein the part collection unit is supplied to the production work place . The production system according to claim 2, further comprising: a robot arm unit for taking out a part necessary for production by the robot from the part storage unit; and a moving unit for supplying the robot to the production work place . The component storage unit is composed of one or more component boxes storing components and a component shelf for storing the component boxes, and first and second robot arms for the robot to take out the components The first robot arm is configured to pull out the component box from the component shelf, and the second robot arm is configured to take out the component from the component box pulled out by the first robot arm. The production system according to any one of claims 2 to 4 . The production system according to claim 1, further comprising means for presenting information on necessary parts or information on a work procedure for each step of the actual work to the worker . 2. The apparatus according to claim 1, further comprising means for displaying information on necessary parts or work procedures for each step of the actual work on an upper surface of a work table on which the worker performs the actual work . Production system.

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